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How to change the camera model when using image_pipeline?

Hi, I do some binocular camera calibration tests with image_pipeline. For some reasons, I can not see the video in the image_pipeline/Tutorials page. I have to ask questions there. 1, How can I cange the camera model? You know that diferent cameras should choose the appropriate one. Further, I want to know all the models that image_pipeline supports. 2, How can I get the baseline after I do the calibration? I just get 3 files: left.yaml, right.yaml and ost.txt. I don't see the extrinsic parameters, which I mean a matrix to show transformation relationship between double cameras. Is there some commend to add it into the outputs? Thank you!