{ "convention": "T_body_lidar maps raw LiDAR points into rear-axle body frame", "translation_m": [ 1.2977596922478565, -0.00006733076264476427, 0.7204978345266887 ], "rotation_rpy_deg_xyz": [ -0.7851511464150316, 1.2026608220810453, -0.835510052785851 ], "quaternion_xyzw": [ -0.0067746045444860015, 0.010544431385358818, -0.0072186568687935965, 0.9998953998759249 ], "matrix_4x4": [ [ 0.9996734119195402, 0.014292934887214408, 0.021184463964312037, 1.2977596922478565 ], [ -0.01457867229834346, 0.9998039914525529, 0.013395558575925315, -0.00006733076264476427 ], [ -0.020988849781798404, -0.013700025104115046, 0.9996858394000506, 0.7204978345266887 ], [ 0.0, 0.0, 0.0, 1.0 ] ] }