{
    "fps": 15,
    "row_step": 2,
    "row_mapping": "depth frame i belongs to the data row with frame_index = i * row_step; its pts is i / fps seconds, equal to that row's timestamp",
    "streams": {
        "d435_depth": {
            "path": "depth/d435_depth/chunk-000/file-000.mov",
            "frames": 1374,
            "height": 240,
            "width": 424,
            "channels": 1,
            "codec": "ffv1",
            "pix_fmt": "gray16le",
            "container": "mov",
            "g": 1,
            "lossless": true,
            "units": "raw z16; meters = value * depth_scale; 0 = invalid (no depth); 65535 = invalid (saturated / out of range)",
            "depth_scale": 0.0010000000474974513,
            "source": "RealSense on-chip depth, decimated 2x",
            "camera": {
                "decimation": 2.0,
                "depth_scale": 0.0010000000474974513,
                "depth_visual_preset": "High Density",
                "emitter_enabled": true,
                "firmware": "5.15.1.55",
                "format": "Z16",
                "frames_rotated_upright": false,
                "intrinsics": {
                    "coeffs": [
                        0.0,
                        0.0,
                        0.0,
                        0.0,
                        0.0
                    ],
                    "fx": 213.7545166015625,
                    "fy": 213.7545166015625,
                    "height": 240,
                    "model": "Brown Conrady",
                    "ppx": 211.14247131347656,
                    "ppy": 118.16234588623047,
                    "width": 424
                },
                "ir1_to_robot": {
                    "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link",
                    "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center",
                    "from": "infrared_1",
                    "rotation": [
                        [
                            -2.220446049250313e-16,
                            -0.7384553316173743,
                            0.6743023974493004
                        ],
                        [
                            -1.0000000000000002,
                            2.220446049250313e-16,
                            -1.0303904848204921e-17
                        ],
                        [
                            -1.0303904848204921e-17,
                            -0.6743023974493004,
                            -0.7384553316173741
                        ]
                    ],
                    "rotation_layout": "row-major 3x3, rotation[row][col]",
                    "source": "robot model, not measured: Unitree g1_29dof.urdf d435_joint, the head tilt set to match it, with IR1 25.04 mm to the left of the joint along the 50.09 mm IR1-to-IR2 baseline",
                    "to": "torso_link",
                    "translation": [
                        0.0576235,
                        0.042573,
                        0.41987
                    ],
                    "translation_units": "meters"
                },
                "ir1_to_stream": {
                    "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame",
                    "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center",
                    "from": "infrared_1",
                    "rotation": [
                        [
                            1.0,
                            0.0,
                            0.0
                        ],
                        [
                            0.0,
                            1.0,
                            0.0
                        ],
                        [
                            0.0,
                            0.0,
                            1.0
                        ]
                    ],
                    "rotation_layout": "row-major 3x3, rotation[row][col]",
                    "to": "this stream",
                    "translation": [
                        0.0,
                        0.0,
                        0.0
                    ],
                    "translation_units": "meters"
                },
                "model": "Intel RealSense D435I",
                "mount_rotation_deg": 0,
                "recorded_fps": 15,
                "serial": "344422072211",
                "stereo_module_fps": 90,
                "stream": "depth",
                "timestamp_domain": "global_time_us",
                "usb": "3.2"
            },
            "stats_units": "meters, invalid values (0 and 65535) excluded",
            "stats": {
                "min": [
                    0.17100000812206417
                ],
                "max": [
                    62.29000295861624
                ],
                "mean": [
                    0.6981584390481423
                ],
                "std": [
                    0.3838137004556538
                ],
                "count": [
                    1374
                ],
                "q01": [
                    0.24800001177936792
                ],
                "q10": [
                    0.3290000156266615
                ],
                "q50": [
                    0.5870000278810039
                ],
                "q90": [
                    1.1460000544320792
                ],
                "q99": [
                    1.9030000903876498
                ]
            }
        },
        "d405_left_depth": {
            "path": "depth/d405_left_depth/chunk-000/file-000.mov",
            "frames": 1374,
            "height": 240,
            "width": 424,
            "channels": 1,
            "codec": "ffv1",
            "pix_fmt": "gray16le",
            "container": "mov",
            "g": 1,
            "lossless": true,
            "units": "raw z16; meters = value * depth_scale; 0 = invalid (no depth); 65535 = invalid (saturated / out of range)",
            "depth_scale": 9.999999747378752e-05,
            "source": "RealSense on-chip depth, decimated 2x",
            "camera": {
                "decimation": 1.0,
                "depth_scale": 9.999999747378752e-05,
                "depth_visual_preset": "High Density",
                "emitter_enabled": null,
                "firmware": "5.15.1.55",
                "format": "Z16",
                "frames_rotated_upright": false,
                "intrinsics": {
                    "coeffs": [
                        0.0,
                        0.0,
                        0.0,
                        0.0,
                        0.0
                    ],
                    "fx": 214.20974731445312,
                    "fy": 214.20974731445312,
                    "height": 240,
                    "model": "Brown Conrady",
                    "ppx": 214.87191772460938,
                    "ppy": 120.27647399902344,
                    "width": 424
                },
                "ir1_to_robot": {
                    "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link left_dex1_base_link",
                    "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center",
                    "from": "infrared_1",
                    "rotation": [
                        [
                            0.0,
                            -0.5000042102057056,
                            0.8660229730073958
                        ],
                        [
                            -1.0,
                            -0.0,
                            -1.468247496825271e-17
                        ],
                        [
                            -1.468247496825271e-17,
                            -0.8660229730073958,
                            -0.5000042102057056
                        ]
                    ],
                    "rotation_layout": "row-major 3x3, rotation[row][col]",
