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Great! But my calibration result of a monocular camera gives different camera matrix K and projection matrix P:

image_width: 1280
image_height: 720
camera_name: head_camera
camera_matrix:
rows: 3
cols: 3
data: [1191.684030513793, 0, 612.2327036330117, 0, 1190.477585826093, 386.1943923951908, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.4279928528758908, 0.2098535466268812, 0.001734967304558237, -0.0001708439997913541, 0]
rectification_matrix:
rows: 3
cols: 3
data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
rows: 3
cols: 4
data: [1030.564331054688, 0, 602.9148174812726, 0, 0, 1139.198486328125, 388.5892694416107, 0, 0, 0, 1, 0]

which makes me confused...