camera_matrix: [1731.7, 0.0, 639.5, 0.0, 1726.7, 359.5, 0.0, 0.0, 1.0]
distort_coeffs: [-0.088, 0.841, 0.0, 0.0, 0.0]
R_gimbal2imubody: [1, 0, 0, 0, 1, 0, 0, 0, 1]
R_camera2gimbal: [1, 0, 0, 0, 1, 0, 0, 0, 1]
t_camera2gimbal: [0, 0, 0]