image_width: 640
image_height: 480
camera_name: 00b09d010081e00e_left
camera_matrix:
  rows: 3
  cols: 3
  data: [531.465455524407, 0, 327.81769315025, 0, 531.571312039415, 243.856670933493, 0, 0, 1]
distortion_model: rational_polynomial
distortion_coefficients:
  rows: 1
  cols: 8
  data: [-0.857537597105456, 3.75278458053324, 0.00228254762207129, -0.0027323052439732, -4.34267849203545, -0.587440875150743, 3.97414004345752, -4.7062867942346]
rectification_matrix:
  rows: 3
  cols: 3
  data: [0.999631165872758, -0.00126285551770802, -0.027128166392378, 0.00104241835291273, 0.999966339558209, -0.0081383729659699, 0.0271375308355175, 0.00810709235775154, 0.999598834269856]
projection_matrix:
  rows: 3
  cols: 4
  data: [555.84550230002, 0, 307.035812854767, 0, 0, 555.84550230002, 221.642565727234, 0, 0, 0, 1, 0]