intrinsics:
  cam_matrix: [[1347.090250261588, 0, 906.3662801147559],[0, 1332.103727995465, 561.2820445300187],[0,0,1]]
  dist_coeff: [0.1269819023042869, -0.4583739190940396, 0.002002457353149274, -0.01606097632795915, 0.3598527092759298]

extrinsics:
  global_origin: [46.22983901,   1.60285046, 278.0799618]
  imu_correction: [-0.03358463, 0.0135802, 0.0]
  calibrate_yaw: true

camera_params:
  enable_auto_exposure: 0
  enable_auto_white_balance: 0
  sharpness: 100
  contrast: 50
  brightness: 30
  exposure: 100


tracking:
  enable: true
  area_th: 160
  centroid_th: 12