image_width: 800
image_height: 600
camera_name: left
camera_matrix:
  rows: 3
  cols: 3
  data: [546.82833,   0.     , 395.41899,
           0.     , 728.53633, 307.08189,
           0.     ,   0.     ,   1.     ]
camera_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [-0.394573, 0.162349, -0.002198, -0.001344, 0.000000]
rectification_matrix:
  rows: 3
  cols: 3
  data: [ 0.99984948,  0.00197076, -0.0172378 ,
         -0.00184396,  0.99997115,  0.00736835,
          0.01725183, -0.00733546,  0.99982427]
projection_matrix:
  rows: 3
  cols: 4
  data: [704.41879,   0.     , 419.01768,   0.     ,
           0.     , 704.41879, 306.11043,   0.     ,
           0.     ,   0.     ,   1.     ,   0.     ]