#%YAML:1.0
camera_name: stereo_tutorial_right
image_width: 640
image_height: 480
camera_matrix:
   rows: 3
   cols: 3
   data: [ 5.3173015723615038e+02, 0., 3.0841183762414585e+02, 0.,
       5.3114393189729469e+02, 2.4247036103612575e+02, 0., 0., 1. ]
distortion_coefficients:
   rows: 1
   cols: 5
   data: [ -3.2382605112765667e-01, 4.3067676369775459e-02,
       -1.0212741406694578e-03, 5.1816193644504472e-04,
       9.9965184406768520e-02 ]
distortion_model: plumb_bob
rectification_matrix:
   rows: 3
   cols: 3
   data: [ 9.9814647006952373e-01, -6.8031680948065307e-03,
       -6.0475955483342586e-02, 6.7037039320888168e-03,
       9.9997582338248303e-01, -1.8474317621778344e-03,
       6.0487061768119681e-02, 1.4385945915416094e-03,
       9.9816794468879888e-01 ]
projection_matrix:
   rows: 3
   cols: 4
   data: [ 5.0021545003868783e+02, 0., 3.5945997238159180e+02,
       -5.9858566522579160e+01, 0., 5.0021545003868783e+02,
       2.4750019836425781e+02, 0., 0., 0., 1., 0. ]
local_transform:
   rows: 3
   cols: 4
   data: [ 0., 0., 1., 0., -1., 0., 0., 0., 0., -1., 0., 0. ]