yaml文件写法

%YAML:1.0
# General sensor definitions.
sensor_type: camera
comment: VI-Sensor cam0 (MT9M034)

# Sensor extrinsics wrt. the body-frame.
T_BS:
  cols: 4
  rows: 4
  data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975,
         0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768,
        -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949,
         0.0, 0.0, 0.0, 1.0]

# Camera specific definitions.
rate_hz: 20
resolution: [752, 480]

camera_model: pinhole
intrinsics: [458.654,457.296,367.215,248.375] #fx,fy,cx,cy
intrinsic_matrix: !!opencv-matrix
  cols: 3
  rows: 3
  dt: d
  data: [458.654,0,367.215,
         0.0,457.296,248.375,
         0.0,0.0,1.0]
  
distortion_model: radial-tangential
distortion_coefficients: !!opencv-matrix
  cols: 1
  rows: 4
  dt: d #u represent 8-bit unsigned number
		#c represent 8-bit signed number
        #w represent 16-bit unsigned number
        #s represent 16-bit signed number
        #i represent 32-bit signed number
        #f represent single precision floating-point  number
        #d represent double precision floating-point  number
  data: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05]