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<?xml version="1.0"?>
<root>
<!--This file stores intrinsic camera parameters used
in the vpCameraParameters Class of ViSP available
at https://visp.inria.fr/download/ .
It can be read with the parse method of
the vpXmlParserCamera class.-->
<camera>
<!--Name of the camera-->
<name>color_camera</name>
<!--Size of the image on which camera calibration was performed-->
<image_width>640</image_width>
<image_height>480</image_height>
<!--Intrinsic camera parameters computed for each projection model-->
<model>
<!--Projection model type-->
<type>perspectiveProjWithDistortion</type>
<!--Pixel ratio-->
<px>608.26318359375</px>
<py>608.282470703125</py>
<!--Principal point-->
<u0>324.86920166015625</u0>
<v0>246.94593811035156</v0>
<!--Undistorted to distorted distortion parameter-->
<kud>-0</kud>
<!--Distorted to undistorted distortion parameter-->
<kdu>0</kdu>
</model>
</camera>
<camera>
<!--Name of the camera-->
<name>depth_camera</name>
<!--Size of the image on which camera calibration was performed-->
<image_width>640</image_width>
<image_height>480</image_height>
<!--Intrinsic camera parameters computed for each projection model-->
<model>
<!--Projection model type-->
<type>perspectiveProjWithDistortion</type>
<!--Pixel ratio-->
<px>608.26318359375</px>
<py>608.282470703125</py>
<!--Principal point-->
<u0>324.86920166015625</u0>
<v0>246.94593811035156</v0>
<!--Undistorted to distorted distortion parameter-->
<kud>-0</kud>
<!--Distorted to undistorted distortion parameter-->
<kdu>0</kdu>
</model>
</camera>
<camera>
<!--Name of the camera-->
<name>infrared_camera</name>
<!--Size of the image on which camera calibration was performed-->
<image_width>640</image_width>
<image_height>480</image_height>
<!--Intrinsic camera parameters computed for each projection model-->
<model>
<!--Projection model type-->
<type>perspectiveProjWithDistortion</type>
<!--Pixel ratio-->
<px>380.10546875</px>
<py>380.10546875</py>
<!--Principal point-->
<u0>325.81158447265625</u0>
<v0>233.01167297363281</v0>
<!--Undistorted to distorted distortion parameter-->
<kud>-0</kud>
<!--Distorted to undistorted distortion parameter-->
<kdu>0</kdu>
</model>
</camera>
</root>
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