%YAML:1.0
#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
Camera.type: "PinHole"
# Camera calibration and distortion parameters (OpenCV) (equal for both cameras after stereo rectification)
Camera.fx: 528.3009033203125
Camera.fy: 528.3009033203125
Camera.cx: 632.7931518554688
Camera.cy: 372.5525817871094
# 用的是校正过的节点，所以畸变参数设置为0
Camera.k1: 0.0
Camera.k2: 0.0
Camera.p1: 0.0
Camera.p2: 0.0
Camera.width: 1280
Camera.height: 720
# Camera frames per second
Camera.fps: 15.0
# stereo baseline times fx
Camera.bf: 63.3961084375
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1
# Close/Far threshold. Baseline times.
ThDepth: 40.0 # 35
# Transformation from camera 0 to body-frame (imu)
# 从左目转换到IMU坐标系
Tbc: !!opencv-matrix
