image_width: 640
image_height: 480
camera_name: head_camera
camera_matrix:
  rows: 3
  cols: 3
  data: [461.2953681310527, 0, 294.6839234091084, 0, 463.0881041569399, 243.8141717345016, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [-0.3382641806472924, 0.09294924180863037, -0.003794221327541872, 0.005385955042203554, 0]
rectification_matrix:
  rows: 3
  cols: 3
  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
  rows: 3
  cols: 4
  data: [368.5670471191406, 0, 288.7868961422464, 0, 0, 415.5361328125, 242.5790295740589, 0, 0, 0, 1, 0]