%YAML:1.0

cam0:
  T_cam_imu: #rotation from camera to IMU, position of IMU in camera
    - [0.9999393260825524, -0.0066645383768731414, -0.008770865509984979, 0.0317461746567157]
    - [0.006616409166391481, 0.9999629582576183, -0.005505019747093888, -0.004204513071613602]
    - [0.008807229037214244, 0.005446654101022755, 0.9999463819004447, -0.03692055892073601]
    - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [1]
  camera_model: pinhole
  distortion_coeffs: [0.0139916934292448, -0.009114608698616645, 0.0009893917462900645, 0.0022176750207485354]
  distortion_model: radtan
  intrinsics: [429.9552409391303, 429.39390888427647, 428.0010936476628, 240.3712285466882] #fu, fv, cu, cv
  resolution: [848, 480]
  rostopic: /d455/infra1/image_rect_raw
  timeshift_cam_imu: 0.0009263004619757373

cam1:
  T_cam_imu: #rotation from camera to IMU, position of IMU in camera
    - [0.99996669591375, -0.006744031513424051, -0.00459620520472197, -0.06310422448300679]
    - [0.006721736675136059, 0.9999656520774298, -0.004849012418079372, -0.004514025321594054]
    - [0.004628749227177994, 0.004817956445060541, 0.999977680739068, -0.03787132848483162]
    - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [1]
  camera_model: pinhole
  distortion_coeffs: [0.013130761505269118, -0.00816038883663387, 0.0010012207216619317, 0.000812634570103601]
  distortion_model: radtan
  intrinsics: [430.0464359505298, 429.57512223136524, 426.6544107569817, 240.2698049570513] #fu, fv, cu, cv
  resolution: [848, 480]
  rostopic: /d455/infra2/image_rect_raw
  timeshift_cam_imu: 0.0009235466648131183