                    "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated",
                    "to": "left_dex1_base_link",
                    "translation": [
                        0.05839,
                        0.0090169,
                        0.05774
                    ],
                    "translation_units": "meters"
                },
                "ir1_to_stream": {
                    "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame",
                    "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center",
                    "from": "infrared_1",
                    "rotation": [
                        [
                            1.0,
                            0.0,
                            0.0
                        ],
                        [
                            0.0,
                            1.0,
                            0.0
                        ],
                        [
                            0.0,
                            0.0,
                            1.0
                        ]
                    ],
                    "rotation_layout": "row-major 3x3, rotation[row][col]",
                    "to": "this stream",
                    "translation": [
                        0.0,
                        0.0,
                        0.0
                    ],
                    "translation_units": "meters"
                },
                "model": "Intel RealSense D405",
                "mount_rotation_deg": 0,
                "recorded_fps": 15,
                "serial": "260322273676",
                "stereo_module_fps": 30,
                "stream": "depth",
                "timestamp_domain": "global_time_us",
                "usb": "3.2"
            },
            "stats_units": "meters, invalid values (0 and 65535) excluded",
            "stats": {
                "min": [
                    0.030899999219400343
                ],
                "max": [
                    6.50609983564209
                ],
                "mean": [
                    0.817106446835681
                ],
                "std": [
                    0.9982338429833201
                ],
                "count": [
                    1374
                ],
                "q01": [
                    0.05229999867879087
                ],
                "q10": [
                    0.08669999780977378
                ],
                "q50": [
                    0.2828999928533449
                ],
                "q90": [
                    2.33239994107862
                ],
                "q99": [
                    3.7459999053680804
                ]
            }
        },
        "d405_right_depth": {
            "path": "depth/d405_right_depth/chunk-000/file-000.mov",
            "frames": 1374,
            "height": 240,
            "width": 424,
            "channels": 1,
            "codec": "ffv1",
            "pix_fmt": "gray16le",
            "container": "mov",
            "g": 1,
            "lossless": true,
            "units": "raw z16; meters = value * depth_scale; 0 = invalid (no depth); 65535 = invalid (saturated / out of range)",
            "depth_scale": 9.999999747378752e-05,
            "source": "RealSense on-chip depth, decimated 2x",
            "camera": {
                "decimation": 1.0,
                "depth_scale": 9.999999747378752e-05,
                "depth_visual_preset": "High Density",
                "emitter_enabled": null,
                "firmware": "5.15.1.55",
                "format": "Z16",
                "frames_rotated_upright": true,
                "intrinsics": {
                    "coeffs": [
                        0.0,
                        0.0,
                        -0.0,
                        -0.0,
                        0.0
                    ],
                    "fx": 215.798828125,
                    "fy": 215.798828125,
                    "height": 240,
                    "model": "Brown Conrady",
                    "ppx": 210.02273559570312,
                    "ppy": 119.7447738647461,
                    "width": 424
                },
                "ir1_to_robot": {
                    "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link right_dex1_base_link",
                    "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center",
                    "from": "infrared_1",
                    "rotation": [
                        [
                            -0.0,
                            -0.5000042102057056,
                            0.8660229730073958
                        ],
                        [
                            -1.0,
                            0.0,
                            1.468247496825271e-17
                        ],
                        [
                            1.468247496825271e-17,
                            -0.8660229730073958,
                            -0.5000042102057056
                        ]
                    ],
                    "rotation_layout": "row-major 3x3, rotation[row][col]",
                    "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated",
                    "to": "right_dex1_base_link",
                    "translation": [
                        0.05839,
                        -0.0089995,
                        0.05774
                    ],
                    "translation_units": "meters"
                },
                "ir1_to_stream": {
                    "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame",
                    "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center",
                    "from": "infrared_1",
                    "rotation": [
                        [
                            1.0,
                            0.0,
                            0.0
                        ],
                        [
                            0.0,
                            1.0,
                            0.0
                        ],
                        [
                            0.0,
                            0.0,
                            1.0
                        ]
                    ],
                    "rotation_layout": "row-major 3x3, rotation[row][col]",
                    "to": "this stream",
                    "translation": [
                        0.0,
                        0.0,
                        0.0
                    ],
                    "translation_units": "meters"
                },
                "model": "Intel RealSense D405",
                "mount_rotation_deg": 180,
                "recorded_fps": 15,
                "serial": "260322277869",
                "stereo_module_fps": 30,
                "stream": "depth",
                "timestamp_domain": "global_time_us",
                "usb": "3.2"
            },
            "stats_units": "meters, invalid values (0 and 65535) excluded",
            "stats": {
                "min": [
                    0.03099999921687413
                ],
                "max": [
                    6.541799834740232
                ],
                "mean": [
                    0.6178580821802325
                ],
                "std": [
                    0.8455343680653788
                ],
                "count": [
                    1374
                ],
                "q01": [
                    0.05469999861816177
                ],
                "q10": [
                    0.09299999765062239
                ],
                "q50": [
                    0.264499993318168
                ],
                "q90": [
                    1.9420999509384274
                ],
                "q99": [
                    3.551299910286616
                ]
            }
        }
    }
}