{
    'lensmodel':  'LENSMODEL_SPLINED_STEREOGRAPHIC_order=3_Nx=30_Ny=18_fov_x_deg=150',

    # intrinsics are fx,fy,cx,cy,distortion0,distortion1,....
    'intrinsics': [ 1919.848066, 1957.533796, 2921.149938, 1711.660881, 0, 0, 2.314614362e-06, 1.454243547e-06, -0.0003543656819, -0.0002763946598, -0.002332132025, -0.002503507373, 0.02122109978, 0.01247456928, -0.004219002984, -0.003260313275, 0.004478036226, 0.005819659211, -0.03835477611, -0.01335566243, -0.001337927266, 0.00706350804, -0.01601350671, -0.01516554973, -0.001108655967, -0.007901190089, -0.008781576252, -0.004756006057, -0.01188278817, -0.01741468912, -0.006701766162, -0.01603158115, 0.007526014243, -0.01064261892, 0.008360521437, -0.01204699359, 0.01507168143, -0.01680548654, 0.01571894482, -0.009467347815, 0.02033912207, -0.01254886173, 0.02288773636, -0.003324901757, 0.01921586592, -0.0003091472234, 0.01690182772, -0.0001240250333, 0.01619076962, 0.00804217196, 0.0115622477, 0.01567536086, -0.03991146426, 0.05222578178, 0.1282409398, -0.105853196, -0.018264188, 0.01400654819, 0.01123552022, -0.007322243827, 0.02377603647, -0.01519148502, 0.0001408379091, 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0.02816967123, 0.03863236607, 0.02298587752, 0.04085547498, 0.01750440344, 0.04080431368, 0.01108834023, 0.03976828259, 0.004485320713, 0.0351595498, -0.003038473456, 0.02961577201, -0.01079743921, 0.02151538802, -0.01841011287, 0.009701660801, -0.02765966927, 0.005384346282, -0.02954757868, 0, 0, 4.940656458e-324, 0, -0.01855490505, 0.01022270637, -0.005372619642, -0.01643189151, -0.01916540462, -0.01379502802, -0.02183532854, -0.002643012277, -0.0303369439, 0.001858344984, -0.03058530357, 0.01187578087, -0.03277359176, 0.0141690969, -0.03200040093, 0.0237669438, -0.03032173344, 0.02643156108, -0.02351414086, 0.02954352934, -0.01869644667, 0.03606520471, -0.01774561837, 0.03425374354, -0.001813582872, 0.04039722979, -0.0005994382952, 0.03775500236, 0.009219341123, 0.03978881235, 0.01644170009, 0.03572596214, 0.02245054636, 0.03522022174, 0.02850427736, 0.02991800644, 0.03347850279, 0.02637391559, 0.03702986242, 0.0209926693, 0.03844605984, 0.0147026144, 0.03891639472, 0.008035938268, 0.03408107572, -0.0004657269878, 0.03244355595, -0.007694266919, 0.02679847159, -0.01461469302, 0.01595968902, -0.02535277142, 0.0159703552, -0.03512842901, -0.05252077685, -0.04075270754, 0, 0, -4.940656458e-324, 0, 8.676505683e-06, -5.526281751e-06, 0.0132363332, -0.009091137374, 0.05800267064, -0.04300953345, -0.002177325993, 0.002013616751, -0.0483748303, 0.04304232915, -0.03095694851, 0.03019565889, 0.02419919709, -0.02765409108, -0.0003536335663, 0.0005785138046, 0.01699104119, -0.01768593552, -0.03631368751, 0.0896713329, -0.01470835872, 0.03897390858, -0.0002631541016, 0.0009009747738, 0.001094882128, -0.005715852406, -0.004651285618, 0.05265537946, -0.0006884444268, 0.02028004072, 0.005533905661, 0.03900764593, 0.01298760584, 0.01061526435, 0.03548931446, 0.03727121473, 0.02265393665, 0.02231480506, 0.01986817272, 0.01070552775, 0.02376255702, 0.02569925963, 0.006085151705, -0.00283914304, 0.06677488449, 0.03239577548, 0.01834370496, -0.01671816328, 0.01893964554, -0.02735320288, 0.02155218029, -0.02218828554, -0.03656369888, -0.03681032288, 0.01018879589, 0.005775320479, 0, 0,],

    # extrinsics are rt_fromref
    'extrinsics': [ 0.02944535151, -0.0075314617, 0.07374035422, 1.805590949, 0.1362731642, 0.2564768817,],

    'imagersize': [ 6000, 3376,],


}