M_monado_datasets/MO_odyssey_plus/extras/calibration.yaml

cameras:
  - T_SC: [0.9184477012197224, 0.006814501455941813, -0.3954837325277928, -0.08323388702651224,
      0.1357078093951938, 0.9337332184585131, 0.3312486486255676, -0.002218366214987864,
      0.3715335928194994, -0.35790479085507354, 0.8566603469810079, 0.005626638959664241,
      0.0, 0.0, 0.0, 1.0] # T_imu_cam, i.e., transforms a point in camera space into IMU space
    distortion_coefficients: [0.4896735773708656, 0.15364417808237318, -0.00023052089722471787,
      0.0003100581060316594, 0.00907202623907521, 0.760924032106806, 0.1699934621377647,
      0.040322943929294] # k1, k2, p1, p2, k3, k4, k5, k6
    distortion_type: radialtangential8 # Same as opencv's default model
    focal_length: [269.3157388466649, 269.2500852335917] # fx, fy
    image_dimension: [640, 480] # width, height
    principal_point: [323.6367354444056, 245.37262901935367] # cx, cy
  - T_SC: [0.9169473808337745, 0.004955465029392203, 0.3989773729779966, 0.022239747333591468,
      -0.15123925026697327, 0.929626218566189, 0.3360383652695211, -0.002331785076783077,
      -0.36923460016737975, -0.36847053765622934, 0.8531677870844424, 0.005312605812652759,
      0.0, 0.0, 0.0, 1.0]
    distortion_coefficients: [0.5124456275983791, 0.1183716939017548, 6.664706390223596e-05,
      0.0008408430780571384, 0.011001285241218404, 0.7946602801800285, 0.1281440933685308,
      0.039739477209162065]
    distortion_type: radialtangential8
    focal_length: [270.6592897084914, 270.6889084240239]
    image_dimension: [640, 480]
    principal_point: [323.6443046844411, 250.56110650729707]