focal_length=
5.828707e+02

fundamental_matrix=
-5.576357e-06 2.387996e-04 1.797882e-01
-2.482662e-04 5.271522e-06 3.192734e-01
-1.823175e-01 -3.215058e-01 -8.538940e-01
f_epi=
-1.564653e-09 -2.265819e-06 -4.467043e-04
2.268503e-06 3.270737e-08 4.101080e-03
4.441905e-04 -4.093960e-03 -2.493725e-04

essential_matrix=
-1.894502e+00 8.112934e+01 1.047933e+02
-8.434553e+01 1.790938e+00 1.860951e+02
-1.062675e+02 -1.873963e+02 -8.538940e-01

translation=
8.073005e-01 -4.594862e-01 3.703219e-01

rotation=
9.997585e-01 -4.452298e-03 2.152150e-02
4.615336e-03 9.999610e-01 -7.531833e-03
-2.148712e-02 7.629343e-03 9.997400e-01

full_rms=
1.963361e+00


inlier_rms=
1.104546e+00


num_inliers=
4.453000e+03


input_matches=
5.213000e+03

calculating and saving calibration took 7.661987e+01
