camera-parameters.json

{
  "intrinsics": {
    "54138969": {
      "calibration_matrix": [
        [
          1145.04940458804,
          0.0,
          512.541504956548
        ],
        [
          0.0,
          1143.78109572365,
          515.4514869776
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "distortion": [
        -0.207098910824901,
        0.247775183068982,
        -0.00142447157470321,
        -0.000975698859470499,
        -0.00307515035078854
      ]
    },
    "55011271": {
      "calibration_matrix": [
        [
          1149.67569986785,
          0.0,
          508.848621645943
        ],
        [
          0.0,
          1147.59161666764,
          508.064917088557
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "distortion": [
        -0.194213629607385,
        0.240408539138292,
        -0.0027408943961907,
        -0.001619026613787,
        0.00681997559022603
      ]
    },
    "58860488": {
      "calibration_matrix": [
        [
          1149.14071676148,
          0.0,
          519.815837182153
        ],
        [
          0.0,
          1148.7989685676,
          501.402658888552
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "distortion": [
        -0.208338188251856,
        0.255488007488945,
        -0.000759999321030303,
        0.00148438698385668,
        -0.00246049749891915
      ]
    },
    "60457274": {
      "calibration_matrix": [
        [
          1145.51133842318,
          0.0,
          514.968197319863
        ],
        [
          0.0,
          1144.77392807652,
          501.882018537695
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "distortion": [
        -0.198384093827848,
        0.218323676298049,
        -0.00181336200488089,
        -0.000587205583421232,
        -0.00894780704152122
      ]
    }
  },
  "extrinsics": {
    "S1": {
      "54138969": {
        "R": [
          [
            -0.9153617321513369,
            0.40180836633680234,
            0.02574754463350265
          ],
          [
            0.051548117060134555,
            0.1803735689384521,
            -0.9822464900705729
          ],
          [
            -0.399319034032262,
            -0.8977836111057917,
            -0.185819527201491
          ]
        ],
        "t": [
          [
            -346.05078140028075
          ],
          [
            546.9807793144001
          ],
          [
            5474.481087434061
          ]
        ]
      },
      "55011271": {
        "R": [
          [
            0.9281683400814921,
            0.3721538354721445,
            0.002248380248018696
          ],
          [
            0.08166409428175585,
            -0.1977722953267526,
            -0.976840363061605
          ],
          [
            -0.3630902204349604,
            0.9068559102440475,
            -0.21395758897485287
          ]
        ],
        "t": [
          [
            251.42516271750836
          ],
          [
            420.9422103702068
          ],
          [
            5588.195881837821
          ]
        ]
      },
      "58860488": {
        "R": [
          [
            -0.9141549520542256,
            -0.4027780222811878,
            -0.045722952682337906
          ],
          [
            -0.04562341383935875,
            0.21430849526487267,
            -0.9756999400261069
          ],
          [
            0.40278930937200774,
            -0.889854894701693,
            -0.214287280609606
          ]
        ],
        "t": [
          [
            480.482559565337
          ],
          [
            253.83237471361554
          ],
          [
            5704.2076793704555
          ]
        ]
      },
      "60457274": {
        "R": [
          [
            0.9141562410494211,
            -0.40060705854636447,
            0.061905989962380774
          ],
          [
            -0.05641000739510571,
            -0.2769531972942539,
            -0.9592261660183036
          ],
          [
            0.40141783470104664,
            0.8733904688919611,
            -0.2757767409202658
          ]
        ],
        "t": [
          [
            51.88347637559197
          ],
          [
            378.4208425426766
          ],
          [
            4406.149140878431
          ]
        ]
      }
    },
    "S2": {
      "54138969": {
        "R": [
          [
            -0.9072826056858586,
            0.4200536513985309,
            0.019829356183203237
          ],
          [
            0.06404223092375372,
            0.18462275321422528,
            -0.9807206695353717
          ],
          [
            -0.4156162485733534,
            -0.8885208882982778,
            -0.1944061855483302
          ]
        ],
        "t": [
          [
            -253.9473271477662
          ],
          [
