| { | |
| "cameraOrder": [ | |
| "front", | |
| "front_right", | |
| "front_left", | |
| "back", | |
| "back_left", | |
| "back_right" | |
| ], | |
| "canBus": [ | |
| [ | |
| 3.62890625, | |
| -2.171875, | |
| 0.0, | |
| -0.962890625, | |
| -0.962890625, | |
| -0.962890625, | |
| -0.962890625, | |
| -0.35498046875, | |
| -0.417236328125, | |
| 9.7421875, | |
| 0.00868988037109375, | |
| 0.017425537109375, | |
| -0.05926513671875, | |
| 8.234375, | |
| 0.0, | |
| 0.0, | |
| 5.734375, | |
| -1.57421875 | |
| ] | |
| ], | |
| "frame": 2, | |
| "imageSizes": [ | |
| [ | |
| 900, | |
| 1600 | |
| ], | |
| [ | |
| 900, | |
| 1600 | |
| ], | |
| [ | |
| 900, | |
| 1600 | |
| ], | |
| [ | |
| 900, | |
| 1600 | |
| ], | |
| [ | |
| 900, | |
| 1600 | |
| ], | |
| [ | |
| 900, | |
| 1600 | |
| ] | |
| ], | |
| "lidar2img": [ | |
| [ | |
| [ | |
| [ | |
| 621.0, | |
| 420.75, | |
| 17.234375, | |
| -177.625 | |
| ], | |
| [ | |
| -8.625, | |
| 268.5, | |
| -612.5, | |
| -322.75 | |
| ], | |
| [ | |
| -0.0125732421875, | |
| 0.99853515625, | |
| 0.054351806640625, | |
| -0.4287109375 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 682.5, | |
| -309.25, | |
| -19.671875, | |
| -229.625 | |
| ], | |
| [ | |
| 190.25, | |
| 160.5, | |
| -619.5, | |
| -345.5 | |
| ], | |
| [ | |
| 0.84326171875, | |
| 0.53662109375, | |
| 0.033203125, | |
| -0.60986328125 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 15.3203125, | |
| 751.5, | |
| 39.03125, | |
| -156.0 | |
| ], | |
| [ | |
| -194.0, | |
| 160.125, | |
| -619.0, | |
| -340.5 | |
| ], | |
| [ | |
| -0.82421875, | |
| 0.56494140625, | |
| 0.040283203125, | |
| -0.53515625 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| -402.0, | |
| -425.5, | |
| -13.5234375, | |
| -436.5 | |
| ], | |
| [ | |
| -5.203125, | |
| -222.5, | |
| -407.5, | |
| -354.75 | |
| ], | |
| [ | |
| -0.00809478759765625, | |
| -0.9990234375, | |
| -0.039459228515625, | |
| -1.0185546875 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| -593.5, | |
| 461.75, | |
| 26.640625, | |
| -311.0 | |
| ], | |
| [ | |
| -231.25, | |
| -51.1875, | |
| -626.5, | |
| -281.0 | |
| ], | |
| [ | |
| -0.94775390625, | |
| -0.3193359375, | |
| 0.003086090087890625, | |
| -0.43310546875 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 142.875, | |
| -734.5, | |
| -30.015625, | |
| -136.625 | |
| ], | |
| [ | |
| 222.875, | |
| -61.03125, | |
| -625.0, | |
| -293.5 | |
| ], | |
| [ | |
| 0.92431640625, | |
| -0.3818359375, | |
| -0.003200531005859375, | |
| -0.4638671875 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ] | |
| ] | |
| ], | |
| "rotationCanBus": [ | |
| [ | |
| 3.628173828125, | |
| -2.1719970703125, | |
| 0.0, | |
| -0.9627518057823181, | |
| -0.007396822329610586, | |
| -0.00615654094144702, | |
| 0.2702152729034424, | |
| -0.3548637330532074, | |
| -0.417147159576416, | |
| 9.745100975036621, | |
| 0.008687585592269897, | |
| 0.017426401376724243, | |
| -0.059267766773700714, | |
| 8.235058784484863, | |
| 0.0, | |
| 0.0, | |
| 5.7360124588012695, | |
| -1.574005126953125 | |
| ] | |
| ], | |
| "sceneId": "fcbccedd61424f1b85dcbf8f897f9754", | |
| "shift": [ | |
| [ | |
| -0.0003199577331542969, | |
| 0.041290283203125 | |
| ] | |
| ], | |
| "version": 1 | |
| } | |