rtabmap_ros/rtabmap_examples/config/multi_rgbd_inertial_dataset_front.yaml

#%YAML:1.0
---
camera_name: MULTI_RGBD_INERTIAL_DATASET_FRONT
image_width: 640
image_height: 360
camera_matrix:
   rows: 3
   cols: 3
   data: [ 319.1610, 0., 329.5844, 0.,
       319.0881, 182.1654, 0., 0., 1. ]
distortion_coefficients:
   rows: 1
   cols: 4
   data: [ -0.0535, 0.0589, -0.0176, 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: [ 319.1610, 0., 329.5844, 0., 0.,
       319.0881, 182.1654, 0., 0., 0., 1.,
       0. ]