附录二 Camera相机标定文件模板

标定文件名：“roof_cam_999.yaml”

文件内容示例：

roof_cam_999:
    camera_model:  pinhole
    intrinsics:
        rows:  
        cols:  
        data:  []
    resolution:
        width: 
        height:
    distortion_model:  radtan
    distortion_coeffs:
        rows:  
        cols:  
        data:  []
    rotation_veh2cam_matrix:
        rows:  
        cols:  
        data:  []
    tanslation_veh2cam_matrix:
        rows:  
        cols:  
        data:  []
    rotation_veh_cam_euler:
        yaw:  
        pitch:
        roll: 
    translation_veh_cam:
        x:  
        y:  
        z:  
    transform_image2veh_matrix:
        rows:  
        cols:  
        data:  []
    transform_veh2image_matrix:
        rows:  
        cols:  
        data:  []
    timeshift_cam_veh: