data_road.zip

P0: 7.188560000000e+02 0.000000000000e+00 6.071928000000e+02 0.000000000000e+00 0.000000000000e+00 7.188560000000e+02 1.852157000000e+02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 P1: 7.188560000000e+02 0.000000000000e+00 6.071928000000e+02 -3.861448000000e+02 0.000000000000e+00 7.188560000000e+02 1.852157000000e+02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00 P2: 7.188560000000e+02 0.000000000000e+00 6.071928000000e+02 4.538225000000e+01 0.000000000000e+00 7.188560000000e+02 1.852157000000e+02 -1.130887000000e-01 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 3.779761000000e-03 P3: 7.188560000000e+02 0.000000000000e+00 6.071928000000e+02 -3.372877000000e+02 0.000000000000e+00 7.188560000000e+02 1.852157000000e+02 2.369057000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 4.915215000000e-03 R0_rect: 9.999454000000e-01 7.259129000000e-03 -7.519551000000e-03 -7.292213000000e-03 9.999638000000e-01 -4.381729000000e-03 7.487471000000e-03 4.436324000000e-03 9.999621000000e-01 Tr_velo_to_cam: 7.967514000000e-03 -9.999679000000e-01 -8.462264000000e-04 -1.377769000000e-02 -2.771053000000e-03 8.241710000000e-04 -9.999958000000e-01 -5.542117000000e-02 9.999644000000e-01 7.969825000000e-03 -2.764397000000e-03 -2.918589000000e-01 Tr_imu_to_velo: 9.999976000000e-01 7.553071000000e-04 -2.035826000000e-03 -8.086759000000e-01 -7.854027000000e-04 9.998898000000e-01 -1.482298000000e-02 3.195559000000e-01 2.024406000000e-03 1.482454000000e-02 9.998881000000e-01 -7.997231000000e-01 Tr_cam_to_road: 9.998614544042e-01 1.463728277819e-02 -7.926131619957e-03 -1.350773335282e-02 -1.457373750113e-02 9.998616830832e-01 8.016412089222e-03 -1.609694086522e+00 8.042372979911e-03 -7.899787632460e-03 9.999364741353e-01 3.000653366024e-01