mmal_service_16.1.yaml

image_width: 640
image_height: 480
camera_name: mmal_service_16.1
camera_matrix:
  rows: 3
  cols: 3
  data: [683.48073,   0.     , 320.78383,
           0.     , 682.74892, 235.04889,
           0.     ,   0.     ,   1.     ]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [0.093322, -0.264576, 0.001291, 0.005263, 0.000000]
rectification_matrix:
  rows: 3
  cols: 3
  data: [1., 0., 0.,
         0., 1., 0.,
         0., 0., 1.]
projection_matrix:
  rows: 3
  cols: 4
  data: [687.70288,   0.     , 322.65875,   0.     ,
           0.     , 688.70624, 234.94695,   0.     ,
           0.     ,   0.     ,   1.     ,   0.     ]