pattern_cols: 10
pattern_rows: 7
center_distance_mm: 39

# 重投影误差: 0.0833px
camera_matrix: [1824.3445767434343, 0, 745.88898611634079, 0, 1828.9000780816298, 584.45884364277663, 0, 0, 1]
distort_coeffs: [-0.084922638867033884, 0.22051971879198334, -0.00021700148630802023, 0.00043485717343934131, 0]

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

# 相机同理想情况的偏角: yaw174.40 pitch8.20 roll178.20 degree
R_camera2gimbal: [0.093296993396547734, 0.14503826005617809, -0.9850175501700672, -0.99514483056044212, -0.017561170025079953, -0.096841992524828474, -0.03134385477239883, 0.98927018980015091, 0.14269567036452102]
t_camera2gimbal: [-0.11903236791933375, -0.012143601357090483, -0.023682825149991701]

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

camera_name: "hikrobot"
exposure_ms: 50
gain: 50.0
vid_pid: "2bdf:0001"

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