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

# Sensor extrinsics wrt. the body-frame
T_BS:
  cols: 4
  rows: 4
  data:  [0.99982121, -0.01427648,  0.01239860,  0.06845528,
          0.01439878,  0.99984800, -0.00983129,  0.01070672,
         -0.01225636,  0.01000806,  0.99987480,  0.02565437,
          0.00000000,  0.00000000,  0.00000000,  1.00000000]

# Camera specific definitions
rate_hz: 20
resolution: [640, 480]  # [width, height]
camera_model: pinhole
intrinsics: [377.535257164, 377.209841379, 328.193371286, 240.426878936]  # [fu, fv, cu, cv]
distortion_model: radtan
distortion_coefficients: [-0.00335524, -0.00555376,  0.00064889,  0.00272202]  # model dependent