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diff --git a/parameters/1957/1237069/parameters/camera/back_left_fisheye_extrinsic_params.json b/parameters/1957/1237069/parameters/camera/back_left_fisheye_extrinsic_params.json
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index 0000000000000000000000000000000000000000..231243b8d5f5255c580e3269fab6d80135b68395
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/back_left_fisheye_extrinsic_params.json
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diff --git a/parameters/1957/1237069/parameters/camera/back_left_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237069/parameters/camera/back_left_fisheye_extrinsic_params_aligned.json
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index 0000000000000000000000000000000000000000..ffc8ccac74925cee56a4dd1109b8998048239314
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diff --git a/parameters/1957/1237069/parameters/camera/back_left_fisheye_intrinsic_params.json b/parameters/1957/1237069/parameters/camera/back_left_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..b44c5275afa0feef60d26ec8d3104e3c2b40ba60
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/back_left_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
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+        "fv": 236.697,
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+        "pv": 385.487,
+        "distortion_model": "equidistant",
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+        "k2": -0.0472069,
+        "k3": 0.0136756,
+        "k4": -0.00175233
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237069/parameters/camera/back_right_fisheye_extrinsic_params.json b/parameters/1957/1237069/parameters/camera/back_right_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdff44961bc8e96364d931180b442f2b1eb5afdd
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/back_right_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
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+}
diff --git a/parameters/1957/1237069/parameters/camera/back_right_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237069/parameters/camera/back_right_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b29a2da3bd2cf662f16100090aff37f8adc7071
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/back_right_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,16642 @@
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\ No newline at end of file
diff --git a/parameters/1957/1237069/parameters/camera/back_right_fisheye_intrinsic_params.json b/parameters/1957/1237069/parameters/camera/back_right_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..30be258c7dc58f408a64e306e07a833189752b22
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/back_right_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
+    "intrinsic": {
+        "fu": 235.3475,
+        "fv": 235.4555,
+        "pu": 480.4635,
+        "pv": 387.9695,
+        "distortion_model": "equidistant",
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+        "k2": -0.0479755,
+        "k3": 0.0136264,
+        "k4": -0.00169217
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237069/parameters/camera/fisheye_camera_info.json b/parameters/1957/1237069/parameters/camera/fisheye_camera_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf98573198d0da7f97c0de2feab317e96e85f5db
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/fisheye_camera_info.json
@@ -0,0 +1,37 @@
+{
+    "cam0": {
+        "SN": "CC2306980",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "back_left_fisheye"
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+    "cam3": {
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+        "height": "768",
+        "fps": "30",
+        "name": "back_right_fisheye"
+    },
+    "cam4": {
+        "SN": "CC6802023",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
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+    },
+    "cam5": {
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+        "name": "head_left_fisheye"
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+    "cam6": {
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+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "head_right_fisheye"
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237069/parameters/camera/hand_left_extrinsic_params.json b/parameters/1957/1237069/parameters/camera/hand_left_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee6c2adb2b0d28f9fad81ab58d1c0c1b33feb463
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/hand_left_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
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+}
\ No newline at end of file
diff --git a/parameters/1957/1237069/parameters/camera/hand_left_extrinsic_params_aligned.json b/parameters/1957/1237069/parameters/camera/hand_left_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..e21c5d82ee774322128a7f5507da171c342d96e4
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/hand_left_extrinsic_params_aligned.json
@@ -0,0 +1,16642 @@
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diff --git a/parameters/1957/1237069/parameters/camera/hand_left_intrinsic_params.json b/parameters/1957/1237069/parameters/camera/hand_left_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..7befe402b40c6c26c9e02da531be58ada512d267
