%YAML:1.0
---
version: "1.2"
img_params:
   # There are two params of resolution [640x400], [1280x800].
   # If you only set one of them, write will keep another params if it exists.
   -
      model: 0
      width: 640
      height: 400
      in_left:
         # [fx  0 cx]
         # [ 0 fy cy]
         # [ 0  0  1]
         fx: 1.9739641213416058e+02
         fy: 1.9772337597617189e+02
         cx: 3.2611983633916327e+02
         cy: 1.9986969132833946e+02
         # coeffs: k1,k2,p1,p2,k3
         coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
             2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
      in_right:
         fx: 2.0335498653655989e+02
         fy: 2.0453858622699008e+02
         cx: 3.1589962248180814e+02
         cy: 2.1871688038954812e+02
         coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
             3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
      ex_right_to_left:
         rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
             -4.3917309443490191e-03, 1.8166060642710027e-03,
             9.9968925981619028e-01, -2.4861290203142431e-02,
             4.4382582477776426e-03, 2.4853026274046636e-02,
             9.9968126367795229e-01 ]
         translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
             2.2588034344482368e+00 ]
   -
      model: 0
      width: 1280
      height: 800
      in_left:
         fx: 1.9739641213416058e+02
         fy: 1.9772337597617189e+02
         cx: 3.2611983633916327e+02
         cy: 1.9986969132833946e+02
         coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
             2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
      in_right:
         fx: 2.0335498653655989e+02
         fy: 2.0453858622699008e+02
         cx: 3.1589962248180814e+02
         cy: 2.1871688038954812e+02
         coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
             3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
      ex_right_to_left:
         rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
             -4.3917309443490191e-03, 1.8166060642710027e-03,
             9.9968925981619028e-01, -2.4861290203142431e-02,
             4.4382582477776426e-03, 2.4853026274046636e-02,
             9.9968126367795229e-01 ]
         translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
             2.2588034344482368e+00 ]