image_width: 640
image_height: 480
camera_name: left
camera_matrix:
  rows: 3
  cols: 3
  data: [468.55945,   0.     , 320.99324,
           0.     , 468.7278 , 220.6343 ,
           0.     ,   0.     ,   1.     ]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [0.009422, -0.000327, -0.000980, -0.019506, 0.000000]
rectification_matrix:
  rows: 3
  cols: 3
  data: [ 0.99819422, -0.00430947, -0.0599143 ,
          0.00540717,  0.99982027,  0.01817108,
          0.05982523, -0.01846223,  0.99803812]
projection_matrix:
  rows: 3
  cols: 4
  data: [487.63246,   0.     , 338.03998,   0.     ,
           0.     , 487.63246, 206.55779,   0.     ,
           0.     ,   0.     ,   1.     ,   0.     ]