focal_length=
1.592391e+03

fundamental_matrix=
2.009411e-06 -6.450672e-05 1.246373e-01
7.513504e-05 -1.805590e-06 6.914289e-01
-1.247984e-01 -6.943590e-01 -9.318027e-02
f_epi=
2.850449e-10 1.277907e-07 6.435757e-05
-1.306222e-07 -8.520223e-09 2.620682e-03
-7.157426e-05 -2.618254e-03 2.581299e-03

essential_matrix=
5.095286e+00 -1.635704e+02 1.984714e+02
1.905207e+02 -4.578454e+00 1.101026e+03
-1.987279e+02 -1.105691e+03 -9.318027e-02

translation=
-9.701425e-01 1.743512e-01 1.685978e-01

rotation=
9.996832e-01 6.100109e-04 -2.516382e-02
-4.985973e-04 9.999900e-01 4.433566e-03
2.516628e-02 -4.419615e-03 9.996735e-01

full_rms=
1.346963e+01


inlier_rms=
1.843893e+00


num_inliers=
7.654000e+03


input_matches=
1.671600e+04

calculating and saving calibration took 3.967083e+02
