image_width: 640
image_height: 480
camera_name: head_camera
camera_matrix:
  rows: 3
  cols: 3
  data: [606.43741,   0.     , 336.78408,
           0.     , 611.68212, 210.80521,
           0.     ,   0.     ,   1.     ]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [0.100090, -0.257867, -0.020232, -0.002016, 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: [614.42273,   0.     , 335.7976 ,   0.     ,
           0.     , 614.68054, 203.69283,   0.     ,
           0.     ,   0.     ,   1.     ,   0.     ]