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: 30
gain: 16.0
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: 0.0654px
camera_matrix: [1794.7763123680743, 0, 762.48990119722805, 0, 1794.6747019516008, 546.1981535799863, 0, 0, 1]
distort_coeffs: [-0.07577568384219846, 0.14361612515698613, 0.00057329040489542368, 0.0001190829309863327, 0]