image_width: 320 image_height: 240 camera_name: left camera_matrix: rows: 3 cols: 3 data: [ 225.48436, 0. , 164.71275, 0. , 299.70005, 118.01326, 0. , 0. , 1. ] camera_model: plumb_bob distortion_coefficients: rows: 1 cols: 5 data: [-0.404573, 0.163958, 0.001334, -0.005042, 0.000000] rectification_matrix: rows: 3 cols: 3 data: [ 0.95911429, -0.04577467, -0.27929279, 0.04325362, 0.9989487 , -0.01518615, 0.27969431, 0.00248483, 0.96008589] projection_matrix: rows: 3 cols: 4 data: [ 305.6735 , 0. , 289.60029, 0. , 0. , 305.6735 , 121.06541, 0. , 0. , 0. , 1. , 0. ]