/**:
  ros__parameters:
    cam_model: Pinhole
    cam_width: 1440
    cam_height: 1080
    scale: 0.5
    # --- 6mm lens (cam1/cam2) ---
    # cam_fx: 1731.285808
    # cam_fy: 1739.429604
    # cam_cx: 713.349417
    # cam_cy: 547.551014
    # cam_d0: -0.091047
    # cam_d1: 0.101541
    # cam_d2: -0.001141
    # cam_d3: -0.001854
    # --- 6mm lens (cam1, 2026-06-09 재캘리브레이션) → camera_cam1.yaml 사용 권장 ---
    # cam_fx: 2317.833528
    # cam_fy: 2322.780813
    # cam_cx: 657.065936
    # cam_cy: 587.150296
    # cam_d0: -0.111649
    # cam_d1:  0.359324
    # cam_d2: -0.001199
    # cam_d3: -0.005997
    # --- 8mm lens v4 (cam1/cam2, 2026-05-26) ---
    cam_fx: 2347.038631
    cam_fy: 2353.175990
    cam_cx: 791.950958
    cam_cy: 566.608413
    cam_d0: -0.128253
    cam_d1: 0.437160
    cam_d2: 0.002047
    cam_d3: 0.007568
    # --- 4mm lens (cam3, 2026-06-08 재캘리브레이션) → camera_cam3.yaml 사용 권장 ---
    # cam_fx: 1189.152341
    # cam_fy: 1192.753914
    # cam_cx: 736.714571
    # cam_cy: 558.680089
    # cam_d0: -0.101030
    # cam_d1:  0.082065
    # cam_d2: -0.000642
    # cam_d3:  0.002411