image_width: 1640
image_height: 1232
camera_name: imx219__base_axi_pcie_1000120000_rp1_i2c_88000_imx219_10_1640x1232
camera_matrix:
  rows: 3
  cols: 3
  data: [1281.9678810697528, 0.0, 792.9357401565763,
         0.0, 1283.1760537785433, 615.1915708814056,
         0.0, 0.0, 1.0]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [0.19247275241900028, -0.5098314224324741, 6.710711247494001e-05,
         -0.00018449989636263572, 0.40356075592228546]
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: [1281.9678810697528, 0.0, 792.9357401565763, 0.0,
         0.0, 1283.1760537785433, 615.1915708814056, 0.0,
         0.0, 0.0, 1.0, 0.0]