image_width: 640
image_height: 480
camera_name: "default_cam"
camera_matrix:
  rows: 3
  cols: 3
  data: [430.215, 0.0, 306.691, 0.0, 430.531, 227.224, 0.0, 0.0, 1.0]
distortion_model: "plumb_bob"
distortion_coefficients:
  rows: 1
  cols: 5
  data: [-0.33758562758914146, 0.11161239414304096, -0.00021819272592442094, -0.000030, 0]
rectification_matrix:
  rows: 3
  cols: 3
  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
  rows: 3
  cols: 4
  data: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0]
