# TEMPLATE — replace with output of calibrate_camera.py
# IMX219 160 deg at 640x480: estimated placeholder values
# Run: ros2 run saltybot_calibration calibrate_camera.py \
#        --images-dir /mnt/nvme/saltybot/calibration/raw/cam_left \
#        --output /mnt/nvme/saltybot/calibration/left/camera_info.yaml \
#        --camera-name camera_left --image-size 640x480
image_width: 640
image_height: 480
camera_name: camera_left
camera_matrix:
  rows: 3
  cols: 3
  data: [229.0, 0.0, 320.0, 0.0, 229.0, 240.0, 0.0, 0.0, 1.0]
distortion_model: equidistant
distortion_coefficients:
  rows: 1
  cols: 4
  data: [0.0, 0.0, 0.0, 0.0]
rectification_matrix:
  rows: 3
  cols: 3
  data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
projection_matrix:
  rows: 3
  cols: 4
  data: [229.0, 0.0, 320.0, 0.0, 0.0, 229.0, 240.0, 0.0, 0.0, 0.0, 1.0, 0.0]
_calibration_rms_px: null
