camchain-imucam-new2.yaml

cam0:
  T_cam_imu:
  - - -0.04030123999740945
    - -0.9989998755524683
    - 0.01936643232049068
    - 0.02103955032447366
  - - 0.026311325355146964
    - -0.020436499663524704
    - -0.9994448777394171
    - -0.038224929976612206
  - - 0.9988410905708309
    - -0.0397693113802049
    - 0.027108627033059024
    - -0.1363488241088845
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  cam_overlaps:
  - 1
  camera_model: pinhole
  distortion_coeffs:
  - 0.006896928127777268
  - -0.009144207062654397
  - 0.000254113977103925
  - 0.0021434982252719545
  distortion_model: radtan
  intrinsics:
  - 380.9229090195708
  - 380.29264802262736
  - 324.68121181846755
  - 224.6741321466431
  resolution:
  - 640
  - 480
  rostopic: /camera/infra1/image_rect_raw
  timeshift_cam_imu: -0.029958533056650416
cam1:
  T_cam_imu:
  - - -0.03905752472566068
    - -0.9990498568899562
    - 0.019336318430946575
    - -0.02909273113160158
  - - 0.025035478432625047
    - -0.020323396666370924
    - -0.9994799569614147
    - -0.03811090793611019
  - - 0.99892328763622
    - -0.03855311914877835
    - 0.02580547271309183
    - -0.13656684822705098
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_cn_cnm1:
  - - 0.9999992248836708
    - 6.384241340452582e-05
    - 0.0012434452955667624
    - -0.049960282472300055
  - - -6.225102643531651e-05
    - 0.9999991790958949
    - -0.0012798173093508036
    - -5.920119010064575e-05
  - - -0.001243525981443161
    - 0.0012797389115975439
    - 0.9999984079544582
    - -0.00014316003395349448
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  cam_overlaps:
  - 0
  camera_model: pinhole
  distortion_coeffs:
  - 0.007044055287844759
  - -0.010251485722185347
  - 0.0006674304399871926
  - 0.001678899816379666
  distortion_model: radtan
  intrinsics:
  - 380.95187095303424
  - 380.3065956074995
  - 324.0678433553536
  - 225.9586983198407
  resolution:
  - 640
  - 480
  rostopic: /camera/infra2/image_rect_raw
  timeshift_cam_imu: -0.030340187355085417