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/hand_left_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
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+}
\ No newline at end of file
diff --git a/parameters/1957/1237069/parameters/camera/hand_right_extrinsic_params.json b/parameters/1957/1237069/parameters/camera/hand_right_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cb7ca9ceff7facbf6e2d4eab7b46fb21b322161
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/hand_right_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
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+}
\ No newline at end of file
diff --git a/parameters/1957/1237069/parameters/camera/hand_right_extrinsic_params_aligned.json b/parameters/1957/1237069/parameters/camera/hand_right_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..d842122516d960931bc65c7329e2477862d8c76f
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/hand_right_extrinsic_params_aligned.json
@@ -0,0 +1,16642 @@
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diff --git a/parameters/1957/1237069/parameters/camera/hand_right_intrinsic_params.json b/parameters/1957/1237069/parameters/camera/hand_right_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..d595f68e02e5a6c67d0dbf90083d35820940e80f
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/hand_right_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
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+}
\ No newline at end of file
diff --git a/parameters/1957/1237069/parameters/camera/head_center_fisheye_extrinsic_params.json b/parameters/1957/1237069/parameters/camera/head_center_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa70f0a2243d61f023c92df2c265a18a8d7fdd3d
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/head_center_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
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+}
diff --git a/parameters/1957/1237069/parameters/camera/head_center_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237069/parameters/camera/head_center_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..25b91814d3ff95f56930c405b6289343f1032cbf
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/head_center_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,16642 @@
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diff --git a/parameters/1957/1237069/parameters/camera/head_center_fisheye_intrinsic_params.json b/parameters/1957/1237069/parameters/camera/head_center_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..a144bd3d3bb542721ac84354a28b99176de830c0
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/head_center_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
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+}
\ No newline at end of file
diff --git a/parameters/1957/1237069/parameters/camera/head_extrinsic_params.json b/parameters/1957/1237069/parameters/camera/head_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..38efaa86fa9b01b6ae4b17b25cbe8a1ddd15ca33
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/head_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
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diff --git a/parameters/1957/1237069/parameters/camera/head_extrinsic_params_aligned.json b/parameters/1957/1237069/parameters/camera/head_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fcc90abd1a9293682e6110813fb8d9e0dc9ec41
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/head_extrinsic_params_aligned.json
@@ -0,0 +1,16642 @@
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\ No newline at end of file
diff --git a/parameters/1957/1237069/parameters/camera/head_intrinsic_params.json b/parameters/1957/1237069/parameters/camera/head_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a635e30a32fd5d739aadb95a7cde3740d05a795
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/head_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
+    "intrinsic": {
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+        "p2": 0.0011970652267336845
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237069/parameters/camera/head_left_fisheye_extrinsic_params.json b/parameters/1957/1237069/parameters/camera/head_left_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..23d25f810955d0cf8c9c0927a0eb3c53cc88fe31
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/head_left_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
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+}
diff --git a/parameters/1957/1237069/parameters/camera/head_left_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237069/parameters/camera/head_left_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..f241062518477b3cb73d2a395f54fe1480e2872e
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/head_left_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,16642 @@
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diff --git a/parameters/1957/1237069/parameters/camera/head_left_fisheye_intrinsic_params.json b/parameters/1957/1237069/parameters/camera/head_left_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c0ee56c43c558efacb6d0023f4fdb1b86257cde
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/head_left_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
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+        "k4": -0.00212971