            543.369692173605
          ],
          [
            5522.981999493327
          ]
        ]
      },
      "55011271": {
        "R": [
          [
            0.9195695689704942,
            0.3926824530407384,
            0.013867187794489123
          ],
          [
            0.09616327770610274,
            -0.190692439252443,
            -0.9769283584955307
          ],
          [
            -0.38097825639298405,
            0.8996871037676718,
            -0.21311659595137136
          ]
        ],
        "t": [
          [
            123.3506735789221
          ],
          [
            401.02404156275884
          ],
          [
            5743.522551411228
          ]
        ]
      },
      "58860488": {
        "R": [
          [
            -0.9231022562305128,
            -0.3793547679556717,
            -0.06302526930870815
          ],
          [
            -0.023520852900409527,
            0.21928184512961552,
            -0.9753779994829639
          ],
          [
            0.3838345920067314,
            -0.898891223911909,
            -0.2113423136836923
          ]
        ],
        "t": [
          [
            498.7689000990772
          ],
          [
            278.0695777621727
          ],
          [
            5618.721192968872
          ]
        ]
      },
      "60457274": {
        "R": [
          [
            0.9239917699501332,
            -0.37272063182115767,
            0.08554846392108466
          ],
          [
            -0.01857104155727153,
            -0.2671779087245581,
            -0.9634682566151569
          ],
          [
            0.38196115703026423,
            0.8886480156419687,
            -0.2537919991167828
          ]
        ],
        "t": [
          [
            -55.1478742462578
          ],
          [
            424.8747833741909
          ],
          [
            4452.137526291175
          ]
        ]
      }
    },
    "S3": {
      "54138969": {
        "R": [
          [
            -0.909926063968229,
            0.4142842734534348,
            0.020077322541766036
          ],
          [
            0.06112258570603725,
            0.18181129378483157,
            -0.9814319553432596
          ],
          [
            -0.41024210855042,
            -0.891803338310328,
            -0.19075696094942407
          ]
        ],
        "t": [
          [
            -144.30406670344493
          ],
          [
            546.2767112872957
          ],
          [
            5569.530692348755
          ]
        ]
      },
      "55011271": {
        "R": [
          [
            0.9248703521034336,
            0.3800681977315835,
            0.012767022876799783
          ],
          [
            0.093795468138089,
            -0.1954524371286302,
            -0.9762175756342618
          ],
          [
            -0.3685339088290622,
            0.9040721817938792,
            -0.21641683887726407
          ]
        ],
        "t": [
          [
            -38.93379836342622
          ],
          [
            375.57502666735104
          ],
          [
            5759.402838804998
          ]
        ]
      },
      "58860488": {
        "R": [
          [
            -0.9218827889823751,
            -0.38260686272952316,
            -0.061189149122614306
          ],
          [
            -0.02577019492115,
            0.21811470471458455,
            -0.9755828374059251
          ],
          [
            0.3866109419452632,
            -0.897796170731164,
            -0.2109360457310579
          ]
        ],
        "t": [
          [
            596.8162203909545
          ],
          [
            282.123966506171
          ],
          [
            5575.726600786697
          ]
        ]
      },
      "60457274": {
        "R": [
          [
            0.9244960445794738,
            -0.37161308683612865,
            0.08491629554468147
          ],
          [
            -0.018795005038688972,
            -0.26693214570791374,
            -0.963532032354589
          ],
          [
            0.3807280017840865,
            0.88918555053481,
            -0.2537621827176058
          ]
        ],
        "t": [
          [
            -158.57266932864025
          ],
          [
            433.1881250816
          ],
          [
            4413.555688648984
          ]
        ]
      }
    },
    "S4": {
      "54138969": {
        "R": [
          [
            -0.906169211683753,
            0.422346184383899,
            0.021933087625945674
          ],
          [
            0.06180306305120707,
            0.18355044391174938,
            -0.9810655512947585
          ],
          [
            -0.4183751201899252,
            -0.8876558652294037,
            -0.19243004892662768
          ]
        ],
