%YAML:1.0
---
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 5.3402108990030604e+02, 0., 9.2598444295282172e+02, 0.,
       5.3455325152709827e+02, 5.7771767919091610e+02, 0., 0., 1. ]
dist_coeffs: !!opencv-matrix
   rows: 4
   cols: 1
   dt: d
   data: [ -1.8724887233075402e-02, 6.4408558584901701e-03,
       -5.2069636709412993e-03, 8.4815411645490968e-04 ]
resolution: !!opencv-matrix
   rows: 2
   cols: 1
   dt: i
   data: [ 1920, 1080 ]
   
project_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ -4.5788125154634862e-01, -2.4847281172116515e+00,
       1.1901356339453334e+03, 7.0190114936088524e-02,
       -2.2880693827869965e+00, 1.0012772462548877e+03,
       1.4549566908718078e-04, -3.4392525895003334e-03, 1. ]
scale_xy: !!opencv-matrix
   rows: 2
   cols: 1
   dt: f
   data: [ 6.99999988e-01, 8.00000012e-01 ]
shift_xy: !!opencv-matrix
   rows: 2
   cols: 1
   dt: f
   data: [ -80., -200. ]