pattern_cols: 10
pattern_rows: 7
center_distance_mm: 39

# 重投影误差: 0.0840px
camera_matrix: [1834.1536403391224, 0, 748.34431374203518, 0, 1838.4254732917539, 592.07179931054554, 0, 0, 1]
distort_coeffs: [-0.089753587550662386, 0.25043670633576026, 0.00028701704204080067, 0.00026068590699182429, 0]

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

# 相机同理想情况的偏角: yaw0.65 pitch0.98 roll-4.71 degree
# 标定板到世界坐标系原点的水平距离: 1.20 m
# 标定板同竖直摆放时的偏角: yaw76.91 pitch5.90 roll-4.25 degree
R_camera2gimbal: [-0.012713492697510044, 0.016094161023931495, 0.99978965041870982, -0.9965458575215137, -0.082265286272855259, -0.011347974760117781, 0.082065345671248222, -0.99648050691189183, 0.017084448614971628]
t_camera2gimbal: [0.099890931342671643, 0.0015513845612699661, 0.048389617922529167]

#####-----gimbal参数-----#####
com_port: "/dev/ttyACM0"

camera_name: "hikrobot"
exposure_ms: 20
gain: 50.0
vid_pid: "2bdf:0001"

#####-----cboard参数-----#####
quaternion_canid: 0x01
bullet_speed_canid: 0x110
send_canid: 0xff
can_interface: "can0"