# Multi-camera intrinsics for the dual-camera (cam1 + cam2) configuration.
#
# Loaded into the `parameter_blackboard` node like the other camera_*.yaml
# files, but with a `cam_num` + numbered `cam_0`/`cam_1` namespace so that
# vk::camera_loader::loadFromRosNs(nh, "parameter_blackboard", vector<...>&)
# can read each camera's intrinsics under its own "cam_<i>." prefix. Camera
# indices must match the order of entries in extrin_dualcam_cam1_cam2.yaml.
/**:
  ros__parameters:
    cam_num: 2
    cam_0:
      # cam1 (DA9492688, 4mm lens), ROS camera_calibration 2026-08-27, 3-camera rig mount
      # (camera2_ws/src/hik_camera_ros2_driver/config/camera_info_cam1.yaml)
      # cam_fx/fy/cx/cy = camera_matrix(raw K); D = [k1, k2, p1, p2, k3=0.0] -> cam_d0..d3 (k3 생략)
      cam_model: Pinhole
      cam_width: 1440
      cam_height: 1080
      scale: 1.0
      cam_fx: 1224.916886
      cam_fy: 1224.832639
      cam_cx: 725.118164
      cam_cy: 535.523447
      cam_d0: -0.076763
      cam_d1: 0.072682
      cam_d2: -0.002419
      cam_d3: 0.002109
      # --- 이전 (2026-08-04) ---
      # cam_fx: 1194.054103
      # cam_fy: 1193.734257
      # cam_cx: 731.768445
      # cam_cy: 554.579899
      # cam_d0: -0.104538
      # cam_d1: 0.094169
      # cam_d2: -0.000219
      # cam_d3: 0.002476
    cam_1:
      # cam2 (DB0174264, 4mm lens), ROS camera_calibration 2026-08-27, 3-camera rig mount
      # (camera2_ws/src/hik_camera_ros2_driver/config/camera_info_cam2.yaml)
      cam_model: Pinhole
      cam_width: 1440
      cam_height: 1080
      scale: 1.0
      cam_fx: 1175.884129
      cam_fy: 1176.476788
      cam_cx: 700.828862
      cam_cy: 595.203149
      cam_d0: -0.112603
      cam_d1: 0.080548
      cam_d2: 0.005849
      cam_d3: -0.000873
      # --- 이전 (2026-08-04) ---
      # cam_fx: 1193.023682
      # cam_fy: 1194.022942
      # cam_cx: 716.099838
      # cam_cy: 571.401918
      # cam_d0: -0.102107
      # cam_d1: 0.089022
      # cam_d2: 0.003037
      # cam_d3: 0.002550
