pattern_cols: 11
pattern_rows: 8
center_distance_mm: 30
pattern_type: chessboard   # circles_grid | chessboard

R_gimbal2imubody: [1, 0, 0, 0, 1, 0,  0, 0, 1]

rotate_180: false
camera_name: "hikrobot"
exposure_ms: 3
gain: 10.0
vid_pid: "2bdf:0001"

#####-----cboard参数-----#####
quaternion_canid: 0x01
bullet_speed_canid: 0x110
send_canid: 0xff
can_interface: "can0"
#####-----gimbal参数-----#####
com_port: "/dev/ttyUSB0"
baudrate: 115200

# 重投影误差: 0.1791px
camera_matrix: [1827.8294221039337, 0, 716.86057740384501, 0, 1828.9736207357851, 613.69509305531699, 0, 0, 1]
distort_coeffs: [-0.083642708058668358, 0.18891600176175308, -0.00030362184648520616, -0.00066798903909152669, 0]