image_width: 320
image_height: 240
camera_name: right
camera_matrix:
  rows: 3
  cols: 3
  data: [1308.636060, 0.000000, 915.116840, 0.000000, 1305.769610, 568.569179, 0.000000, 0.000000, 1.000000]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [-0.381942, 0.145040, 0.000536, 0.002452, 0.000000]
rectification_matrix:
  rows: 3
  cols: 3
  data: [0.998404, -0.028197, 0.048937, 0.028260, 0.999600, -0.000592, -0.048900, 0.001974, 0.998802]
projection_matrix:
  rows: 3
  cols: 4
  data: [1289.951088, 0.000000, 874.958939, -68.012187, 0.000000, 1289.951088, 546.437374, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]