{
  "camera_model": "equidistant",
  "image_size": [
    1280,
    800
  ],
  "left": {
    "intrinsics": [
      561.195925927249,
      562.849402029712,
      621.282400272412,
      380.555455380889
    ],
    "distortion": [
      -7.44253716539556e-05,
      -0.00702662033932424,
      0.00737569823650885,
      -0.00342230256441771
    ]
  },
  "right": {
    "intrinsics": [
      560.395452535348,
      561.90171021422,
      678.971652040359,
      380.401340535339
    ],
    "distortion": [
      -0.0130785435677431,
      0.0284434505383497,
      -0.0360333869900506,
      0.0144724062347222
    ]
  },
  "right_from_left": [
    [
      0.9975587205950972,
      0.06953016383322372,
      0.006492709911733523,
      -0.099402724724121
    ],
    [
      -0.06956823121068059,
      0.9975601387249519,
      0.005833595226966235,
      0.00270812139265413
    ],
    [
      -0.006071257768382089,
      -0.006271040135405457,
      0.9999619062167968,
      0.00129330292472699
    ],
    [
      0,
      0,
      0,
      1
    ]
  ],
  "scale_note": "Translation follows upstream stereoCalibrate reference scale (object.xml square spacing 0.0244, interpreted as metres). No independent measured depth is supplied.",
  "source_section": "TEST_F(fisheyeTest, stereoCalibrate): K1_correct, K2_correct, D1_correct, D2_correct, R_correct, T_correct"
}