/**:
  ros__parameters:
    extrin_calib:
      # Camera 2 (hik_camera_ros2_driver) extrinsics
      # direct_visual_lidar_calibration result (2026-05-27), 8mm lens v6
      # T_lidar_camera: [tx=0.05454, ty=0.00438, tz=-0.09330, qx=-0.41061, qy=0.43393, qz=-0.57567, qw=0.55830]
      # az=-2.5°  el=16.6°
      Rcl: [-0.03939004, -0.99915456, -0.01177214,
             0.28645369, -0.00000461, -0.95809409,
             0.95728403, -0.04111154,  0.28621170]
      Pcl: [0.00542794, -0.10500922, -0.02532945]