camera_info.yaml

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image_width: 1920
image_height: 1080
camera_name: camera
camera_matrix:
  rows: 3
  cols: 3
  data: [1155.246190, 0.000000, 938.125654, 0.000000, 1150.304413, 542.447395, 0.000000, 0.000000, 1.000000]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [0.029459, -0.101351, -0.002155, 0.002221, 0.000000]
rectification_matrix:
  rows: 3
  cols: 3
  data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
projection_matrix:
  rows: 3
  cols: 4
  data: [1116.440308, 0.000000, 940.157804, 0.000000, 0.000000, 1152.292847, 540.785218, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]