velodyne128_novatel_extrinsics_example.yaml

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# proj: +proj=utm +zone=50 +ellps=WGS84
# scale:1.11177
# (XXX) Manually adjusted
header:
  stamp:
    secs: 1422601952
    nsecs: 288805456
  seq: 0
  frame_id: novatel
transform:
  translation:
    x: -0.1941689746184177
    y: 1.438544324620427
    z: 0
  rotation:
    x: -0.00971305
    y: 0.00327669
    z: 0.7157
    w: 0.698332
child_frame_id: velodyne128