{ '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': [ 0.00462998711, 0.7619323943, 0.01943962341, -1.560523279, -0.1269510497, 1.441376183,], 'imagersize': [ 3008, 2008,], }