{
    "extrinsic_ok": [0.000795916642330613, -0.9994847331424607, 0.03208792189972302, -0.5, 
                0.05182623470216488, -0.03200358149726322, -0.9981431821977967, 0.0013696063542738557, 
                0.998655800520527, 0.002457434941619845, 0.05177405817794394, -0.10943480581045151, 
                0, 0, 0, 1],
    "extrinsic": [ -3.9384503688273731e-02, -9.9721160654039998e-01,
        6.3386691429213382e-02, 1.2484878301620483e-01,
        5.0218947462187857e-02, -6.5331141114291447e-02,
        -9.9659916682510530e-01, -1.8440222740173340e-01,
        9.9796138110901755e-01, -3.6067350634868045e-02,
        5.2651951845710920e-02, -3.9436036348342896e-01, 0, 0, 0, 1],
        
    "intrinsic": [1.2100629810000000e+03, 0.0, 1.0224299030000000e+03, 
                0.0,1.2058507139999999e+03, 7.9254164400000002e+02, 
                0.0, 0.0, 1.0]
}