image_width: 320
image_height: 240
distortion_model: plumb_bob
camera_name: raspicam
camera_matrix:
  rows: 3
  cols: 3
  data:
  - 166.23942373073172
  - 0.
  - 162.19011246829268
  - 0.
  - 166.5880923974026
  - 109.82227735714285
  - 0.
  - 0.
  - 1.
distortion_coefficients:
  rows: 1
  cols: 8
  data:  [  2.15356885e-01,  -1.17472846e-01,  -3.06197672e-04,
   -1.09444025e-04,  -4.53657258e-03,   5.73090623e-01,
   -1.27574577e-01,  -2.86125589e-02,   0.00000000e+00,
    0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
    0.00000000e+00,   0.00000000e+00]
rectification_matrix:
  rows: 3
  cols: 3
  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
  rows: 3
  cols: 4
  data:
  - 166.23942373073172
  - 0.
  - 162.19011246829268
  - 0.
  - 0.
  - 166.5880923974026
  - 109.82227735714285
  - 0.
  - 0.
  - 0.
  - 1.
  - 0.