Image Params

Image Intrinsics

Name	Field	Unit	Bytes	Note
Image width	width	px	2	uint16_t; [0,65535]
Image height	height	px	2	uint16_t; [0,65535]
Focal length	fx	-	8	double
^	fy	-	8	double
Principal point	cx	-	8	double
^	cy	-	8	double
Distortion model	model	-	1	uint8_t; pinhole,...
Distortion coefficients	coeffs[5]	-	40	double; k1,k2,p1,p2,k3

Transformation matrix from left image to right image.

Name	Field	Unit	Bytes	Note
Rotation matrix	rotation[3][3]	-	72	double
Translation vector	translation[3]	-	24	double