cam0:
  T_cam_imu:
  - [-0.9999989194764863, 0.0010740611844237788, -0.0010037123248757504, 0.09749239676888498]
  - [0.0010748560847277987, 0.9999991089024399, -0.0007917567318360516, 0.027221454017026605]
  - [0.0010028610352969757, -0.000792834722623995, -0.9999991828410889, 0.009022859277808435]
  - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [1, 2]
  camera_model: pinhole
  distortion_coeffs: [-0.4002742426392474, 0.17056618041313354, 0.00048741925230120315, 0.0007060954021436913]
  distortion_model: radtan
  intrinsics: [1059.798441786791, 1058.7112853994076, 673.3870682823868, 331.65536460528125]
  resolution: [1280, 800]
  rostopic: /ovc/left/image_mono/compressed
  timeshift_cam_imu: 0.006778014001085943
cam1:
  T_cam_imu:
  - [-0.9999940254609012, 0.0018658125725112612, -0.0029099460384876107, -0.022369676733031557]
  - [0.00186669331841843, 0.999998212732186, -0.0002999808141335371, 0.02704376709185628]
  - [0.002909381129660193, -0.00030541099871343714, -0.9999957211036277, 0.010207243459679067]
  - [0.0, 0.0, 0.0, 1.0]
  T_cn_cnm1:
  - [0.9999978696894061, 0.0007932652162973862, 0.001905609335941366, -0.11990065369031654]
  - [-0.0007923309421832392, 0.9999995655747169, -0.0004909807026205796, -9.599880710707109e-05]
  - [-0.001905997986009758, 0.0004894697834386091, 0.9999980637936272, 0.0013568978846784047]
  - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [0, 2]
  camera_model: pinhole
  distortion_coeffs: [-0.40030215796888774, 0.16639937529942397, 0.00036765555387976463, 0.0013303868471007867]
  distortion_model: radtan
  intrinsics: [1055.3158626684692, 1054.641474987198, 670.8052470781481, 324.5193403310099]
  resolution: [1280, 800]
  rostopic: /ovc/right/image_mono/compressed
  timeshift_cam_imu: 0.006783629629904928
cam2:
  T_cam_imu:
  - [-0.9999955178922739, 0.002280789100554992, 0.0019396382245057651, 0.06640845625725607]
  - [0.002273648032341639, 0.9999906590262495, -0.0036759195955022523, 0.03332067025861835]
  - [-0.0019480041037439623, -0.0036714930650020303, -0.9999913626720411, 0.012376176673668235]
  - [0.0, 0.0, 0.0, 1.0]
  T_cn_cnm1:
  - [0.9999881546623611, 0.00041351821822244265, -0.004849694592572392, 0.08881618693694357]
  - [-0.0003971425766728422, 0.9999942186840696, 0.0033771106294266857, 0.006233704573881555]
  - [0.0048510630517260254, -0.0033751446062044786, 0.9999825376406069, 0.0023689047934530296]
  - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [0, 1]
  camera_model: pinhole
  distortion_coeffs: [-0.42058761598918115, 0.19684519573567003, 0.0008715049415326623, 0.0002894328952163947]
  distortion_model: radtan
  intrinsics: [1266.4626100231476, 1264.854376051191, 649.0974421698934, 363.35085318485955]
  resolution: [1280, 800]
  rostopic: /ovc/rgb/image_color/compressed
  timeshift_cam_imu: 0.008260943273252986
