{
 "note": "Per-side camera and IMU calibration used for this dataset.",
 "sides": {
  "left": {
   "capture": "left_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,
    "gyro_bias_rad_s": [
     -0.004483527228334604,
     -0.0028774288617300745,
     0.0006799776922409066
    ],
    "accel_bias_m_s2": [
     -0.11006082375269524,
     0.021046561304339538,
     0.03742919176153447
    ],
    "gravity_vector_camera_frame": [
     -0.035079003216543,
     -0.5087296887769387,
     -0.860211350361208
    ],
    "gravity_magnitude_m_s2": 9.81474726535907,
    "accel_convention": "Camera IMU reports +g_body (not specific force); negate before IMU preintegration."
   },
   "lenses": {
    "front": {
     "model": "ucm_mei_radtan",
     "canvas": [
      15360,
      7680
     ],
     "params_on_canvas": {
      "xi": 2.31494,
      "fx": 7102.17,
      "fy": 7103.75,
      "cx": 3833.32,
      "cy": 3853.6,
      "k1": 0.95656186,
      "k2": -1.93103337,
      "k3": 3.92013597,
      "p1": 0.00132903,
      "p2": 0.00011066
     },
     "params_on_native_fisheye": {
      "xi": 2.31494,
      "k1": 0.956562,
      "k2": -1.931033,
      "k3": 3.920136,
      "p1": 0.001329,
      "p2": 0.000111,
      "fx": 1775.5425,
      "fy": 1775.9375,
      "cx": 958.33,
      "cy": 963.4
     },
     "cam_imu_factory": {
      "yaw_deg": 0.187,
      "pitch_deg": -0.169,
      "roll_deg": 90.589,
      "t_m": [
       0.0,
       0.0,
       0.0
      ]
     },
     "params_on_dataset_frame": {
      "xi": 2.31494,
      "k1": 0.956562,
      "k2": -1.931033,
      "k3": 3.920136,
      "p1": 0.001329,
      "p2": 0.000111,
      "fx": 887.77125,
      "fy": 887.96875,
      "cx": 479.165,
      "cy": 481.7
     }
    },
    "rear": {
     "model": "ucm_mei_radtan",
     "canvas": [
      15360,
      7680
     ],
     "params_on_canvas": {
      "xi": 2.31494,
      "fx": 7118.97,
      "fy": 7117.51,
      "cx": 11536.9,
      "cy": 3884.79,
      "k1": 0.97289771,
      "k2": -2.02398896,
      "k3": 4.12707472,
      "p1": -0.00030181,
      "p2": 0.00043862
     },
     "params_on_native_fisheye": {
      "xi": 2.31494,
      "k1": 0.972898,
      "k2": -2.023989,
      "k3": 4.127075,
      "p1": -0.000302,
      "p2": 0.000439,
      "fx": 1779.7425,
      "fy": 1779.3775,
      "cx": 964.225,
      "cy": 971.1975
     },
     "cam_imu_factory": {
      "yaw_deg": -0.307,
      "pitch_deg": -0.435,
      "roll_deg": 89.028,
      "t_m": [
       -0.000754,
       0.000204,
       -0.033261
      ]
     }
    }
   },
   "cam_imu_extrinsics": {
    "R_cam_imu": [
     [
      0.0029496021588553776,
      0.003263745709233859,
      0.9999903238587109
     ],
     [
      0.9999428115193246,
      -0.010289379766978357,
      -0.0029158797709888085
     ],
     [
      0.010279763515394669,
      0.9999417366166671,
      -0.0032939086373493997
     ]
    ],
    "t_cam_imu_m": [
     0.004100510626148365,
     -0.001160295357225906,
     -0.025483155366164204
    ],
    "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)."
   }
  },
  "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,
    "gyro_bias_rad_s": [
     -0.00524950087726284,
     -0.008361999736439793,
     -0.00041422858487046504
    ],
    "accel_bias_m_s2": [
     -0.027753406238532435,
     -0.0017735484211631835,
     0.019512034407272495
    ],
    "gravity_vector_camera_frame": [
     0.028436234075154044,
     -0.5007493317126056,
     -0.8651251281641301
    ],
    "gravity_magnitude_m_s2": 9.797172699703548,
    "accel_convention": "Camera IMU reports +g_body (not specific force); negate before IMU preintegration."
   },
   "lenses": {
    "front": {
     "model": "ucm_mei_radtan",
     "canvas": [
      15360,
      7680
     ],
     "params_on_canvas": {
      "xi": 2.31494,
      "fx": 7074.79,
      "fy": 7076.38,
      "cx": 3845.71,
      "cy": 3853.5,
      "k1": 0.97950083,
      "k2": -2.20074248,
      "k3": 4.6162281,
      "p1": -0.00097834,
      "p2": -0.00057229
     },
     "params_on_native_fisheye": {
      "xi": 2.31494,
      "k1": 0.979501,
      "k2": -2.200742,
      "k3": 4.616228,
      "p1": -0.000978,
      "p2": -0.000572,
      "fx": 1768.6975,
      "fy": 1769.095,
      "cx": 961.4275,
      "cy": 963.375
     },
     "cam_imu_factory": {
      "yaw_deg": -0.007,
      "pitch_deg": 0.104,
      "roll_deg": 90.389,
      "t_m": [
       0.0,
       0.0,
       0.0
      ]
     },
     "params_on_dataset_frame": {
      "xi": 2.31494,
      "k1": 0.979501,
      "k2": -2.200742,
      "k3": 4.616228,
      "p1": -0.000978,
      "p2": -0.000572,
      "fx": 884.34875,
      "fy": 884.5475,
      "cx": 480.71375,
      "cy": 481.6875
     }
    },
    "rear": {
     "model": "ucm_mei_radtan",
     "canvas": [
      15360,
      7680
     ],
     "params_on_canvas": {
      "xi": 2.31494,
      "fx": 7118.99,
      "fy": 7114.14,
      "cx": 11518.6,
      "cy": 3875.18,
      "k1": 0.96309751,
      "k2": -1.94366455,
      "k3": 3.80615282,
      "p1": -0.0001182,
      "p2": -0.00131586
     },
     "params_on_native_fisheye": {
      "xi": 2.31494,
      "k1": 0.963098,
      "k2": -1.943665,
      "k3": 3.806153,
      "p1": -0.000118,
      "p2": -0.001316,
      "fx": 1779.7475,
      "fy": 1778.535,
      "cx": 959.65,
      "cy": 968.795
     },
     "cam_imu_factory": {
      "yaw_deg": -0.22,
      "pitch_deg": 0.294,
      "roll_deg": 88.898,
      "t_m": [
       0.001239,
       -0.000204,
       -0.032099
      ]
     }
    }
   },
   "cam_imu_extrinsics": {
    "R_cam_imu": [
     [
      -0.0018151414253366012,
      -0.00012217284607139126,
      0.9999983451663319
     ],
     [
      0.9999753052496554,
      -0.006789500336909227,
      0.0018142701106079614
     ],
     [
      0.006789267446872416,
      0.9999769436136872,
      0.0001344937323623193
     ]
    ],
    "t_cam_imu_m": [
     0.004100510626148365,
     -0.001160295357225906,
     -0.025483155366164204
    ],
    "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)."
   }
  }
 }
}