|
{ |
|
"stereo_baseline": 19.1 |
|
"lidar_camera_baseline": 45.0 |
|
"intrinsic_parameters": { |
|
"K": [ |
|
[855.90, 0.00, 1451.20], |
|
[0.00, 852.77, 1451.71], |
|
[0.00, 0.00, 1.00] |
|
], |
|
"D": [-0.01, -0.06, 0.08, -0.04] |
|
}, |
|
"extrinsic_parameters": { |
|
"front_lens": { |
|
"rotation_matrix": [ |
|
[-0.700126851, -0.714006597, -0.00411983425], |
|
[-0.714018186, 0.700109652, 0.00495029397], |
|
[-0.000650206827, 0.00640747030, -0.999979261] |
|
], |
|
"translation_vector": [0.01383108, 0.04572205, -0.41864597] |
|
}, |
|
"back_lens": { |
|
"rotation_matrix": [ |
|
[-0.6909925, -0.72270667, 0.01498109], |
|
[-0.72284182, 0.69097946, -0.00686258], |
|
[-0.00539199, -0.01557095, -0.99986423] |
|
], |
|
"translation_vector": [-0.03802397, 0.08226041, -0.38949371] |
|
} |
|
} |
|
} |
|
|