        "t": [
          [
            -201.25197932223173
          ],
          [
            537.4605027947064
          ],
          [
            5553.966756732112
          ]
        ]
      },
      "55011271": {
        "R": [
          [
            0.9205073288493492,
            0.39058428754662783,
            0.010496278213208041
          ],
          [
            0.0923916650578188,
            -0.1914846595009468,
            -0.9771373523735801
          ],
          [
            -0.3796446203523497,
            0.900431862773358,
            -0.21234976510469855
          ]
        ],
        "t": [
          [
            63.12322044876507
          ],
          [
            396.6138950755392
          ],
          [
            5760.7235858284985
          ]
        ]
      },
      "58860488": {
        "R": [
          [
            -0.9244800422436603,
            -0.37641653359695837,
            -0.060392422769829215
          ],
          [
            -0.02551533125481826,
            0.2191523935220463,
            -0.9753569583924211
          ],
          [
            0.3803756292983513,
            -0.9001571094250204,
            -0.21220640656557746
          ]
        ],
        "t": [
          [
            559.4298619884164
          ],
          [
            278.041710381495
          ],
          [
            5601.2846874450925
          ]
        ]
      },
      "60457274": {
        "R": [
          [
            0.9241606780958346,
            -0.3729066880542538,
            0.0828712439019392
          ],
          [
            -0.021270464031387784,
            -0.2668345784720987,
            -0.9635075895349796
          ],
          [
            0.38141133756265905,
            0.8886731174824772,
            -0.2545299232755129
          ]
        ],
        "t": [
          [
            -98.61477305435534
          ],
          [
            432.68486951797627
          ],
          [
            4419.390974448715
          ]
        ]
      }
    },
    "S5": {
      "54138969": {
        "R": [
          [
            -0.9042074184788829,
            0.42657831374650107,
            0.020973473936051274
          ],
          [
            0.06390493744399675,
            0.18368565260974637,
            -0.9809055713959477
          ],
          [
            -0.4222855708380685,
            -0.8856017859436166,
            -0.1933503902128034
          ]
        ],
        "t": [
          [
            -219.3059666108619
          ],
          [
            544.4787497640639
          ],
          [
            5518.740477016156
          ]
        ]
      },
      "55011271": {
        "R": [
          [
            0.9222116004775194,
            0.38649075753002626,
            0.012274293810989732
          ],
          [
            0.09333184463870337,
            -0.19167233853095322,
            -0.9770111982052265
          ],
          [
            -0.3752531555110883,
            0.902156643264318,
            -0.21283434941998647
          ]
        ],
        "t": [
          [
            103.90282067751986
          ],
          [
            395.67169468951965
          ],
          [
            5767.97265758172
          ]
        ]
      },
      "58860488": {
        "R": [
          [
            -0.9258288614330635,
            -0.3728674116124112,
            -0.06173178026768599
          ],
          [
            -0.023578112500148365,
            0.220000562347259,
            -0.9752147584905696
          ],
          [
            0.3772068291381898,
            -0.9014264506460582,
            -0.21247437993123308
          ]
        ],
        "t": [
          [
            520.3272318446208
          ],
          [
            283.3690958234795
          ],
          [
            5591.123958858676
          ]
        ]
      },
      "60457274": {
        "R": [
          [
            0.9222815489764817,
            -0.3772688722588351,
            0.0840532119677073
          ],
          [
            -0.021177649402562934,
            -0.26645871124348197,
            -0.9636136478735888
          ],
          [
            0.3859381447632816,
            0.88694303832152,
            -0.25373962085111357
          ]
        ],
        "t": [
          [
            -79.116431351199
          ],
          [
            425.59047114848386
          ],
          [
            4454.481629705836
          ]
        ]
      }
    },
    "S6": {
      "54138969": {
        "R": [
          [
            -0.9149503344107554,
            0.4034864343564006,
            0.008036345687245266
          ],
          [
            0.07174776353922047,
            0.1822275975157708,
            -0.9806351824867137
          ],
          [
            -0.3971374371533952,
