franka_camera.xml

<?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>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>607.5931396484375</px>
      <py>607.574951171875</py>
      <!--Principal point-->
      <u0>323.46282958984375</u0>
      <v0>243.25529479980469</v0>
      <!--Undistorted to distorted distortion parameter-->
      <kud>-0</kud>
      <!--Distorted to undistorted distortion parameter-->
      <kdu>0</kdu>
    </model>
  </camera>
</root>