focal_length=
4.060955e+02

fundamental_matrix=
5.069930e-07 -2.367151e-04 -5.866493e-02
2.420144e-04 -3.505000e-06 -4.618354e-02
5.871556e-02 4.845272e-02 9.942989e-01
f_epi=
9.650462e-09 1.636281e-07 8.213390e-04
-2.174061e-07 -1.443276e-07 -5.612485e-03
-8.531067e-04 5.480783e-03 -1.509184e-02

essential_matrix=
8.361003e-02 -3.903754e+01 -2.382357e+01
3.991146e+01 -5.780220e-01 -1.875493e+01
2.384413e+01 1.967643e+01 9.942989e-01

translation=
3.663789e-01 -4.841349e-01 7.945942e-01

rotation=
9.992193e-01 -1.900030e-02 3.463846e-02
1.869966e-02 9.997848e-01 8.982783e-03
-3.480168e-02 -8.328042e-03 9.993595e-01

full_rms=
3.511628e-01


inlier_rms=
1.559086e-01


num_inliers=
7.650000e+03


input_matches=
9.260000e+03

calculating and saving calibration took 8.451640e+01