            -0.896655898321083,
            -0.19567845056940925
          ]
        ],
        "t": [
          [
            -239.5182864132218
          ],
          [
            545.8141831785044
          ],
          [
            5523.931578633363
          ]
        ]
      },
      "55011271": {
        "R": [
          [
            0.9197364689900042,
            0.39209901596964664,
            0.018525368698999664
          ],
          [
            0.101478073351267,
            -0.19191459963948,
            -0.9761511087296542
          ],
          [
            -0.37919260045353465,
            0.899681692667386,
            -0.21630030892357308
          ]
        ],
        "t": [
          [
            169.02510061389722
          ],
          [
            409.6671223380997
          ],
          [
            5714.338002825065
          ]
        ]
      },
      "58860488": {
        "R": [
          [
            -0.916577698818659,
            -0.39393483656788014,
            -0.06856140726771254
          ],
          [
            -0.01984531630322392,
            0.21607069980297702,
            -0.9761760169700323
          ],
          [
            0.3993638509543854,
            -0.8933805444629346,
            -0.20586334624209834
          ]
        ],
        "t": [
          [
            521.9864793089763
          ],
          [
            286.28272817103516
          ],
          [
            5643.2724406159
          ]
        ]
      },
      "60457274": {
        "R": [
          [
            0.9182950552949388,
            -0.3850769011116475,
            0.09192372735651859
          ],
          [
            -0.015534985886560007,
            -0.26706146429979655,
            -0.9635542737695438
          ],
          [
            0.3955917790277871,
            0.8833990913037544,
            -0.25122338635033875
          ]
        ],
        "t": [
          [
            -56.29675276801464
          ],
          [
            420.29579722027506
          ],
          [
            4499.322693551688
          ]
        ]
      }
    },
    "S7": {
      "54138969": {
        "R": [
          [
            -0.9055764231419416,
            0.42392653746206904,
            0.014752378956221508
          ],
          [
            0.06862812683752326,
            0.18074371881263407,
            -0.9811329615890764
          ],
          [
            -0.41859469903024304,
            -0.8874784498483331,
            -0.19277053457045695
          ]
        ],
        "t": [
          [
            -323.9118424584857
          ],
          [
            541.7715234126381
          ],
          [
            5506.569132699328
          ]
        ]
      },
      "55011271": {
        "R": [
          [
            0.9212640765077017,
            0.3886011826562522,
            0.01617473877914905
          ],
          [
            0.09922277503271489,
            -0.1946115441987536,
            -0.9758489574618522
          ],
          [
            -0.3760682680727248,
            0.9006194910741931,
            -0.21784671226815075
          ]
        ],
        "t": [
          [
            178.6238708832376
          ],
          [
            403.59193467821774
          ],
          [
            5694.8801003668095
          ]
        ]
      },
      "58860488": {
        "R": [
          [
            -0.9245069728829368,
            -0.37555597339631824,
            -0.06515034871105972
          ],
          [
            -0.018955014220249332,
            0.21601110989507338,
            -0.9762068980691586
          ],
          [
            0.38069353097569036,
            -0.9012751584550871,
            -0.20682244613440448
          ]
        ],
        "t": [
          [
            441.1064712697594
          ],
          [
            271.91614362573955
          ],
          [
            5660.120611352617
          ]
        ]
      },
      "60457274": {
        "R": [
          [
            0.9228353966173104,
            -0.3744001545228767,
            0.09055029013436408
          ],
          [
            -0.014982084363704698,
            -0.269786590656035,
            -0.9628035794752281
          ],
          [
            0.3849030629889691,
            0.8871525910436372,
            -0.25457791009093983
          ]
        ],
        "t": [
          [
            25.768533743836343
          ],
          [
            431.05581759025813
          ],
          [
            4461.872981411145
          ]
        ]
      }
    },
    "S8": {
      "54138969": {
        "R": [
          [
            -0.9115694669712032,
            0.4106494283805017,
            0.020202818036194434
          ],
          [
            0.060907749548984036,
