{
  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
  "episode_index": 0,
  "view_aliases": {
    "top_head": "head_fisheye",
    "hand_left": "head_fisheye_left",
    "hand_right": "head_fisheye_right"
  },
  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
  "cameras": {
    "top_head": {
      "source_camera": "head_fisheye",
      "camera_mount": "head",
      "projection_model": "pinhole",
      "intrinsics": {
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        "Fy": 320.00000000000006,
        "Cx": 320.0,
        "Cy": 240.0,
        "width": 640,
        "height": 480
      },
      "extrinsics": {
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            "y": 0.0002965523734030786,
            "z": 2.7778272304765542e-05,
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          "translation": {
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            "z": 0.0010914965841121059
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        },
        "extrinsic_head_fisheye_left_T_left": {
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            "z": -0.19933934578868262,
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            "z": -0.028958392523767598
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        },
        "extrinsic_head_fisheye_right_T_left": {
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        }
      },
      "resolution": {
        "width": 640,
        "height": 480
      },
      "rectification": {
        "source_projection_model": "opencv_fisheye",
        "source_intrinsics": {
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          "Cy": 299.5632019042969,
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          "Fy": 224.09205627441406,
          "height": 600,
          "k1": 0.057993289083242416,
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          "k3": -0.008063109591603279,
          "k4": 0.0006919464212842286,
          "width": 800
        },
        "source_to_virtual_rotation": [
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            0.0,
            0.0
          ],
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        ],
        "hfov_deg": 90.0,
        "view_pitch_deg": 38.0,
        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
      },
      "extrinsics_reference_frame": "source_fisheye_camera"
    },
    "hand_left": {
      "source_camera": "head_fisheye_left",
      "camera_mount": "head",
      "projection_model": "pinhole",
      "intrinsics": {
        "Fx": 320.00000000000006,
        "Fy": 320.00000000000006,
        "Cx": 320.0,
        "Cy": 240.0,
        "width": 640,
        "height": 480
      },
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            "z": -0.19933934578868262,
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        }
      },
      "resolution": {
        "width": 640,
        "height": 480
      },
      "rectification": {
        "source_projection_model": "opencv_fisheye",
        "source_intrinsics": {
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          "Cy": 299.9506530761719,
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        "source_to_virtual_rotation": [
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        ],
        "hfov_deg": 90.0,
        "view_pitch_deg": 38.0,
        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
      },
      "extrinsics_reference_frame": "source_fisheye_camera"
    },
    "hand_right": {
      "source_camera": "head_fisheye_right",
      "camera_mount": "head",
      "projection_model": "pinhole",
      "intrinsics": {
        "Fx": 320.00000000000006,
        "Fy": 320.00000000000006,
        "Cx": 320.0,
        "Cy": 240.0,
        "width": 640,
        "height": 480
      },
      "extrinsics": {
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            "z": 0.20065156149051988,
            "w": 0.8819900289925252
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      },
      "resolution": {
        "width": 640,
        "height": 480
      },
      "rectification": {
        "source_projection_model": "opencv_fisheye",
        "source_intrinsics": {
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          "height": 600,
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        ],
        "hfov_deg": 90.0,
        "view_pitch_deg": 38.0,
        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
      },
      "extrinsics_reference_frame": "source_fisheye_camera"
    },
    "head_stereo_left": {
      "source_camera": "head_stereo_left",
      "camera_mount": "head",
      "projection_model": "pinhole",
      "intrinsics": {
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        "width": 960
      },
      "extrinsics": {
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            "y": -0.005711054071957077,
            "z": -0.0016198635801491547,
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        },
        "extrinsic_head_stereo_left_T_right": {
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      "resolution": {
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        "height": 600
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    },
    "head_stereo_right": {
      "source_camera": "head_stereo_right",
      "camera_mount": "head",
      "projection_model": "pinhole",
      "intrinsics": {
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        }
      },
      "resolution": {
        "width": 960,
        "height": 600
      }
    }
  },
  "source_calibration": {
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        "y": 0.0002965523734030786,
        "z": 2.7778272304765542e-05,
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    "extrinsic_head_fisheye_left_T_left": {
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    "extrinsic_head_fisheye_right_T_left": {
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    "extrinsic_head_stereo_left_T_imu": {
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      "timeshift_fisheye_cam_imu": 0.0032943932938084845
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    "suppiler_flag": {
      "head_fisheye": "383100008901V01AA1VA069126071000489",
      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
      "head_stereo_left": "383100008901V01AA1VA069126071000489",
      "head_stereo_right": "383100008901V01AA1VA069126071000489",
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  },
  "source_calibration_file": "calibration_fisheye.json",
  "active_views": {
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      "projection_model": "pinhole",
      "width": 640,
      "height": 480,
      "hfov_deg": 90.0,
      "view_pitch_deg": 38.0
    },
    "hand_left": {
      "projection_model": "pinhole",
      "width": 640,
      "height": 480,
      "hfov_deg": 90.0,
      "view_pitch_deg": 38.0
    },
    "hand_right": {
      "projection_model": "pinhole",
      "width": 640,
      "height": 480,
      "hfov_deg": 90.0,
      "view_pitch_deg": 38.0
    }
  }
}