P2: 2.047776e+03 0.000000e+00 9.600000e+02 0.000000e+00 0.000000e+00 2.047776e+03 6.000000e+02 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00
R0_rect: 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 1.000000e+00
Tr_ouster_to_cam: 1.13360350e-02 -9.99935650e-01  4.35486538e-04  1.00000000e-01 3.83878091e-02  0.00000000e+00 -9.99262916e-01 -5.00000000e-01 9.99198614e-01  1.13443968e-02  3.83853388e-02 -4.74000000e-01
Tr_ouster_to_cam_old: 9.59208808e-03 -9.99953927e-01  3.68490854e-04  1.00000000e-01 3.83878091e-02  0.00000000e+00 -9.99262916e-01 -5.00000000e-01 9.99216877e-01  9.59916346e-03  3.83860404e-02 -1.25600000e+00