rtabmap/data/stereo_rect/stereo_right.yaml

%YAML:1.0
---
camera_name: stereo_right
image_width: 640
image_height: 480
camera_matrix:
   rows: 3
   cols: 3
   data: [ 4.8760873413085938e+02, 0., 3.1811621093750000e+02, 0.,
       4.8760873413085938e+02, 2.4944424438476562e+02, 0., 0., 1. ]
distortion_coefficients:
   rows: 1
   cols: 5
   data: [ 0., 0., 0., 0., 0. ]
distortion_model: plumb_bob
rectification_matrix:
   rows: 3
   cols: 3
   data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
projection_matrix:
   rows: 3
   cols: 4
   data: [ 4.8760873413085938e+02, 0., 3.1811621093750000e+02,
       -5.8362700032946350e+01, 0., 4.8760873413085938e+02,
       2.4944424438476562e+02, 0., 0., 0., 1., 0. ]