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.     ]