| { |
| "note": "Per-side camera and IMU calibration used for this dataset.", |
| "sides": { |
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| "capture": "left_ego", |
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| "ego_video": { |
| "source": "fisheye.mp4", |
| "source_stream": 0, |
| "lens": "front", |
| "native_size": [ |
| 1920, |
| 1920 |
| ], |
| "dataset_size": [ |
| 960, |
| 960 |
| ] |
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| "gyro_range_dps": 2000.0, |
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| "accel_convention": "Camera IMU reports +g_body (not specific force); negate before IMU preintegration." |
| }, |
| "lenses": { |
| "front": { |
| "model": "ucm_mei_radtan", |
| "canvas": [ |
| 15360, |
| 7680 |
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| "xi": 2.31494, |
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| "p1": 0.00132903, |
| "p2": 0.00011066 |
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| "xi": 2.31494, |
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| "yaw_deg": 0.187, |
| "pitch_deg": -0.169, |
| "roll_deg": 90.589, |
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| 0.0, |
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| 0.0 |
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| "xi": 2.31494, |
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| "k2": -1.931033, |
| "k3": 3.920136, |
| "p1": 0.001329, |
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| "fx": 887.77125, |
| "fy": 887.96875, |
| "cx": 479.165, |
| "cy": 481.7 |
| } |
| }, |
| "rear": { |
| "model": "ucm_mei_radtan", |
| "canvas": [ |
| 15360, |
| 7680 |
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| "xi": 2.31494, |
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| "xi": 2.31494, |
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| "k3": 4.127075, |
| "p1": -0.000302, |
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| "fy": 1779.3775, |
| "cx": 964.225, |
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| "yaw_deg": -0.307, |
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| "cam_imu_extrinsics": { |
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| "camera_intrinsics": "Factory per-camera telemetry", |
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| "pose_frame": "cubemap front virtual pinhole, 110 deg FoV / tilt 70 / 640 px", |
| "pose_frame_note": "state/action poses (T_w_cam) live in this virtual pinhole frame, NOT the fisheye frame of the delivered video. When a body has no Kalibr-refined camera-IMU calibration the lookup table is borrowed from another body of the same model (see provenance.kalibr_refined)." |
| } |
| }, |
| "right": { |
| "capture": "right_ego", |
| "camera_type": "fisheye_camera", |
| "ego_video": { |
| "source": "fisheye.mp4", |
| "source_stream": 0, |
| "lens": "front", |
| "native_size": [ |
| 1920, |
| 1920 |
| ], |
| "dataset_size": [ |
| 960, |
| 960 |
| ] |
| }, |
| "rolling_shutter_ms": 15.845431327819824, |
| "imu": { |
| "gyro_range_dps": 2000.0, |
| "accel_range_g": 32.0, |
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| "accel_convention": "Camera IMU reports +g_body (not specific force); negate before IMU preintegration." |
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| "lenses": { |
| "front": { |
| "model": "ucm_mei_radtan", |
| "canvas": [ |
| 15360, |
| 7680 |
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| "xi": 2.31494, |
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| "p1": -0.00097834, |
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| "params_on_native_fisheye": { |
| "xi": 2.31494, |
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| "cam_imu_factory": { |
| "yaw_deg": -0.007, |
| "pitch_deg": 0.104, |
| "roll_deg": 90.389, |
| "t_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
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| }, |
| "params_on_dataset_frame": { |
| "xi": 2.31494, |
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| "fy": 884.5475, |
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| "xi": 2.31494, |
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| "k3": 3.806153, |
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| "cam_imu_factory": { |
| "yaw_deg": -0.22, |
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| "roll_deg": 88.898, |
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| 0.001239, |
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| "cam_imu_extrinsics": { |
| "R_cam_imu": [ |
| [ |
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| [ |
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| [ |
| 0.006789267446872416, |
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| 0.004100510626148365, |
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| "source": "Factory camera-IMU extrinsics; gravity=static; bias=factory." |
| }, |
| "provenance": { |
| "camera_intrinsics": "Factory per-camera telemetry", |
| "kalibr_refined": false, |
| "pose_frame": "cubemap front virtual pinhole, 110 deg FoV / tilt 70 / 640 px", |
| "pose_frame_note": "state/action poses (T_w_cam) live in this virtual pinhole frame, NOT the fisheye frame of the delivered video. When a body has no Kalibr-refined camera-IMU calibration the lookup table is borrowed from another body of the same model (see provenance.kalibr_refined)." |
| } |
| } |
| } |
| } |
|
|
