{ 'lensmodel': 'LENSMODEL_PINHOLE', # intrinsics are fx,fy,cx,cy,distortion0,distortion1,.... 'intrinsics': [ 2405.678127, 2453.362582, 1508.569804, 978.395964,], # extrinsics are rt_fromref 'extrinsics': [ -0, 0.7853981634, -0, -0, -0, -0,], 'imagersize': [ 3008, 2008,], }