calibrated: true
camera_0:
  camera_model: kb4
  camera_pose: [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]
  distortion: [-0.02, -0.0015, -0.002, 0.001]
  image_height: 3000
  image_width: 4000
  intrinsic: [968, 968, 2000, 1500]
camera_1:
  camera_model: kb4
  camera_pose: [-1, 0, 0, 0, 0, 1, 0, 0, 0, 0, -1, -0.07, 0, 0, 0, 1]
  distortion: [-0.021, -0.0014, -0.0019, 0.0009]
  image_height: 3000
  image_width: 4000
  intrinsic: [970, 971, 1980, 1510]
camera_2:
  camera_model: kb4
  camera_pose: [1, 0, 0, 0.036, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]
  distortion: [-0.002, 0.004, 0.003, -0.001]
  image_height: 800
  image_width: 1280
  intrinsic: [386, 386, 640, 400]
camera_3:
  camera_model: kb4
  camera_pose: [-1, 0, 0, 0.036, 0, 1, 0, 0, 0, 0, -1, -0.07, 0, 0, 0, 1]
  distortion: [-0.0021, 0.0041, 0.0031, -0.0011]
  image_height: 800
  image_width: 1280
  intrinsic: [387, 387, 641, 401]
version: V2.2.0_alpha