${horizontal_fov}
B8G8R8
${width}
${height}
0.02
1000
${k1}
${k2}
${k3}
${p1}
${p2}
${(cx - 0.5)/ width} ${(cy - 0.5) / height}
1
${rate}
1
true
image_raw
camera_info
${rate}
${name}
${frame_name}
${cx_prime}
${cx}
${cy}
${k1}
${k2}
${k3}
${p1}
${p2}
${min_rate}
${window_size}
${max_st_dev}