autovalet/v2_camera_config.json at main · BerkeleyAutomation/autovalet · GitHub

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{
  "rgb_front": {
    "type": "sensor.camera.fisheye",
    "id": "rgb_front",
    "spawn_point": {
      "x": 2.5174903678894043,
      "y": -0.02966202050447464,
      "z": 0.6610742449760437,
      "roll": -1.1182484960331254,
      "pitch": -2.250519583875698,
      "yaw": -3.667423544174626
    },
    "x_size": 808,
    "y_size": 640,
    "max_angle": 210,
    "d_1": 0,
    "d_2": 0,
    "d_3": 0,
    "d_4": 0,
    "f_x": 240,
    "f_y": 240,
    "c_x": 404.64,
    "c_y": 321.25
  },
  "rgb_left": {
    "type": "sensor.camera.fisheye",
    "id": "rgb_left",
    "spawn_point": {
      "x": 0.6332669067382812,
      "y": 1.0550299882888794,
      "z": 1.1123034000396729,
      "roll": 155.90414946628354,
      "pitch": 41.251019699845806,
      "yaw": 83.02159139928698
    },
    "x_size": 808,
    "y_size": 640,
    "max_angle": 210,
    "d_1": 0,
    "d_2": 0,
    "d_3": 0,
    "d_4": 0,
    "f_x": 240,
    "f_y": 240,
    "c_x": 402.0833740234375,
    "c_y": 320.19158935546875
  },
  "rgb_right": {
    "type": "sensor.camera.fisheye",
    "id": "rgb_right",
    "spawn_point": {
      "x": 0.6501223850250244,
      "y": -1.0577000546455383,
      "z": 1.1112037038803101,
      "roll": 17.411005968008755,
      "pitch": 40.99652002118196,
      "yaw": -94.20578027837273
    },
    "x_size": 808,
    "y_size": 640,
    "max_angle": 210,
    "d_1": 0,
    "d_2": 0,
    "d_3": 0,
    "d_4": 0,
    "f_x": 240,
    "f_y": 240,
    "c_x": 404.88433837890625,
    "c_y": 320.15362548828125
  },
  "rgb_rear": {
    "type": "sensor.camera.fisheye",
    "id": "rgb_rear",
    "spawn_point": {
      "x": -2.3432192993164062,
      "y": 0.03407597541809082,
      "z": 1.0198822259902954,
      "roll": -0.3949209775211819,
      "pitch": 28.485860593955532,
      "yaw": 179.52719199385137
    },
    "x_size": 808,
    "y_size": 640,
    "max_angle": 210,
    "d_1": 0,
    "d_2": 0,
    "d_3": 0,
    "d_4": 0,
    "f_x": 240,
    "f_y": 240,
    "c_x": 404.38958740234375,
    "c_y": 322.5916748046875
  }
}