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+}
\ No newline at end of file
diff --git a/parameters/1957/1237069/parameters/camera/head_right_fisheye_extrinsic_params.json b/parameters/1957/1237069/parameters/camera/head_right_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..cda5ad0de127ab231d6abd9fb4a19b27eef770b5
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/head_right_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
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+}
diff --git a/parameters/1957/1237069/parameters/camera/head_right_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237069/parameters/camera/head_right_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dd97b7fc70691734f144ed3c94c6ac55ae2fecc
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/head_right_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,16642 @@
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\ No newline at end of file
diff --git a/parameters/1957/1237069/parameters/camera/head_right_fisheye_intrinsic_params.json b/parameters/1957/1237069/parameters/camera/head_right_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5fe3fbabb51ca3c39054783d4b7babc4e9a292f
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/head_right_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
+    "intrinsic": {
+        "fu": 236.2685,
+        "fv": 236.259,
+        "pu": 480.7825,
+        "pv": 387.778,
+        "distortion_model": "equidistant",
+        "k1": 0.100896,
+        "k2": -0.0484948,
+        "k3": 0.0143345,
+        "k4": -0.00188306
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237069/parameters/camera/rs_camera_info.json b/parameters/1957/1237069/parameters/camera/rs_camera_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..47d42b9cd4db0e5346de3135ac8a07834aacf71e
--- /dev/null
+++ b/parameters/1957/1237069/parameters/camera/rs_camera_info.json
@@ -0,0 +1,23 @@
+{
+    "d455_1": {
+        "SN": "246322300659",
+        "name": "head",
+        "fps": "30",
+        "width": "640",
+        "height": "480"
+    },
+    "d405_1": {
+        "SN": "230322271141",
+        "name": "hand_left",
+        "fps": "30",
+        "width": "640",
+        "height": "480"
+    },
+    "d405_2": {
+        "SN": "218622276006",
+        "name": "hand_right",
+        "fps": "30",
+        "width": "640",
+        "height": "480"
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237400/parameters/camera/back_left_fisheye_extrinsic_params.json b/parameters/1957/1237400/parameters/camera/back_left_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..231243b8d5f5255c580e3269fab6d80135b68395
--- /dev/null
+++ b/parameters/1957/1237400/parameters/camera/back_left_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
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+        "rotation_matrix": [
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+            0.16055,
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+}
diff --git a/parameters/1957/1237400/parameters/camera/back_left_fisheye_intrinsic_params.json b/parameters/1957/1237400/parameters/camera/back_left_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..760c788fada62d59ff7026bc48dd99e61641b75c
--- /dev/null
+++ b/parameters/1957/1237400/parameters/camera/back_left_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
+    "intrinsic": {
+        "fu": 236.086,
+        "fv": 236.247,
+        "pu": 481.539,
+        "pv": 386.717,
+        "distortion_model": "equidistant",
+        "k1": 0.0984594,
+        "k2": -0.0445249,
+        "k3": 0.0118172,
+        "k4": -0.00134209
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237400/parameters/camera/fisheye_camera_info.json b/parameters/1957/1237400/parameters/camera/fisheye_camera_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f97502230a7a3db6ed9b0f9b856c0eb24f38ce6
--- /dev/null
+++ b/parameters/1957/1237400/parameters/camera/fisheye_camera_info.json
@@ -0,0 +1,42 @@
+{
+    "cam0": {
+        "SN": "CC6476088",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "back_left_fisheye",
+        "model": "HIK-031"
+    },
+    "cam3": {
+        "SN": "CC4953146",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "back_right_fisheye",
+        "model": "HIK-031"
+    },
+    "cam4": {
+        "SN": "CC2400140",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "head_center_fisheye",
+        "model": "HIK-031"
+    },
+    "cam5": {
+        "SN": "CC6794757",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "head_left_fisheye",
+        "model": "HIK-031"
+    },
+    "cam6": {
+        "SN": "CC7179471",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "head_right_fisheye",
+        "model": "HIK-031"
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237400/parameters/camera/hand_left_extrinsic_params.json b/parameters/1957/1237400/parameters/camera/hand_left_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee6c2adb2b0d28f9fad81ab58d1c0c1b33feb463
--- /dev/null
+++ b/parameters/1957/1237400/parameters/camera/hand_left_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                0.8646710727343956,
+                -0.44356026800797427,
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+            0.05407264508531332
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+}
\ No newline at end of file
