image_width: 640
image_height: 480
camera_name: 00b09d010081e00e_left
camera_matrix:
  rows: 3
  cols: 3
  data: [520.84106910681, 0, 320.207922533597, 0, 520.652683004955, 251.69140630101, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [-0.344858300062205, 0.131731614744127, -0.00032220157418798, -0.000178643627395838, 0]
rectification_matrix:
  rows: 3
  cols: 3
  data: [0.999977409119708, -0.00542294021453702, -0.00397151981806852, 0.00542696944573559, 0.999984769417176, 0.00100445821860056, 0.00396601221263954, -0.00102598884371095, 0.999991609011807]
projection_matrix:
  rows: 3
  cols: 4
  data: [487.608731712861, 0, 318.1162109375, 0, 0, 487.608731712861, 249.44425201416, 0, 0, 0, 1, 0]