msckf_vio/config/camchain-imucam-tum-scaled.yaml

cam0:
  T_cam_imu:
      [-0.9995378259923383,   0.02917807204183088,  -0.008530798463872679, 0.047094247958417004,
      0.007526588843243184,   -0.03435493139706542, -0.9993813532126198,   -0.04788273017221637,
      -0.029453096117288798,  -0.9989836729399656,  0.034119442089241274,  -0.0697294754693238,
      0.0,                    0.0,                  0.0,                   1.0]
  camera_model: pinhole
  distortion_coeffs: [0.0034823894022493434, 0.0007150348452162257, -0.0020532361418706202,
    0.00020293673591811182]
  distortion_model: pre-equidistant
  intrinsics: [190.97847715128717, 190.9733070521226, 254.93170605935475, 256.8974428996504]
  resolution: [512, 512]
  rostopic: /cam0/image_raw
cam1:
  T_cam_imu:
    [-0.9995240747493029, 0.02986739485347808, -0.007717688852024281, -0.05374086123613335,
    0.008095979457928231, 0.01256553460985914, -0.9998882749870535, -0.04648588412432889,
    -0.02976708103202316, -0.9994748851595197, -0.0128013601698453, -0.07333210787623645,
    0.0, 0.0, 0.0, 1.0]
  T_cn_cnm1:
    [0.9999994317488622, -0.0008361847221513937, -0.0006612844045898121, -0.10092123225528335,
    0.0008042457277382264, 0.9988989443471681, -0.04690684567228134, -0.001964540595211977,
    0.0006997790813734836, 0.04690628718225568, 0.9988990492196964, -0.0014663556043866572,
    0.0, 0.0, 0.0, 1.0]
  camera_model: pinhole
  distortion_coeffs: [0.0034003170790442797, 0.001766278153469831, -0.00266312569781606,
    0.0003299517423931039]
  distortion_model: pre-equidistant
  intrinsics: [190.44236969414825, 190.4344384721956, 252.59949716835982, 254.91723064636983]
  resolution: [512, 512]
  rostopic: /cam1/image_raw
T_imu_body:
  [1.0000, 0.0000, 0.0000, 0.0000,
  0.0000, 1.0000, 0.0000, 0.0000,
  0.0000, 0.0000, 1.0000, 0.0000,
  0.0000, 0.0000, 0.0000, 1.0000]