diff --git a/parameters/1957/1237400/parameters/camera/hand_left_intrinsic_params.json b/parameters/1957/1237400/parameters/camera/hand_left_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c33bb27c3e6ed04d51f5fc79e9f6295e3ad3bce
--- /dev/null
+++ b/parameters/1957/1237400/parameters/camera/hand_left_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
+    "intrinsic": {
+        "fx": 328.58921266951654,
+        "fy": 434.75579833984375,
+        "ppx": 319.9744343307783,
+        "ppy": 244.5061492919922,
+        "distortion_model": "plumb bob",
+        "k1": -0.05443718284368515,
+        "k2": 0.060957569628953934,
+        "k3": -0.020754536613821983,
+        "p1": -0.00029984445427544415,
+        "p2": 0.00019765457545872778
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237400/parameters/camera/hand_right_extrinsic_params_aligned.json b/parameters/1957/1237400/parameters/camera/hand_right_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..93544902fb57018654ce4b6b55e3cba8d1a37b87
--- /dev/null
+++ b/parameters/1957/1237400/parameters/camera/hand_right_extrinsic_params_aligned.json
@@ -0,0 +1,31202 @@
+[
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\ No newline at end of file
diff --git a/parameters/1957/1237400/parameters/camera/hand_right_intrinsic_params.json b/parameters/1957/1237400/parameters/camera/hand_right_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..35e35177b116f956776a7e1218b9c462ce1b2b82
--- /dev/null
+++ b/parameters/1957/1237400/parameters/camera/hand_right_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
+    "intrinsic": {
+        "fx": 329.23459610849056,
+        "fy": 435.65704345703125,
+        "ppx": 316.8152546432783,
+        "ppy": 238.4815673828125,
+        "distortion_model": "plumb bob",
+        "k1": -0.055739182978868484,
+        "k2": 0.05996587499976158,
+        "k3": -0.020211046561598778,
+        "p1": -0.00013161412789486349,
+        "p2": 0.00025812239618971944
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237400/parameters/camera/head_center_fisheye_intrinsic_params.json b/parameters/1957/1237400/parameters/camera/head_center_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0ba2546e9453060b617bfd9c0dff2752c922b2f
--- /dev/null
+++ b/parameters/1957/1237400/parameters/camera/head_center_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
+    "intrinsic": {
+        "fu": 236.4365,
+        "fv": 236.3625,
+        "pu": 480.07,
+        "pv": 387.63,
+        "distortion_model": "equidistant",
+        "k1": 0.100142,
+        "k2": -0.0478495,
+        "k3": 0.0138268,
+        "k4": -0.00175599
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237400/parameters/camera/head_right_fisheye_extrinsic_params.json b/parameters/1957/1237400/parameters/camera/head_right_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cb625a3024c596112e45eeeaabf574d71235018
--- /dev/null
+++ b/parameters/1957/1237400/parameters/camera/head_right_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
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+}
diff --git a/parameters/1957/1237400/parameters/camera/head_right_fisheye_intrinsic_params.json b/parameters/1957/1237400/parameters/camera/head_right_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..58ad69572032d11564ae3f0a5eab2f7f2e4101bc
--- /dev/null
+++ b/parameters/1957/1237400/parameters/camera/head_right_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
+    "intrinsic": {
+        "fu": 235.7655,
+        "fv": 235.788,
+        "pu": 483.011,
+        "pv": 387.185,
+        "distortion_model": "equidistant",
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+        "k2": -0.0483109,
+        "k3": 0.0138957,
+        "k4": -0.00175731
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237400/parameters/camera/rs_camera_info.json b/parameters/1957/1237400/parameters/camera/rs_camera_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..15273764b6e3d17cc1d93378df3b5554fb502e24
--- /dev/null
+++ b/parameters/1957/1237400/parameters/camera/rs_camera_info.json
@@ -0,0 +1,26 @@
+{
+    "d455_1": {
+        "SN": "309622300958",
+        "name": "head",
+        "fps": "30",
+        "width": "640",
+        "height": "480",
+        "model": "Realsense-D455"
+    },
+    "d405_1": {
+        "SN": "230322270037",
+        "name": "hand_left",
+        "fps": "30",
+        "width": "640",
+        "height": "480",
+        "model": "Realsense-D405"
+    },
+    "d405_2": {
+        "SN": "230322276962",
+        "name": "hand_right",
+        "fps": "30",
+        "width": "640",
+        "height": "480",
+        "model": "Realsense-D405"
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237405/parameters/camera/back_left_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237405/parameters/camera/back_left_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff2f6fd2efbbb736fc5d26d1f5f88d0887040de4
--- /dev/null
+++ b/parameters/1957/1237405/parameters/camera/back_left_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,31202 @@
+[
+    {
+        "extrinsic": {
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+                    0.0,
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diff --git a/parameters/1957/1237405/parameters/camera/back_right_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237405/parameters/camera/back_right_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..7484ceef17b522d9b272797e5c2c0897e811b3f3
