rtabmap_ros/rtabmap_odom/test/data/stereo/raw/stereo_pose.yaml

#%YAML:1.0
camera_name: stereo_tutorial
rotation_matrix:
   rows: 3
   cols: 3
   data: [ 9.9998244174079198e-01, -9.1486052999498408e-04,
       5.8548475927491656e-03, 8.9587501387632107e-04,
       9.9999433529188531e-01, 3.2445018261516327e-03,
       -5.8577826934067389e-03, -3.2391996466791719e-03,
       9.9997759673282971e-01 ]
translation_matrix:
   rows: 3
   cols: 1
   data: [ -1.1944376542810328e-01, 8.1410498203477041e-04,
       7.2368896323297812e-03 ]
essential_matrix:
   rows: 3
   cols: 3
   data: [ -1.1252198674164329e-05, -7.2394856860325228e-03,
       7.9060664179560138e-04, 6.5370869431856798e-03,
       -3.9352294745729046e-04, 1.1948346038335741e-01,
       -9.2109737277881536e-04, -1.1944234402152067e-01,
       -3.9230197564821978e-04 ]
fundamental_matrix:
   rows: 3
   cols: 3
   data: [ -2.5309754099766013e-08, -1.6300536361959590e-05,
       4.9995535977749410e-03, 1.4720205166478256e-05,
       -8.8704021902692202e-07, 1.3677019067204871e-01,
       -4.6630670977502930e-03, -1.3776019369349130e-01, 1. ]