30.0 1.3962634 800 800 R8G8B8 0.02 300 gaussian 0.0 0.007 0 ${-baseline} 0 0 0 0 1.3962634 800 800 R8G8B8 0.02 300 gaussian 0.0 0.007 ${name} image_raw camera_info ${name}_left_camera_optical_frame ${baseline}