cam_front_left:
  extrinsic_rotation_ref_cam_from_cam:
  - [1.0, 0.0, 0.0]
  - [0.0, 1.0, 0.0]
  - [0.0, 0.0, 1.0]
  extrinsic_t_ref_cam_from_cam: [0.0, 0.0, 0.0]
cam_left_backward:
  extrinsic_rotation_ref_cam_from_cam:
  - [-0.7372072812343236, -0.05109341449979289, -0.673732059122801]
  - [0.04675696516147712, 0.9908885835794038, -0.12630756565182982]
  - [0.6740468905825362, -0.12461652349008634, -0.7281013057049543]
  extrinsic_t_ref_cam_from_cam: [-1.3936787045234227, 0.1592589563009318, 0.401061863297266]
cam_left_forward:
  extrinsic_rotation_ref_cam_from_cam:
  - [0.3468711650485843, -0.06293220554424474, -0.9357990876054402]
  - [0.044224195535488314, 0.9977340545956622, -0.05070480085099395]
  - [0.9368695829127319, -0.02379692848745385, 0.34886830008971337]
  extrinsic_t_ref_cam_from_cam: [-0.6406904906733697, 0.26659724895194703, -0.04241050246656625]
cam_rear:
  extrinsic_rotation_ref_cam_from_cam:
  - [-0.9996851301942644, -0.017462286550824133, -0.01801968415075065]
  - [-0.019694381016943176, 0.9910242176518144, 0.1322237928058662]
  - [0.015549013629017628, 0.13253704605138172, -0.9910560829736821]
  extrinsic_t_ref_cam_from_cam: [-0.737796422671782, -0.22074701643910594, -2.5160542051646635]
cam_right_backward:
  extrinsic_rotation_ref_cam_from_cam:
  - [-0.7581594804591851, 0.017800139978892238, 0.6518261710046555]
  - [-0.06170378391169956, 0.9931833170275997, -0.09889156601567531]
  - [-0.6491431623616141, -0.11519571951590138, -0.7518930116475195]
  extrinsic_t_ref_cam_from_cam: [0.27140653090682515, 0.2143868970273617, 0.07188399667544915]
cam_right_forward:
  extrinsic_rotation_ref_cam_from_cam:
  - [0.34078561687991127, 0.06495670853661101, 0.9378943380487315]
  - [-0.03667106784139459, 0.9977694779537072, -0.055779043083926325]
  - [-0.9394255670946743, -0.015384891292317918, 0.34240751891390087]
  extrinsic_t_ref_cam_from_cam: [0.6343236612219121, 0.2568858947971545, -0.1645183323331531]
coordinate_system: {x: right, y: down, z: front}
ref_cam: cam_front_left