image_width: 320
image_height: 240
camera_name: left
camera_matrix:
  rows: 3
  cols: 3
  data: [216.587179, 0.000000, 152.272854, 0.000000, 288.814935, 123.514917, 0.000000, 0.000000, 1.000000]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [-0.400277, 0.190072, -0.003888, 0.002995, 0.000000]
rectification_matrix:
  rows: 3
  cols: 3
  data: [0.990367, 0.059907, -0.124836, -0.059914, 0.998197, 0.003704, 0.124833, 0.003811, 0.992170]
projection_matrix:
  rows: 3
  cols: 4
  data: [296.195350, 0.000000, 215.261782, 0.000000, 0.000000, 296.195350, 120.768448, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]