cam0:
  T_cam_imu:
  - [-0.9999982904771627, -0.0005005130793351167, -0.0017800363511400275, 0.09476202232703239]
  - [-0.000516231805635832, 0.9999607834946485, 0.008841095944152739, 0.013802090632160145]
  - [0.0017755414601792303, 0.008841999741476952, -0.9999593324196223, -0.009478028105125484]
  - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [1, 2]
  camera_model: pinhole
  distortion_coeffs: [-0.39542241174697385, 0.1591019280356693, -0.00034525284843336024, 0.0009465391307443078]
  distortion_model: radtan
  intrinsics: [1060.3976965420115, 1059.9377777854759, 669.0410687042238, 338.0955078969839]
  resolution: [1280, 800]
  rostopic: /ovc/left/image_mono/compressed
  timeshift_cam_imu: 0.009373867885262227
cam1:
  T_cam_imu:
  - [-0.9999740788249947, -0.00013074207530259675, -0.007198929407427046, -0.025302351009423213]
  - [-0.00019541590016261553, 0.9999596253905239, 0.00898384113112443, 0.013690632193964434]
  - [0.007197464187429903, 0.008985015044676609, -0.9999337308111562, -0.008050694576028307]
  - [0.0, 0.0, 0.0, 1.0]
  T_cn_cnm1:
  - [0.99998524914062, 0.00032183505065930767, 0.005421985186932383, -0.12001602778374042]
  - [-0.00032106886900659675, 0.9999999383498102, -0.0001421799998854446, -8.238003799581931e-05]
  - [-0.005422030611173446, 0.00014043707195652107, 0.9999852908225577, 0.001939058375738611]
  - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [0, 2]
  camera_model: pinhole
  distortion_coeffs: [-0.39361678054112026, 0.15293568698596516, -0.0005106321308083494, 0.001630476234212862]
  distortion_model: radtan
  intrinsics: [1055.696578079414, 1056.0327896352933, 666.2914210045061, 331.25697121349526]
  resolution: [1280, 800]
  rostopic: /ovc/right/image_mono/compressed
  timeshift_cam_imu: 0.009262547904497638
cam2:
  T_cam_imu:
  - [-0.9999980816102819, 0.0007018952184816209, 0.0018286932106487514, 0.06369329987933996]
  - [0.0007091204526179086, 0.9999919338999156, 0.0039533888362929814, 0.019826192233277112]
  - [-0.0018259035955052974, 0.003954678015909719, -0.9999905132539263, -0.00565518980782152]
  - [0.0, 0.0, 0.0, 1.0]
  T_cn_cnm1:
  - [0.9999589040844337, 0.0009137110942970767, -0.009019715865423794, 0.08890948680536383]
  - [-0.000868303259259071, 0.9999869376599273, 0.005036919591286669, 0.006154319458391261]
  - [0.009024200336139447, -0.0050288807457808974, 0.9999466356594918, 0.002692257189322262]
  - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [0, 1]
  camera_model: pinhole
  distortion_coeffs: [-0.41736733429239814, 0.18973966738299014, -0.0001707595182044016, 0.0006983044021555349]
  distortion_model: radtan
  intrinsics: [1268.4271589183275, 1267.7698267477979, 644.7235579555121, 369.3053072152152]
  resolution: [1280, 800]
  rostopic: /ovc/rgb/image_color/compressed
  timeshift_cam_imu: 0.009485665419609051
