cameras:
- camera:
    distortion:
      parameters:
        cols: 1
        rows: 4
        data: [0, 0, 0, 0]
      type: radial-tangential  
    image_height: 480
    image_width: 640
    intrinsics:
      cols: 1
      rows: 4
      data: [320, 320, 320, 240]
    label: cam
    line-delay-nanoseconds: 0
    type: pinhole
  T_B_C:
    cols: 4
    rows: 4
    data: [1, 0, 0, 0,
           0, 1, 0, 0,
           0, 0, 1, 0,
           0, 0, 0, 0]
label: test_camera