P0: 1312.54138686228 -9.5473168680457 995.4064178522125 -521.4801196005601 -8.599376009040107 1428.9541271540131 659.7728185927305 -1625.0503335668784 -0.010988341369806533 -0.010999329711176392 0.9998791282449322 -0.8950484336119379
P1: 1312.54138686228 -9.5473168680457 995.4064178522125 -521.4801196005601 -8.599376009040107 1428.9541271540131 659.7728185927305 -1625.0503335668784 -0.010988341369806533 -0.010999329711176392 0.9998791282449322 -0.8950484336119379
P2: 1312.54138686228 -9.5473168680457 995.4064178522125 -521.4801196005601 -8.599376009040107 1428.9541271540131 659.7728185927305 -1625.0503335668784 -0.010988341369806533 -0.010999329711176392 0.9998791282449322 -0.8950484336119379
P3: 1312.54138686228 -9.5473168680457 995.4064178522125 -521.4801196005601 -8.599376009040107 1428.9541271540131 659.7728185927305 -1625.0503335668784 -0.010988341369806533 -0.010999329711176392 0.9998791282449322 -0.8950484336119379
R0_rect: 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0
Tr_velo_to_cam: 6.123233995736766e-17 -1.0 -6.123233995736766e-17 0.0 0.0 6.123233995736766e-17 -1.0 0.0 1.0 6.123233995736766e-17 3.749399456654644e-33 0.0
Tr_imu_to_velo: 6.123233995736766e-17 -1.0 -6.123233995736766e-17 0.0 0.0 6.123233995736766e-17 -1.0 0.0 1.0 6.123233995736766e-17 3.749399456654644e-33 0.0