threshold: 50
point_diameter: 0.025 #点的直径
point_distance: 0.06  #一般两倍 点的直径
image_width: 1920
image_height: 1080
camera_name: narrow_stereo
camera_matrix:
  rows: 3
  cols: 3
  data: [926.02513,   0.     , 938.86119,
         0.     , 930.43114, 531.07557,
         0.     ,   0.     ,   1.     ]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [0.002693, -0.022956, 0.000658, 0.001861, 0.000000]
rectification_matrix:
  rows: 3
  cols: 3
  data: [1., 0., 0.,
         0., 1., 0.,
         0., 0., 1.]
projection_matrix:
  rows: 3
  cols: 4
  data: [833.93768,   0.     , 941.96793,   0.     ,
         0.     , 867.64252, 531.1505 ,   0.     ,
         0.     ,   0.     ,   1.     ,   0.     ]