{
    "rig": {
        "sensors": [
            {
				"name": "camera:front:center:120fov",
				"nominalSensor2Rig": {
					"quaternion": [
						-0.502444,
						0.507493,
						-0.497444,
						0.492494
					],
					"t": [
						1.749,
						-0.1,
						1.47
					]
				},
				"parameter": "camera-type=ar0231-rccb-bae-sf3324,csi-port=a,camera-count=1,format=h264,output-format=yuv",
				"properties": {
					"Model": "ftheta",
					"bw-poly": "0.0 0.000545421498827636 -1.6216719633103e-10 -4.64720492990289e-12 2.85224527762934e-16",
					"cx": "960",
					"cy": "604",
					"height": "1208",
					"width": "1920"
				},
				"protocol": "camera.gmsl",
				"sensor2Rig": {
					"quaternion": [
						-0.502444,
						0.507493,
						-0.497444,
						0.492494
					],
					"t": [
						1.749,
						-0.1,
						1.47
					]
				}
			}
        ],
        "vehicle": {
            "valid": true,
            "value": {
                "COMMENT": "steeringCoefficient is not validated",
                "axlebaseFront": 1.582,
                "axlebaseRear": 1.575,
                "bumperFront": 0.912,
                "bumperRear": 1.109,
                "centerOfMassToRearAxle": 1.564,
                "driveByWireTimeConstant": 0.26,
                "driveByWireTimeDelay": 0.11,
                "frontCorneringStiffness": 30654.0,
                "height": 1.473,
                "inertia": 1780.8,
                "length": 4.872,
                "mass": 1779.4,
                "name": "ford fusion 2017",
                "rearCorneringStiffness": 36407.0,
                "steeringCoefficient": 14.8,
                "wheelDiameter": 0.673,
                "wheelbase": 2.85,
                "width": 1.852,
                "widthWithMirrors": 2.121
            }
        }
    },
    "version": 2
}