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camera_extrinsics_reference.yaml
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cam_0:
topic: /d455_1/human_joints
origin: /d455_1/human_joints
resolution: [848, 480]
name: cam_0
translation: [0.0, 0.0, 0.0]
rotation: [0.0, 0.0, 0.0, 1.0]
cam_1:
topic: /d455_2/human_joints
origin: /d455_1/human_joints
resolution: [848, 480]
name: cam_1
translation: [0.2834353073328207, -0.1222786838223135, -0.2264765244232289]
rotation: [-0.03353058004897913, 0.5528055214209624, -0.3660065050570075, 0.7478776597439118]
cam_2:
topic: /d455_3/human_joints
origin: /d455_1/human_joints
resolution: [848, 480]
name: cam_2
translation: [3.509796864476866, 1.914727259815507, 2.927066384549645]
rotation: [-0.04401799340671386, 0.8428211519650275, -0.5348387261199297, -0.04077326451489263]
cam_3:
topic: /d455_4/human_joints
origin: /d455_1/human_joints
resolution: [848, 480]
name: cam_3
translation: [3.215131209946884, 2.06477541626072, 3.157328136437355]
rotation: [-0.002772574902698409, -0.6534891842037062, 0.4208135305246867, 0.6291741980441892]
cam_4:
topic: /cam_1/human_joints
origin: /d455_1/human_joints
resolution: [640, 480]
name: cam_4
translation: [5.515870782008931, 1.376893199239597, 1.956195456568226]
rotation: [0.03850233618903726, 0.03941817476193987, 0.9964175039670421, 0.06415555622493883]
cam_5:
topic: /cam_2/human_joints
origin: /d455_1/human_joints
resolution: [640, 480]
name: cam_5
translation: [10.66947291976801, 4.620534330825857, 6.990074170079641]
rotation: [-0.6224520067975408, 0.0201916480737846, 0.6766799117013393, -0.3927468569978336]
cam_6:
topic: /cam_3/human_joints
origin: /d455_1/human_joints
resolution: [640, 480]
name: cam_6
translation: [7.420962299914716, 6.195373041083011, 9.470273443637305]
rotation: [0.8344478480184523, 0.03481339507257931, -0.06120114162181546, 0.5465704316235408]
cam_7:
topic: /cam_4/human_joints
origin: /d455_1/human_joints
resolution: [640, 480]
name: cam_7
translation: [3.572269527708912, 2.283826925976245, 3.464409571707976]
rotation: [0.2504756946550003, 0.03041487215338267, 0.9577263002883232, 0.1381926035469009]
cam_8:
topic: /cam_13/human_joints
origin: /d455_1/human_joints
resolution: [640, 480]
name: cam_8
translation: [3.568768665565281, 3.932046214166141, 6.140430908707023]
rotation: [0.7791515996262636, -0.01952783108005969, -0.418823875993503, 0.4659699663186271]
cam_9:
topic: /cam_16/human_joints
origin: /d455_1/human_joints
resolution: [640, 480]
name: cam_9
translation: [-0.5424966590138318, 5.890452613853372, 9.069821406535251]
rotation: [0.8575514008234536, 0.01488800646059329, 0.01013745658906229, 0.5140828475872182]
cam_10:
topic: /cam_15/human_joints
origin: /d455_1/human_joints
resolution: [640, 480]
name: cam_10
translation: [-5.545151713023641, 2.416155223405553, 3.835782549417103]
rotation: [0.6680502848054739, 0.001440087130305829, 0.6309802760453599, 0.3944244342864943]
cam_11:
topic: /cam_14/human_joints
origin: /d455_1/human_joints
resolution: [640, 480]
name: cam_11
translation: [-5.800897184827538, 2.239885219036906, 3.666698867185609]
rotation: [0.8644821014925915, 0.001163587740254094, 0.05947471128768775, 0.499131346420835]
cam_12:
topic: /cam_12/human_joints
origin: /d455_1/human_joints
resolution: [640, 480]
name: cam_12
translation: [-0.1904568914944194, -0.06107104247437647, -0.1563855106502606]
rotation: [-0.5585098467599422, -0.008635446637547053, 0.765194743966941, -0.3201080816521823]
cam_13:
topic: /cam_11/human_joints
origin: /d455_1/human_joints
resolution: [640, 480]
name: cam_13
translation: [-10.97147101772297, -0.7294752783872021, -0.8409540569036373]
rotation: [0.6173976763358368, 0.05007395432354361, 0.6998945121652428, 0.3556126828371446]
cam_14:
topic: /cam_9/human_joints
origin: /d455_1/human_joints
resolution: [640, 480]
name: cam_14
translation: [-7.03414088592396, -2.696717811392612, -4.36842969467999]
rotation: [0.2658480039032022, 0.01288602171306599, 0.9520290893847161, 0.1509947092798572]
cam_15:
topic: /cam_10/human_joints
origin: /d455_1/human_joints
resolution: [640, 480]
name: cam_15
translation: [-0.7743764821029826, -5.33950527425691, -8.383713183119808]
rotation: [-0.08193355800642659, 0.07133808375266747, 0.9908936883493191, -0.07954538496037848]
cam_16:
topic: /cam_6/human_joints
origin: /d455_1/human_joints
resolution: [640, 480]
name: cam_16
translation: [3.849533289553271, -2.132170275539655, -3.385211309621047]
rotation: [0.7149407437878599, -0.04701698603935511, -0.5673125493207297, 0.4059625688153903]
cam_17:
topic: /cam_7/human_joints
origin: /d455_1/human_joints
resolution: [640, 480]
name: cam_17
translation: [-0.244037941895484, -0.2321992172368586, -0.432501134846506]
rotation: [0.8742608972026913, 0.01120249691814401, -0.05781106944082863, 0.4818716301416529]
cam_18:
topic: /cam_5/human_joints
origin: /d455_1/human_joints
resolution: [640, 480]
name: cam_18
translation: [3.900875434983535, -2.023985373902256, -3.217603055742007]
rotation: [-0.1520269130698463, 0.05642612422734052, 0.9814823425966183, -0.1019623527500138]
cam_19:
topic: /cam_8/human_joints
origin: /d455_1/human_joints
resolution: [640, 480]
name: cam_19
translation: [7.631903954161081, 0.08165394227928502, -0.1888938983895231]
rotation: [-0.6006688624013831, 0.02684004680772444, 0.7107783279378288, -0.3650625948558064]