            0.1834736632003901,
            -0.9811359034082424
          ],
          [
            -0.40660958293025334,
            -0.8931430243150293,
            -0.19226072190306673
          ]
        ],
        "t": [
          [
            -82.70216069652597
          ],
          [
            552.1896311377282
          ],
          [
            5557.353609418419
          ]
        ]
      },
      "55011271": {
        "R": [
          [
            0.931016282525616,
            0.3647626932499711,
            0.01252434769597448
          ],
          [
            0.08939715221301257,
            -0.19463753190599434,
            -0.9767929055586687
          ],
          [
            -0.35385990285476776,
            0.9105297407479727,
            -0.2138194574051759
          ]
        ],
        "t": [
          [
            -209.06289992510443
          ],
          [
            375.0691429434037
          ],
          [
            5818.276676972416
          ]
        ]
      },
      "58860488": {
        "R": [
          [
            -0.9209075762929309,
            -0.3847355178017309,
            -0.0625125368875214
          ],
          [
            -0.02568138180824641,
            0.21992027027623712,
            -0.9751797482259595
          ],
          [
            0.38893405939143305,
            -0.8964450100611084,
            -0.21240678280563546
          ]
        ],
        "t": [
          [
            623.0985110132146
          ],
          [
            290.9053651845054
          ],
          [
            5534.379001592981
          ]
        ]
      },
      "60457274": {
        "R": [
          [
            0.927667052235436,
            -0.3636062759574404,
            0.08499597802942535
          ],
          [
            -0.01666268768012713,
            -0.26770413351564454,
            -0.9633570738505596
          ],
          [
            0.37303645269074087,
            0.8922583555131325,
            -0.2543989622245125
          ]
        ],
        "t": [
          [
            -178.36705625795474
          ],
          [
            423.4669232560848
          ],
          [
            4421.6448791590965
          ]
        ]
      }
    },
    "S9": {
      "54138969": {
        "R": [
          [
            -0.9033486204435297,
            0.4269119782787646,
            0.04132109321984796
          ],
          [
            0.04153061098352977,
            0.182951140059007,
            -0.9822444139329296
          ],
          [
            -0.4268916470184284,
            -0.8855930460167476,
            -0.18299857527497945
          ]
        ],
        "t": [
          [
            -321.2078335720134
          ],
          [
            467.13452033013084
          ],
          [
            5514.330338522134
          ]
        ]
      },
      "55011271": {
        "R": [
          [
            0.9315720471487059,
            0.36348288012373176,
            -0.007329176497134756
          ],
          [
            0.06810069482701912,
            -0.19426747906725159,
            -0.9785818524481906
          ],
          [
            -0.35712157080642226,
            0.911120377575769,
            -0.20572758986325015
          ]
        ],
        "t": [
          [
            19.193095609487138
          ],
          [
            404.22842728571936
          ],
          [
            5702.169280033924
          ]
        ]
      },
      "58860488": {
        "R": [
          [
            -0.9269344193869241,
            -0.3732303525241731,
            -0.03862235247246717
          ],
          [
            -0.04725991098820678,
            0.218240494552814,
            -0.9747500127472326
          ],
          [
            0.37223525218497616,
            -0.901704048173249,
            -0.21993345934341726
          ]
        ],
        "t": [
          [
            455.40107288876885
          ],
          [
            273.3589338272866
          ],
          [
            5657.814488280711
          ]
        ]
      },
      "60457274": {
        "R": [
          [
            0.915460708083783,
            -0.39734606500700814,
            0.06362229623477154
          ],
          [
            -0.04940628468469528,
            -0.26789167566119776,
            -0.9621814117644814
          ],
          [
            0.39936288133525055,
            0.8776959352388969,
            -0.26487569589663096
          ]
        ],
        "t": [
          [
            -69.271255294384
          ],
          [
            422.1843366088847
          ],
          [
            4457.893374979773
          ]
        ]
      }
    },
    "S10": {
      "54138969": {
        "R": [
          [
            -0.9199955359932982,
            0.39133749168985454,
