{ "velocimeters": [ { "scale_and_alignment": [ 1.0, 0.0000000000000000, 0.0000000000000000, 0.0000000000000000, 1.0, 0.0000000000000000, 0.0000000000000000, 0.0000000000000000, 1.0 ], "noise_variance": 0.005, "extrinsics": { "T": [ 0.0, 0.0, 0.0 ], "T_variance": [ 9.999999974752427e-7, 9.999999974752427e-7, 9.999999974752427e-7 ], "W": [ 0, 0, 3.14 ], "W_variance": [ 9.999999974752427e-5, 9.999999974752427e-5, 9.999999974752427e-5 ] } } ] }