real_sensor.json

{"name": "real_sensor", "unc_ang": 0, "unc_shift": 0.8, "unc_span": 0.3, "e_range": 38.0, "s_range": 3.0, "laser_timestep": 3.5e-05, "rTc": [[0.9999845, 0.00197387, -0.00520207, 0.08262175], [-0.00208896, 0.9997511, -0.0222123, -0.0229844], [0.00515693, 0.02222283, 0.99973977, -0.23375846], [0.0, 0.0, 0.0, 1.0]], "size_rgb": [320, 256], "expand_A": 128, "expand_B": 128, "lTc": [[0.999998660642566, -0.001633815794167618, 1.2624935166435589e-06, 0.19989228458449756], [0.001633815794167618, 0.9999974722179782, -0.0015454518952038837, 0.00034823987032651596], [1.2624935166435595e-06, 0.0015454518952038839, 0.9999988015754122, -0.014010022846647934], [0.0, 0.0, 0.0, 1.0]], "laser_fov": 40.0, "size_lc": [512, 640], "dist_lc": [-0.033918, 0.027494, -0.001691, -0.001078, 0.0], "q_power": 1.0, "dist_rgb": [0.0, 0.0, 0.0, 0.0, 0.0], "N": 128, "intr_lc": [[446.537, 0.0, 262.073], [0.0, 446.589, 323.383], [0.0, 0.0, 1.0]], "intr_rgb": [[184.3578, 0.0, 166.2423], [0.0, 184.3578, 132.1686], [0.0, 0.0, 1.0]], "left_2_right": [[1.0, 0.0, 0.0, -0.709035336971283], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}