depth_data/scene2/calib.json

{
  "unit": "m",
  "convention": "forgeoptics_zup_rh",
  "camera": {
    "K": [
      [
        1303.6753,
        0.0,
        960.0
      ],
      [
        0.0,
        1303.6753,
        540.0
      ],
      [
        0.0,
        0.0,
        1.0
      ]
    ],
    "dist": [
      0.0,
      0.0,
      0.0,
      0.0,
      0.0
    ],
    "resolution": [
      1920,
      1080
    ],
    "fov_y_deg": 45.0
  },
  "projector": {
    "K": [
      [
        1185.5012,
        0.0,
        960.0
      ],
      [
        0.0,
        666.8444,
        540.0
      ],
      [
        0.0,
        0.0,
        1.0
      ]
    ],
    "dist": [
      0.0,
      0.0,
      0.0,
      0.0,
      0.0
    ],
    "resolution": [
      1920,
      1080
    ],
    "spot_size_deg": 78.0,
    "cone_half_angle_deg": 39.0,
    "K_source": "cone_half_angle"
  },
  "extrinsics": {
    "R": [
      [
        0.9335804,
        1.4901161e-8,
        0.35836795
      ],
      [
        0.0,
        1.0,
        0.0
      ],
      [
        -0.35836795,
        -2.9802322e-8,
        0.9335804
      ]
    ],
    "t": [
      -0.37343216,
      7.450581e-9,
      0.14334719
    ],
    "note": "X_p = R * X_c + t  (column vectors; z-up RH world)"
  },
  "baseline_m": 0.4,
  "pattern": {
    "freqs": [
      1,
      8,
      32
    ],
    "n_phase": 4,
    "axis": "x"
  },
  "rig": {
    "offset_m": 0.4,
    "toe_angle_deg": 21.0
  }
}