image_width: 1920
image_height: 1080
camera_name: usb_camera
camera_matrix:
  rows: 3
  cols: 3
  data: [281.59527801, 0.0, 364.60571628,
         0.0, 285.67845685, 204.92614855,
         0.0, 0.0, 1.0]

distortion_model: plumb_bob

distortion_coefficients:
  rows: 1
  cols: 5
  data: [ 0.03532389,-0.05576607, 0.00027529, 0.00241747, 0.01024998]

rectification_matrix:
  rows: 3
  cols: 3
  data: [1.0, 0.0, 0.0,
         0.0, 1.0, 0.0,
         0.0, 0.0, 1.0]

projection_matrix:
  rows: 3
  cols: 4
  data: [281.59527801, 0.0, 364.60571628, 0.0,
         0.0, 285.67845685, 204.92614855, 0.0,
         0.0, 0.0, 1.0, 0.0]