image_width: 640
image_height: 480
camera_name: depth_PS1080_PrimeSense
camera_matrix:
  rows: 3
  cols: 3
  data: [546.0500834384593, 0.0, 318.26543549764034, 0.0, 545.7495208147751, 235.530988776277, 0.0, 0.0, 1.0]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [-0.02445400737474688, 0.015558351939314555, 0.0010451121492915797, -0.004270544037870965, 0.0]
rectification_matrix:
  rows: 3
  cols: 3
  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
  rows: 3
  cols: 4
  data: [579.1331176757812, 0.0, 314.36071062675546, 0.0, 0.0, 580.1824340820312, 251.67534864987465, 0.0, 0.0, 0.0, 1.0, 0.0]