            0.021521648410310328
          ],
          [
            0.0555185840851712,
            0.18448351869097226,
            -0.9812662829999691
          ],
          [
            -0.3879766752957989,
            -0.9015657485337887,
            -0.19145051709809383
          ]
        ],
        "t": [
          [
            -181.4625993368258
          ],
          [
            543.5199110634021
          ],
          [
            5582.194377534298
          ]
        ]
      },
      "55011271": {
        "R": [
          [
            0.9152587269115653,
            0.40266346194010966,
            0.01279059148853104
          ],
          [
            0.09843295287698457,
            -0.1927270179143742,
            -0.9763028476624197
          ],
          [
            -0.3906563919867918,
            0.8948287171209015,
            -0.21603043863220686
          ]
        ],
        "t": [
          [
            -22.5707386911355
          ],
          [
            383.7773845053516
          ],
          [
            5727.149101385447
          ]
        ]
      },
      "58860488": {
        "R": [
          [
            -0.9117691356172892,
            -0.4060874893594546,
            -0.06140027948988781
          ],
          [
            -0.03165845257462336,
            0.21854812554171174,
            -0.9753124931029975
          ],
          [
            0.4094811176553588,
            -0.887315990956964,
            -0.21212153703897946
          ]
        ],
        "t": [
          [
            579.9870562891809
          ],
          [
            276.09388439709664
          ],
          [
            5616.656671116378
          ]
        ]
      },
      "60457274": {
        "R": [
          [
            0.9374925472123639,
            -0.3377263929586908,
            0.08395598501825681
          ],
          [
            -0.009787543064644189,
            -0.2667415901136707,
            -0.9637183863060765
          ],
          [
            0.3478676873784507,
            0.9026570819545717,
            -0.25337376437829157
          ]
        ],
        "t": [
          [
            -72.59483557976097
          ],
          [
            445.63607020105314
          ],
          [
            4402.73689876101
          ]
        ]
      }
    },
    "S11": {
      "54138969": {
        "R": [
          [
            -0.9059013006181885,
            0.4217144115102914,
            0.038727105014486805
          ],
          [
            0.044493184429779696,
            0.1857199061874203,
            -0.9815948619389944
          ],
          [
            -0.4211450938543295,
            -0.8875049698848251,
            -0.1870073216538954
          ]
        ],
        "t": [
          [
            -234.7208032216618
          ],
          [
            464.34018262882194
          ],
          [
            5536.652631113797
          ]
        ]
      },
      "55011271": {
        "R": [
          [
            0.9216646531492915,
            0.3879848687925067,
            -0.0014172943441045224
          ],
          [
            0.07721054863099915,
            -0.18699239961454955,
            -0.979322405373477
          ],
          [
            -0.3802272982247548,
            0.9024974149959955,
            -0.20230080971229314
          ]
        ],
        "t": [
          [
            -11.934348472090557
          ],
          [
            449.4165893644565
          ],
          [
            5541.113551868937
          ]
        ]
      },
      "58860488": {
        "R": [
          [
            -0.9063540572469627,
            -0.42053101768163204,
            -0.04093880896680188
          ],
          [
            -0.0603212197838846,
            0.22468715090881142,
            -0.9725620980997899
          ],
          [
            0.4181909532208387,
            -0.8790161246439863,
            -0.2290130547809762
          ]
        ],
        "t": [
          [
            781.127357651581
          ],
          [
            235.3131620173424
          ],
          [
            5576.37044019807
          ]
        ]
      },
      "60457274": {
        "R": [
          [
            0.91754082476548,
            -0.39226322025776267,
            0.06517975852741943
          ],
          [
            -0.04531905395586976,
            -0.26600517028098103,
            -0.9629057236990188
          ],
          [
            0.395050652748768,
            0.8805514269006645,
            -0.2618476013752581
          ]
        ],
        "t": [
          [
            -155.13650339749012
          ],
          [
            422.16256306729633
          ],
          [
            4435.416222660868
          ]
        ]
      }
    }
  }
}