image_width: 640
image_height: 480
camera_name: 00b09d010081e00e_right
camera_matrix:
  rows: 3
  cols: 3
  data: [539.350432799193, 0, 316.871484200373, 0, 538.84889169406, 248.635943168473, 0, 0, 1]
distortion_model: rational_polynomial
distortion_coefficients:
  rows: 1
  cols: 8
  data: [-0.112346185383368, 0.770246466346985, -0.00167506866932082, -0.00062182296192851, -5.10148862563329, 0.189828246011683, 1.11417405662224, -6.32929104323423]
rectification_matrix:
  rows: 3
  cols: 3
  data: [0.999437919841365, 0.000645410387928455, -0.033517574921185, -0.000373071409202834, 0.999966874275916, 0.00813087747896131, 0.0335217123800341, -0.00811380282514918, 0.999405053520756]
projection_matrix:
  rows: 3
  cols: 4
  data: [555.84550230002, 0, 307.035812854767, -65.8221144778347, 0, 555.84550230002, 221.642565727234, 0, 0, 0, 1, 0]