type=Camera_PMA2616
solutionModel=UAV
fx=4251.901
fy=4251.901
cx=3143.601
cy=2050.149
k1=0.0312439554271260
k2=-0.0671471786324519
k3=0.0621998409575716
k4=-0.0157583818562818
k5=0.0000000000000000
k6=0.0000000000000000
p1=0.0004620248748680
p2=-0.0012168091369829
p3=-1.4534647763104638
p4=0.8501436937802395
s1=0.0000000000000000
s2=0.0000000000000000
s3=0.0000000000000000
s4=0.0000000000000000
b1=-2.0822248321710779
b2=0.8140290640566274
DistorType=1
focalLength=16.000
sensorWidth=23.500
sensorHeight=15.700
cam_imu_transX=-0.054850
cam_imu_transY=0.007299
cam_imu_transZ=-0.047981
cam_imu_rotationW=0.903312171601
cam_imu_rotationX=0.293160833202
cam_imu_rotationY=-0.079444657039
cam_imu_rotationZ=-0.302939586356