image_width: 640
image_height: 480
camera_name: rgb_A00366922636045A
camera_matrix:
  rows: 3
  cols: 3
  data: [537.42895,   0.     , 307.84353,
           0.     , 536.46891, 277.82884,
           0.     ,   0.     ,   1.     ]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [0.157472, -0.263903, 0.003051, 0.001605, 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: [549.16425,   0.     , 308.0212 ,   0.     ,
           0.     , 547.93707, 278.43046,   0.     ,
           0.     ,   0.     ,   1.     ,   0.     ]
