cam0:
  cam_overlaps: [1, 4]
  camera_model: pinhole
  distortion_coeffs: [-0.0023670509059672477, -0.004284173120448332, 0.008693232366889004, -0.002810968200672812]
  distortion_model: equidistant
  intrinsics: [1237.2331242445073, 1238.5512509811024, 1251.102735098646, 1019.1639442932279]
  resolution: [2464, 2048]
  rostopic: /ladybug/camera0
cam1:
  T_cn_cnm1:
  - [0.9999952013629007, 0.00019445323874969734, -0.0030918342644461576, 0.00026040593029369593]
  - [0.0028844037721389736, 0.3056779511911085, 0.9521305952286664, 0.057723334866989794]
  - [0.0011302504413332555, -0.9521349443978796, 0.30567592347189465, -0.04407897305644818]
  - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [0, 2]
  camera_model: pinhole
  distortion_coeffs: [0.005746543853522721, -0.019452686082967567, 0.020389528818450874, -0.005990596157209219]
  distortion_model: equidistant
  intrinsics: [1235.6994348245012, 1237.159664950841, 1218.456335284411, 1024.8175372028052]
  resolution: [2464, 2048]
  rostopic: /ladybug/camera1
cam2:
  T_cn_cnm1:
  - [0.999995669621965, 0.002876369080960454, -0.00062228468529699, -0.0007266026389631235]
  - [-0.0002937950759961368, 0.3079692178584011, 0.9513962762887709, 0.05814125737005443]
  - [0.0029282113606741034, -0.9513919735590564, 0.307968729298337, -0.04365924395356578]
  - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [1, 3]
  camera_model: pinhole
  distortion_coeffs: [-0.0001271191790130497, -0.012105006882118177, 0.016746781805082392, -0.00545749982624154]
  distortion_model: equidistant
  intrinsics: [1243.077352562882, 1244.6178275301286, 1232.9919131835823, 1033.9698641288635]
  resolution: [2464, 2048]
  rostopic: /ladybug/camera2
cam3:
  T_cn_cnm1:
  - [0.9999956214888495, 0.0027750093579072335, 0.001027777305280139, 0.00019996314000378452]
  - [-0.0018545093608368672, 0.3170225767602156, 0.9484161779616266, 0.05807377410592458]
  - [0.00230603515937855, -0.9484139313334513, 0.31702633495415966, -0.04255623050376667]
  - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [2, 4]
  camera_model: pinhole
  distortion_coeffs: [0.031045784710669353, -0.09294755387730858, 0.0993521456190807, -0.03479501424126311]
  distortion_model: equidistant
  intrinsics: [1242.463308986791, 1243.2120166194268, 1231.1364790921468, 1047.380392075526]
  resolution: [2464, 2048]
  rostopic: /ladybug/camera3
cam4:
  T_cn_cnm1:
  - [0.999998327866177, 0.0012098453800784591, 0.001371327465686716, 0.0006445886515970041]
  - [-0.0016686355550181574, 0.29682254595706553, 0.9549311974519221, 0.05815569128899257]
  - [0.0007482781878240131, -0.9549318889249294, 0.2968240684210625, -0.044191342419975334]
  - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [0, 3]
  camera_model: pinhole
  distortion_coeffs: [-0.007471761437683396, 0.00877189920028852, -0.00392035450472342, 0.0012700036388802979]
  distortion_model: equidistant
  intrinsics: [1243.4890563185784, 1243.5167713519115, 1238.08493439252, 1028.430841701773]
  resolution: [2464, 2048]
  rostopic: /ladybug/camera4