cam0:
  cam_overlaps: [1]
  camera_model: pinhole
  distortion_coeffs: [0.10361069500712855, -0.2148477229912779, 0.001513264659998155, -0.002476344872837173]
  distortion_model: radtan
  intrinsics: [903.0118940849832, 903.2158406278899, 633.5485368294636, 381.41828087155915]
  resolution: [1280, 720]
  rostopic: /camera/rgb/left/image_raw
cam1:
  T_cn_cnm1:
  - [0.9998945887337507, -0.014369669164107327, -0.0020794299873445822, -0.0036012707257716318]
  - [0.014399698029410164, 0.999780340709445, 0.015228887929277363, 0.03455469146593941]
  - [0.001860139139947825, -0.015257225796808271, 0.999881871494508, -0.011210949951428937]
  - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [0]
  camera_model: pinhole
  distortion_coeffs: [-0.20923248407260384, 0.16598092518055463, -0.0006163143586288673, 0.0008587344469899001]
  distortion_model: radtan
  intrinsics: [1262.0354031860522, 1263.0189428947767, 636.1120772928016, 352.8881203962529]
  resolution: [1280, 720]
  rostopic: /camera/e2vid/left/image_raw