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Gazebo/ROS: using CameraInfo to simulate a real camera?

When adding a Gazebo Camera connected to ROS (e.g., following the gazebo plugins tutorial), is there a way to load the camera parameters from a yaml file (containing the camera/projection matrices directly), like you would with a calibrated camera in ROS via Camera Info Manager? Use case is simulating a real camera (specifically a stereo pair) within Gazebo?