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Vilota VK180 Sensor Details
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Sensor		: Front Facing Main Camera

eCAL Topic	: S1/camd


encoding = jpeg
width = 960, height = 600
exposure = 1700, gain = 390
intrinsic = ( ds = (
    pinhole = (fx = 213.79951, fy = 213.58499, cx = 476.86749, cy = 289.35922),
    xi = -0.3035121,
    alpha = 0.55328524 ),
  kb4 = (
    pinhole = (fx = 306.13312, fy = 305.70996, cx = 476.84619, cy = 289.34103),
    k1 = -0.0077886404,
    k2 = 0.0064061135,
    k3 = -0.0012732302,
    k4 = 0.00011982687 ),
  rectified = false,
  lastModified = 63539643399 )
extrinsic = ( bodyFrame = (
    position = (x = -0.2, y = 0, z = 0),
    orientation = (x = 0.5, y = 0.5, z = -0.5, w = -0.5) ),
  imuFrame = (
    position = (
      x = -0.01,
      y = -0.04,
      z = -1.191036532298558e-17 ),
    orientation = (
      x = -1.7347233731751514e-18,
      y = -0.70710678118654735,
      z = 0.70710678118654768,
      w = 3.4694468194634302e-18 ) ),
  lastModified = 63539643399 )
instant w = (x = 0, y = 0, z = 0)
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Sensor		: Down Facing Camera

eCAL Topic	: S1/cama


encoding = jpeg
width = 1280, height = 800
exposure = 7100, gain = 150
intrinsic = ( kb4 = (
    pinhole = (fx = 594.05371, fy = 593.33295, cx = 633.43384, cy = 409.21588),
    k1 = -0.056822732,
    k2 = -0.00770958,
    k3 = -0.0017811557,
    k4 = 0.00063605746 ),
  rectified = false,
  lastModified = 63539643399 )
extrinsic = ( bodyFrame = (
    position = (
      x = -0.17923301935195923,
      y = 3.9758281782269475e-05,
      z = -0.017010985612869262 ),
    orientation = (
      x = 0.69839280142097848,
      y = 0.71539724292024642,
      z = 0.015809404139989269,
      w = 0.014294841244523059 ) ),
  imuFrame = (
    position = (
      x = -0.010039758682250977,
      y = -0.019233016967773436,
      z = -0.017010986804962158 ),
    orientation = (
      x = -0.012023945312726143,
      y = 0.99970052765443607,
      z = 0.021286916092630084,
      w = -0.0010709574333817348 ) ),
  lastModified = 63539643399 )
instant w = (x = 0, y = 0, z = 0)
average w = (x = 0, y = 0, z = 0)
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Sensor		: Stereo Left Camera

eCAL Topic	: S1/stereo1_l


encoding = jpeg
width = 640, height = 400
exposure = 1800, gain = 200
intrinsic = ( pinhole = (fx = 200.66127, fy = 200.66127, cx = 322.54584, cy = 198.74753),
  rectified = true,
  lastModified = 63539643399 )
extrinsic = ( bodyFrame = (
    position = (
      x = -0.15934176921844484,
      y = -0.071877598762512207,
      z = 0.00013968754559755324 ),
    orientation = (
      x = 0.35707704359264447,
      y = 0.61104365609040623,
      z = -0.61057323021596588,
      w = -0.355418015630113 ) ),
  imuFrame = (
    position = (
      x = 0.061877598762512205,
      y = 0.00065823376178741455,
      z = 0.00013968739658594133 ),
    orientation = (
      x = -0.17958151048161308,
      y = 0.68456470770247246,
      z = -0.68305896589703674,
      w = 0.18042198083670793 ) ),
  lastModified = 63539643399 )
instant w = (x = 0, y = 0, z = 0)
average w = (x = 0, y = 0, z = 0)

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Sensor		: Stereo Right Camera

eCAL Topic	: S1/stereo2_r


ncoding = jpeg
width = 640, height = 400
exposure = 2295, gain = 160
intrinsic = ( pinhole = (fx = 199.42035, fy = 199.42035, cx = 323.68106, cy = 201.23601),
  rectified = true,
  lastModified = 63539643399 )
extrinsic = ( bodyFrame = (
    position = (
      x = -0.16050748109817506,
      y = 0.071495060920715336,
      z = 0.00039312422275543211 ),
    orientation = (
      x = -0.60558618102301121,
      y = -0.35930383485641704,
      z = 0.35936680062226734,
      w = 0.61239009970928882 ) ),
  imuFrame = (
    position = (
      x = -0.081495056152343745,
      y = -0.000507487952709198,
      z = 0.0003931242972612381 ),
    orientation = (
      x = -0.17414792729861336,
      y = -0.68228026955609045,
      z = 0.68713589556130217,
      w = 0.17891448857829415 ) ),
  lastModified = 63539643399 )
instant w = (x = 0, y = 0, z = 0)
average w = (x = 0, y = 0, z = 0)
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Sensor		: IMU

eCAL Topic	: S1/imu


latency device = 20.535244 ms
latency host = 1695212109353.995 ms
accel = [ 1.12048638 -2.00873518  9.52173996]
gyro = [-0.00213053 -0.00852212 -0.00213053]
extrinsic = ( bodyFrame = (
    position = (
      x = -0.16,
      y = -0.01,
      z = 2.0816681711721685e-17 ),
    orientation = (
      x = 1.5614188414523336e-16,
      y = -7.9371984657332883e-17,
      z = -0.70710678118654746,
      w = 0.70710678118654757 ) ),
  lastModified = 63539643399 )
time_offset_ns = 8000000
update_rate = 200
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