calibration.json

{
  "cameras": {
    "zedxmini-todo": {
      "id": "zedxmini-todo",
      "name": "zedxmini-todo",
      "connect_after_init": true,
      "streaming": true,
      "calibration": {
        "intrinsics": {
          "model": "pinhole",
          "matrix": [
            [747.0735473632812, 0.0, 970.3108520507812],
            [0.0, 747.0735473632812, 519.4117431640625],
            [0.0, 0.0, 1.0]
          ],
          "distortion": [0.0, 0.0, 0.0, 0.0, 0.0],
          "omnidir_params": null,
          "size": {
            "width": 1920,
            "height": 1080
          }
        },
        "extrinsics": {
          "_frame_id": "rosys.odometer.prediction",
          "x": 0.2965439264325891,
          "y": -0.004233199581623145,
          "z": 0.36096620180895467,
          "rotation": {
            "R": [
              [0.0024599617301878096, 0.7448424482191931, -0.6672358472977333],
              [0.9997456022544409, 0.013128031017938246, 0.018340817170915312],
              [0.022420512063530285, -0.6671112217107655, -0.7446206675256729]
            ]
          }
        }
      },
      "focal_length": 747.0735473632812
    }
  }
}