P0: 7.183351000000e+02 0.000000000000e+00 6.003891000000e+02 0.000000000000e+00 0.000000000000e+00 7.183351000000e+02 1.815122000000e+02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00  
P1: 7.183351000000e+02 0.000000000000e+00 6.003891000000e+02 -3.858846000000e+02 0.000000000000e+00 7.183351000000e+02 1.815122000000e+02 0.000000000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 0.000000000000e+00  
P2: 7.183351000000e+02 0.000000000000e+00 6.003891000000e+02 4.450382000000e+01 0.000000000000e+00 7.183351000000e+02 1.815122000000e+02 -5.951107000000e-01 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 2.616315000000e-03  
P3: 7.183351000000e+02 0.000000000000e+00 6.003891000000e+02 -3.363147000000e+02 0.000000000000e+00 7.183351000000e+02 1.815122000000e+02 3.159867000000e+00 0.000000000000e+00 0.000000000000e+00 1.000000000000e+00 5.323834000000e-03  
R_rect 9.999478000000e-01 9.791707000000e-03 -2.925305000000e-03 -9.806939000000e-03 9.999382000000e-01 -5.238719000000e-03 2.873828000000e-03 5.267134000000e-03 9.999820000000e-01  
Tr_velo_cam 7.755449000000e-03 -9.999694000000e-01 -1.014303000000e-03 -7.275538000000e-03 2.294056000000e-03 1.032122000000e-03 -9.999968000000e-01 -6.324057000000e-02 9.999673000000e-01 7.753097000000e-03 2.301990000000e-03 -2.670414000000e-01  
Tr_imu_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  
