sample_intrinsics.yaml

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header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
#change image resolution if needs
height: 1080
width: 1920
# change the distortion_model and R if needs.
# change D and K for sure.
distortion_model: plumb_bob
D: [-0.5467789805057404, 0.2729182152572299, -0.0019514549064445735, -0.0004166085741949163, 0.0]
K: [1998.5484365316602, 0.0, 917.7422426747606, 0.0, 1990.2872857509276, 567.1297837900606, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
binning_x: 0
binning_y: 0
roi:
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False