label: "VISensor - Euroc - original_calibration"
id: 412eab8e4058621f7036b5e765dfe812
cameras:
- camera:
    label: cam0
    id: 54812562fa109c40fe90b29a59dd7798
    line-delay-nanoseconds: 0
    image_height: 480
    image_width: 752
    type: pinhole
    intrinsics:
      cols: 1
      rows: 4
      data: [458.6548807207614, 457.2966964634893, 367.2158039615726, 248.37534060980727]
    distortion:
      type: radial-tangential  
      parameters:
        cols: 1
        rows: 4
        data: [-0.28340811217029355, 0.07395907389290132, 0.00019359502856909603,
    1.7618711454538528e-05]
  T_B_C:
    cols: 4
    rows: 4
    data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975,
           0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768,
          -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949,
           0.0, 0.0, 0.0, 1.0]
