code: public static <T extends CameraPinhole> void save(T parameters , Writer outputWriter ) {
  		PrintWriter out = new PrintWriter(outputWriter);
  
  		Yaml yaml = createYmlObject();
  
  		Map<String, Object> data = new HashMap<>();
  
  		if( parameters instanceof CameraPinholeBrown) {
  			out.println("# Pinhole camera model with radial and tangential distortion");
  			out.println("# (fx,fy) = focal length, (cx,cy) = principle point, (width,height) = image shape");
  			out.println("# radial = radial distortion, (t1,t2) = tangential distortion");
  			out.println();
  			putModelRadial((CameraPinholeBrown) parameters, data);
  		} else if( parameters instanceof CameraUniversalOmni ) {
  			out.println("# Omnidirectional camera model with radial and tangential distortion");
  			out.println("# C. Mei, and P. Rives. \"Single view point omnidirectional camera calibration" +
  					" from planar grids.\"  ICRA 2007");
  			out.println("# (fx,fy) = focal length, (cx,cy) = principle point, (width,height) = image shape");
  			out.println("# mirror_offset = offset mirror along z-axis in unit circle");
  			out.println("# radial = radial distortion, (t1,t2) = tangential distortion");
  			out.println();
  			putModelUniversalOmni((CameraUniversalOmni) parameters, data);
  		} else {
  
  			out.println("# Pinhole camera model");
  			out.println("# (fx,fy) = focal length, (cx,cy) = principle point, (width,height) = image shape");
  			out.println();
  			putModelPinhole(parameters,data);
  		}
  
  		yaml.dump(data,out);
  
  		out.close();
  	}
docs: Saves intrinsic camera model to disk
  
  @param parameters Camera parameters
  @param outputWriter Path to where it should be saved