calibration:
  board_size: '8x6'          # inner corners (cols x rows)
  square_size_m: 0.025       # 25mm squares
  n_images: 30               # images to capture per camera
  image_size: '640x480'      # capture resolution

  cameras:
    front:
      topic: '/camera/front/image_raw'
      output_yaml: '/mnt/nvme/saltybot/calibration/front/camera_info.yaml'
    right:
      topic: '/camera/right/image_raw'
      output_yaml: '/mnt/nvme/saltybot/calibration/right/camera_info.yaml'
    rear:
      topic: '/camera/rear/image_raw'
      output_yaml: '/mnt/nvme/saltybot/calibration/rear/camera_info.yaml'
    left:
      topic: '/camera/left/image_raw'
      output_yaml: '/mnt/nvme/saltybot/calibration/left/camera_info.yaml'

  extrinsics:
    mode: mechanical
    mount_radius_m: 0.05
    mount_height_m: 0.30
    output_yaml: '/mnt/nvme/saltybot/calibration/extrinsics.yaml'

  reprojection_warn_threshold_px: 1.5
