stereo_params

params.yaml

# Kl = ( Mat_<float>(3,3) << Kl_[0], 0.0, Kl_[2],
                           # 0.0, Kl_[1], Kl_[3], 
                           # 0.0, 0.0, 1.0 );
cam0:
  Kl: [536.1659550000001, 536.538415, 317.456864, 261.798048] #fx, fy, cx, cy
  Kr: [535.427087, 535.775524, 314.884298, 261.374341]
  cam_bl: 0.17454185842
  cam_height: 512
  cam_model: Pinhole
  cam_width: 640
  Rl: [0.999959, 0.002598, -0.008710000000000001, -0.002679, 0.999953, -0.009268, 0.008685999999999999, 0.009291000000000001, 0.999919]
  Rr: [0.99993, 0.01148, -0.003027, -0.011451, 0.999891, 0.009297, 0.003133, -0.009261999999999999, 0.999952]
  Dl: [-0.118221, 0.13621, 0.001053, -0.000987]
  Dr: [-0.125288, 0.153824, 0.003005, -0.000906]
images_subfolder_l: cam0/left/
images_subfolder_r: cam1/right/