camera calibration result

[Kaijun101]

Hi guys, i am not too sure what are the value to add in for rectification_matrix and the projection_matrix that is required for my USB camera. I got my camera result from kalibr.

cam0:
cam_overlaps: []
camera_model: ds
distortion_coeffs: []
distortion_model: none
intrinsics: [-0.008924692942985086, 0.9138075160533852, 420.0386682531036, 419.0136126237458,
303.3523319667734, 244.90890485641165] #(intrinsics vector: [xi alpha fu fv pu pv])
resolution: [640, 480]
rostopic: /image_converter/output_image

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I need to covert it to this format. This is what i put but i am not too sure if i did it correctly.

image_width: 640
image_height: 480
camera_name: usb_cam
camera_matrix:
rows: 3
cols: 3
data: [357.7808547369238, 0, 329.66778704539, 0, 357.41035237313594, 240.04276942034474, 0, 0, 1]
distortion_model: radtan
distortion_coefficients:
rows: 1
cols: 4
data: [0.012252036342139852, 0.009736785998316986, 0.005191213687411114,
0.0009482505467547185]
rectification_matrix:
rows: 3
cols: 3
data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
rows: 3
cols: 4
data: [357.7808547369238, 0, 329.66778704539, 0, 0, 357.41035237313594, 240.04276942034474, 0, 0, 0, 1, 0]