**File Template: extrinsics.yml**

%YAML:1.0
R1: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ r11_left, r12_left, r13_left,
r21_left, r22_left, r23_left,
r31_left, r32_left, r33_left]
P1: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [f, 0, cx_left, 0,
0, f, cy_left, 0,
0, 0, 0, 1 ]
R2: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ r11_right, r12_right, r13_right,
r21_right, r22_right, r23_right,
r31_right, r32_right, r33_right]
P2: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [f, 0, cx_right, 0,
0, f, cy_right, 0,
0, 0, 0, 1 ]

Definitions of the above template terms

- R1
- left rotation matrix [rectification matrix]
- P1
- left projection matrix [rectified camera matrix]
- R2
- right rotation matrix [rectification matrix]
- P2
- right projection matrix [rectified camera matrix]