%YAML:1.0
# General sensor definitions.
camera_id: left_cam

# Sensor extrinsics wrt. the body-frame
T_BS:
  cols: 4
  rows: 4
  data:  [0.99985945, -0.01443721,  0.00852319, -0.02647408,
          0.01453776,  0.99982404, -0.01185494,  0.00914898,
         -0.00835054,  0.01197718,  0.99989340,  0.02575617,
          0.00000000,  0.00000000,  0.00000000,  1.00000000]

# Camera specific definitions
rate_hz: 20
resolution: [640, 480]  # [width, height]
camera_model: pinhole
intrinsics: [377.229220831, 377.486565843, 326.351864976, 239.659665361]  # [fu, fv, cu, cv]
distortion_model: radtan
distortion_coefficients: [-0.00439906, -0.00467669,  0.00017386,  0.00324217]  # model dependent