[calibration]
base_frame_id= ## (Optional) Enter base frame ID string with respect to which the calibration is to be calculated ##
save_observations=true
target_config_file=TargetWithCirclesAndAruco.yaml
use_initial_guess=false

[camera]
image_state= ## Enter integer representing image state. 0 = DISTORTED, 1 = UNDISTORTED, 2 = STEREO_RECTIFIED ##
image_topic= ## Enter image topic string ##
info_topic= ## Enter info topic string ##
is_stereo_camera=true
rect_suffix=_rect
right_info_topic= ## Enter info topic string of right camera (if stereo camera) ##
right_sensor_name= ## Enter name of right camera (if stereo camera) ##
sensor_name= ## Enter name of camera which is to be calibrated ##

[reference]
frame_id= ## Enter string of frame ID in which the reference data is provided ##
name= ## Enter name of reference, e.g. 'reference' ##

[workspace]
type=extrinsic-camera-reference-calibration