# Stereo camera calibration report
# Generated by camera-calib-gui - MRPT at Thu Jan 26 02:40:19 2012
# (This file is loadable from rawlog-edit and other MRPT tools)
# ---------------------------------------------------------------------

# Left camera calibration parameters:
[CAMERA_PARAMS_LEFT]
resolution = [1024 768]
cx         = 523.098290
cy         = 402.599910
fx         = 839.161865
fy         = 841.168710
dist       = [-3.747584e-001 2.468493e-001 0.000000e+000 0.000000e+000 -1.281381e-001]    // The order is: [K1 K2 T1 T2 K3]

# Right camera calibration parameters:
[CAMERA_PARAMS_RIGHT]
resolution = [1024 768]
cx         = 511.173904
cy         = 388.440870
fx         = 836.761931
fy         = 838.133088
dist       = [-3.606276e-001 2.116929e-001 0.000000e+000 0.000000e+000 -9.216787e-002]    // The order is: [K1 K2 T1 T2 K3]

# Relative pose of the right camera wrt to the left camera:
[CAMERA_PARAMS_LEFT2RIGHT_POSE]
translation_only     = [1.193203e-001 -3.361637e-004 3.729054e-004]
rotation_matrix_only = [9.9997534298507e-001 -6.2827062556904e-003 -3.1370406439725e-003 ;6.2847721003742e-003 9.9998003994880e-001 6.4910988856303e-004 ;3.1328998617231e-003 -6.6880946896783e-004 9.9999486880301e-001 ]
pose_yaw_pitch_roll  = [0.119320 -0.000336 0.000373 0.360095 -0.179502 -0.038320]
pose_quaternion      = [0.119320 -0.000336 0.000373 0.999994 -0.000329 -0.001567 0.003142]