DEV0

Radial distortion: [0.022535963351356,-0.021289955281333]
K: [1.296017692307357e+03,0,9.407268031732034e+02;0,1.294832210476451e+03,5.837191315595016e+02;0,0,1]
FocalLength: [1.296017692307357e+03,1.294832210476451e+03]
PrincipalPoint: [9.407268031732034e+02,5.837191315595016e+02]

DEV1

Radial distortion: [0.013878950622990,-0.010243402725356]
K: [1.282635220934342e+03,0,9.604166763029937e+02;0,1.282748868123230e+03,6.369097917615544e+02;0,0,1]
FocalLength: [1.282635220934342e+03,1.282748868123230e+03]
PrincipalPoint: [9.604166763029937e+02,6.369097917615544e+02]

DEV2

Radial distortion: [0.001222597654913,3.749511060140799e-04]
K: [1.273330078217040e+03,0,9.532565260903657e+02;0,1.273507450812811e+03,6.002964464226565e+02;0,0,1]
FocalLength: [1.273330078217040e+03,1.273507450812811e+03]
PrincipalPoint: [9.532565260903657e+02,6.002964464226565e+02]

DEV3

Radial distortion: [0.029246797758214,-0.009967784293123]
K: [1.326676096357916e+03,0,9.455291558798021e+02;0,1.326839969999406e+03,6.635059796083482e+02;0,0,1]
FocalLength: [1.326676096357916e+03,1.326839969999406e+03]
PrincipalPoint: [9.455291558798021e+02,6.635059796083482e+02]

DEV1->DEV0

Fundamental Matrix: [-2.937238903621141e-07,8.745455747634730e-06,-0.005701971927596;3.469182370156510e-05,-1.194668167900776e-06,0.039702297363147;-0.020161874916651,-0.092437303122276,34.133798808180950]
Essential Matrix: [-0.488262492093376,14.539016082361794,-0.536555019616952;57.616090547831680,-1.984277585398292,93.564585270635790;-0.241016969857793,-1.089150882350592e+02,-2.314140310408348]
PoseCamera:
    - R: [0.774754522940151,0.002685408855624,-0.632256449364542;0.009210158280166,0.999836942459372,0.015532594050855;0.632195066548478,-0.017857129466196,0.774603460332442]
    - t: [-1.089354932150932e+02,-0.983919606029976,-14.523814320016147]

DEV0->DEV3

Fundamental Matrix: [-5.245333407206367e-06,-8.407097943543225e-06,0.001374275365711;4.404884498493046e-05,1.171579911851997e-06,0.010608970655006;-0.013951029890817,-0.071582621993962,19.358432408630946]
Essential Matrix: [-9.018803667866258,-14.441905726703120,-11.233675314508407;75.746749573668400,2.012815447690413,69.965297782633940;13.369752835891898,-1.019737700128256e+02,-8.568938366186027]
PoseCamera:
    - R: [0.772901043685364,0.010828538780069,-0.634434172643596;-0.019916901631372,0.999775716110500,-0.007199618402583;0.634213917932650,0.018200555585616,0.772943365374782]
    - t: [-1.021554899047766e+02,-14.665696320327633,14.178161838906421]

DEV2->DEV1

Fundamental Matrix: [-1.344002330771743e-06,1.182897184321528e-05,-0.007547210873305;3.432909927087166e-05,8.261232003354598e-07,0.042664926581161;-0.017148347068313,-0.098735220371421,27.402972888958810]
Essential Matrix: [-2.195048806986148,19.321980951542790,-2.215752477401632;56.071870842821330,1.349546797995003,97.341761282595260;4.361652305327141,-1.106019731792121e+02,-1.541242703927278]
PoseCamera:
    - R: [0.767303407608059,0.013645754256167,-0.641139044251589;-0.019821952746523,0.999800540633370,-0.002443182051118;0.640977824002029,0.014583289752336,0.767420847252421]
    - t: [-1.106626035090761e+02,-2.825614204583977,-19.367050641871070]

DEV0->LiDAR

R: [0.951099839323371,0.023671034661576,0.307975287575331;-0.308201037834387,0.006476788999821,0.951299201871871;0.020523545426254,-0.999698821306849,0.013455510426372]
t: [-0.002222602868500,-0.079224643637628,-0.115061940654467]

DEV1->LiDAR

R: [0.926556230021193,0.003578990734975,-0.376139260692411;0.376112846636539,-0.024011474677662,0.926262692587132;-0.005716572738468,-0.999705276523598,-0.023594085848002]
t: [-0.020860151530965,-0.034278317810143,-0.142386558456705]

DEV2->LiDAR

R: [0.480481616111347,0.018925068602108,-0.876800580723709;0.876808617497410,0.010779362579882,0.480718684497132;0.018548985452295,-0.999762795427384,-0.011414377684026]
t: [0.010635763144944,-0.050409799554445,-0.165858222337824]

DEV3->LiDAR

R: [0.544594066688672,-0.023325729033565,0.838375341295620;-0.838651806756056,-0.004455026027122,0.544649703725156;-0.008969367441335,-0.999717991789760,-0.021988345539215]
t: [-0.040088038110821,-0.031807930612324,-0.077223703086352]