image_width: 640
image_height: 480
camera_name: 00b09d0100d79e50_left
camera_matrix:
  rows: 3
  cols: 3
  data: [523.050168, 0.000000, 320.193195, 0.000000, 526.089992, 238.152265, 0.000000, 0.000000, 1.000000]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [-0.350311, 0.148537, -0.000400, -0.000407, 0.000000]
rectification_matrix:
  rows: 3
  cols: 3
  data: [0.999915, 0.004574, -0.012209, -0.004564, 0.999989, 0.000874, 0.012212, -0.000819, 0.999925]
projection_matrix:
  rows: 3
  cols: 4
  data: [499.461611, 0.000000, 324.641506, 0.000000, 0.000000, 499.461611, 240.714792, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
