focal_length=
5.953599e+02

fundamental_matrix=
-1.474768e-06 -1.418153e-04 6.273121e-02
1.413128e-04 1.322055e-06 1.719660e-03
-6.309166e-02 -7.443165e-05 -9.960327e-01
f_epi=
-2.453146e-09 -5.723557e-07 -1.337533e-04
5.571343e-07 -5.997632e-09 -3.612487e-03
1.459819e-04 3.629451e-03 2.841840e-03

essential_matrix=
-5.227367e-01 -5.026692e+01 3.734765e+01
5.008880e+01 4.686071e-01 1.023816e+00
-3.756225e+01 -4.431362e-02 -9.960327e-01

translation=
-2.198047e-02 5.963942e-01 8.023907e-01

rotation=
9.996042e-01 9.325900e-03 2.654300e-02
-9.441981e-03 9.999464e-01 4.251369e-03
-2.650192e-02 -4.500305e-03 9.996386e-01

full_rms=
4.878578e-01


inlier_rms=
1.227413e-01


num_inliers=
5.665000e+03


input_matches=
6.308000e+03

calculating and saving calibration took 4.040178e+01
