code/web_server_config/waymo_camera.yaml

cams:
  CAM_BACK:
    extrinsics:
      l2c_rot:
      - 92.25568216952541
      - 0.49511589981751
      - -179.5254516169236
      l2c_trans:
      - 0.0008379812089021367
      - -0.27867326994260555
      - -0.9287049615140774
      v2c_rot:
      - 89.60442534979997
      - 0.6418405371350101
      - -89.47195526949999
      v2c_trans:
      - -0.028860307553156085
      - 1.5680612963127507
      - 0.0443194618131316
    intrinsics:
      H: 450
      W: 800
      cx: 428.8887163431848
      cy: 238.44244942037076
      fovx: 82.22309438895985
      fovy: 50.9063564284116
  CAM_BACK_LEFT:
    extrinsics:
      l2c_rot:
      - 89.82295180299249
      - 2.3155403060452167
      - -108.62593888549094
      l2c_trans:
      - -0.21405828773135127
      - -0.28654507725108536
      - -0.43206949836662323
      v2c_rot:
      - 88.81655348310001
      - -0.14162822446102205
      - -18.57965602679999
      v2c_trans:
      - -1.1439217599288067
      - 1.5620432465039058
      - -0.15609448627566294
    intrinsics:
      H: 450
      W: 800
      cx: 414.78846668154955
      cy: 233.58402809319935
      fovx: 58.03154053626905
      fovy: 32.45259285521372
  CAM_BACK_RIGHT:
    extrinsics:
      l2c_rot:
      - 90.1950785524308
      - -2.6262664650943512
      - 112.51452117672765
      l2c_trans:
      - 0.24641784245418819
      - -0.2948173619480623
      - -0.3999756259757112
      v2c_rot:
      - 89.33706258359997
      - -0.11343093253300289
      - -157.478809169
      v2c_trans:
      - 1.1606735483944377
      - 1.5478119044158865
      - -0.043687868897601415
    intrinsics:
      H: 450
      W: 800
      cx: 412.6884022687992
      cy: 231.27408192854378
      fovx: 58.24002919568859
      fovy: 32.59883582992881
  CAM_FRONT:
    extrinsics:
      l2c_rot:
      - 86.86166850342303
      - -0.5023434125361063
      - -0.6429117094019539
      l2c_trans:
      - -0.007022340992421169
      - -0.3515059821513211
      - -0.7332408994883366
      v2c_rot:
      - 89.50957761160001
      - -0.700717347395009
      - 89.4120791145
      v2c_trans:
      - 0.00536785836469495
      - 1.4801653630391234
      - -1.7346966604269407
    intrinsics:
      H: 450
      W: 800
      cx: 413.294057390699
      cy: 234.99233131122904
      fovx: 58.12158487224077
      fovy: 32.515728607991626
  CAM_FRONT_LEFT:
    extrinsics:
      l2c_rot:
      - 87.64723817274033
      - 2.0461415281358453
      - -55.34666714311071
      l2c_trans:
      - -0.20156170366177595
      - -0.34522197648384223
      - -0.7410957430382523
      v2c_rot:
      - 89.0143474659
      - -0.23019817163998718
      - 34.65885052869996
      v2c_trans:
      - -1.0050284941954049
      - 1.4882946049903183
      - -1.3333331421595005
    intrinsics:
      H: 450
      W: 800
      cx: 413.6205315547843
      cy: 225.457749102887
      fovx: 58.91268361861167
      fovy: 32.3693134188315
  CAM_FRONT_RIGHT:
    extrinsics:
      l2c_rot:
      - 88.10298835347594
      - -3.051668588782139
      - 57.49277888679618
      l2c_trans:
      - 0.22950989625543705
      - -0.33063487372538725
      - -0.7384322069296176
      v2c_rot:
      - 89.66956817789999
      - -0.9071318410000028
      - 147.574088459
      v2c_trans:
      - 1.0906326784058709
      - 1.4930721654490449
      - -1.2775493224769925
    intrinsics:
      H: 450
      W: 800
      cx: 408.8943785479856
      cy: 225.97708900475635
      fovx: 58.95866942785656
      fovy: 32.40152637651543
cam_rect:
  rot:
  - 0.0
  - 0.0
  - 0.0
  trans:
  - 0.0
  - 0.3
  - 0.0

cam_align:
  [
    ['CAM_FRONT_LEFT', 'CAM_FRONT', 'CAM_FRONT_RIGHT'],
    ['CAM_BACK_RIGHT',  'CAM_BACK',  'CAM_BACK_LEFT'],
  ]