image_width: 640
image_height: 480
camera_name: right
camera_matrix:
  rows: 3
  cols: 3
  data: [469.73373,   0.     , 320.57918,
           0.     , 471.91492, 200.72895,
           0.     ,   0.     ,   1.     ]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [-0.022394, 0.008106, -0.011521, -0.018003, 0.000000]
rectification_matrix:
  rows: 3
  cols: 3
  data: [ 0.99942267, -0.01028889, -0.03237995,
          0.00969371,  0.99978215, -0.01848456,
          0.03256308,  0.01816001,  0.99930469]
projection_matrix:
  rows: 3
  cols: 4
  data: [487.63246,   0.     , 338.03998, -41.78024,
           0.     , 487.63246, 206.55779,   0.     ,
           0.     ,   0.     ,   1.     ,   0.     ]