image_width: 320
image_height: 240
camera_name: right
camera_matrix:
  rows: 3
  cols: 3
  data: [230.458  ,   0.     , 160.56834,
           0.     , 306.66993, 129.52017,
           0.     ,   0.     ,   1.     ]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [-0.374990, 0.147179, -0.003677, 0.004474, 0.000000]
rectification_matrix:
  rows: 3
  cols: 3
  data: [ 0.97662177, -0.03351029, -0.21233696,
          0.03533651,  0.99936389,  0.0048104 ,
          0.21204069, -0.01220118,  0.97718467]
projection_matrix:
  rows: 3
  cols: 4
  data: [306.37919,   0.     , 283.52062, -17.07839,
           0.     , 306.37919, 131.00384,   0.     ,
           0.     ,   0.     ,   1.     ,   0.     ]