calibration_odometry.json

{
    "velocimeters": [
        {
            "scale_and_alignment": [
                1.0,
                0.0000000000000000,
                0.0000000000000000,
                0.0000000000000000,
                1.0,
                0.0000000000000000,
                0.0000000000000000,
                0.0000000000000000,
                1.0
            ],
            "noise_variance": 0.004445126050420168,
            "extrinsics": {
                "T": [
                    -0.5059,
                    -0.6294,
                    -0.6873
                ],
                "T_variance": [
                    9.999999974752427e-7, 
                    9.999999974752427e-7, 
                    9.999999974752427e-7
                ],
                "W": [
                    -1.1155,
                    -1.1690,
                    -1.2115
                ],
                "W_variance": [
                    9.999999974752427e-5, 
                    9.999999974752427e-5, 
                    9.999999974752427e-5
                ]
            }
        }
    ]
}