{
 "convention": "fx_fy_cx_cy: pinhole intrinsics of the 640x480 color image; T_base_cam: 4x4 transform mapping points from the camera optical frame (OpenCV: x right, y down, z forward) to the robot base frame. Constant over all frames and episodes of this dataset.",
 "cam1": {
  "fx_fy_cx_cy": [
   597.2525634765625,
   597.4514770507812,
   328.7528076171875,
   244.22544860839844
  ],
  "T_base_cam": [
   [
    0.9617976546287537,
    -0.15996836125850677,
    0.22216077148914337,
    0.1896357238292694
   ],
   [
    -0.27268409729003906,
    -0.4878794848918915,
    0.8292267322540283,
    -0.7830475568771362
   ],
   [
    -0.02426237054169178,
    -0.8581280708312988,
    -0.5128621459007263,
    0.47405460476875305
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ]
 },
 "cam2": {
  "fx_fy_cx_cy": [
   601.3878173828125,
   601.7159423828125,
   333.2942199707031,
   245.56826782226562
  ],
  "T_base_cam": [
   [
    -0.9614414572715759,
    0.20834267139434814,
    -0.1795095056295395,
    0.5334809422492981
   ],
   [
    0.25141674280166626,
    0.40136945247650146,
    -0.8807339072227478,
    0.6938977837562561
   ],
   [
    -0.11144483089447021,
    -0.8919057846069336,
    -0.4382740557193756,
    0.4252861738204956
   ],
   [
    0.0,
    0.0,
    0.0,
    1.0
   ]
  ]
 }
}