threshold: 50
point_diameter: 0.015 #点的直径
point_distance: 0.03  #一般两倍 点的直径
image_width: 1280
image_height: 720
camera_name: narrow_stereo
camera_matrix:
  rows: 3
  cols: 3
  data: [622.16373,   0.     , 625.97052,
         0.     , 619.8234 , 355.25153,
         0.     ,   0.     ,   1.     ]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [-0.005746, -0.009235, 0.003051, -0.003447, 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: [568.35791,   0.     , 616.01846,   0.     ,
         0.     , 577.48132, 356.89346,   0.     ,
         0.     ,   0.     ,   1.     ,   0.     ]