--- /dev/null
+++ b/parameters/1957/1237405/parameters/camera/back_right_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,31202 @@
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diff --git a/parameters/1957/1237405/parameters/camera/back_right_fisheye_intrinsic_params.json b/parameters/1957/1237405/parameters/camera/back_right_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0c3f3b62e9408f88a167fdaa2636a8f44b8631e
--- /dev/null
+++ b/parameters/1957/1237405/parameters/camera/back_right_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
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+}
\ No newline at end of file
diff --git a/parameters/1957/1237405/parameters/camera/hand_left_extrinsic_params_aligned.json b/parameters/1957/1237405/parameters/camera/hand_left_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c884523686b62ba6d1bfd61722c66dfdcd39d27
--- /dev/null
+++ b/parameters/1957/1237405/parameters/camera/hand_left_extrinsic_params_aligned.json
@@ -0,0 +1,31202 @@
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\ No newline at end of file
diff --git a/parameters/1957/1237405/parameters/camera/hand_right_extrinsic_params.json b/parameters/1957/1237405/parameters/camera/hand_right_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cb7ca9ceff7facbf6e2d4eab7b46fb21b322161
--- /dev/null
+++ b/parameters/1957/1237405/parameters/camera/hand_right_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
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+}
\ No newline at end of file
diff --git a/parameters/1957/1237405/parameters/camera/head_extrinsic_params.json b/parameters/1957/1237405/parameters/camera/head_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..c12417ad0c278fe60b33a4f3fb213e8ca9f6a811
--- /dev/null
+++ b/parameters/1957/1237405/parameters/camera/head_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
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+}
diff --git a/parameters/1957/1237405/parameters/camera/head_extrinsic_params_aligned.json b/parameters/1957/1237405/parameters/camera/head_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..84be75267868451325f4c712e6a3945f31df4543
--- /dev/null
+++ b/parameters/1957/1237405/parameters/camera/head_extrinsic_params_aligned.json
@@ -0,0 +1,31202 @@
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\ No newline at end of file
diff --git a/parameters/1957/1237405/parameters/camera/head_intrinsic_params.json b/parameters/1957/1237405/parameters/camera/head_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..31d59efc4e86a4188bda7ca78ae3317018e00a27
--- /dev/null
+++ b/parameters/1957/1237405/parameters/camera/head_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
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+        "p2": 0.001022492186166346
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237405/parameters/camera/head_left_fisheye_extrinsic_params.json b/parameters/1957/1237405/parameters/camera/head_left_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2d21b692dab96282a1642a2beba957460d51494
--- /dev/null
+++ b/parameters/1957/1237405/parameters/camera/head_left_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
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+}
diff --git a/parameters/1957/1237405/parameters/camera/head_left_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237405/parameters/camera/head_left_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..141e67bdee983e3652efa113073d112ac627d0f3
--- /dev/null
+++ b/parameters/1957/1237405/parameters/camera/head_left_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,31202 @@
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diff --git a/parameters/1957/1237405/parameters/camera/head_left_fisheye_intrinsic_params.json b/parameters/1957/1237405/parameters/camera/head_left_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..da091b1e84da3e095280bd2f3cd97fa5269aa0b4
--- /dev/null
+++ b/parameters/1957/1237405/parameters/camera/head_left_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
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+        "k2": -0.0480135,
+        "k3": 0.0136804,
+        "k4": -0.0016985
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237405/parameters/camera/head_right_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237405/parameters/camera/head_right_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bdab3919bb20a18f7c12b2e9f1df4762dc721ba
--- /dev/null
+++ b/parameters/1957/1237405/parameters/camera/head_right_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,31202 @@
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diff --git a/parameters/1957/1237407/parameters/camera/back_left_fisheye_extrinsic_params.json b/parameters/1957/1237407/parameters/camera/back_left_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..231243b8d5f5255c580e3269fab6d80135b68395
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/back_left_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
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+}
diff --git a/parameters/1957/1237407/parameters/camera/back_left_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237407/parameters/camera/back_left_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e21f99438f9977d9cd08dd7ff975f2052d6df98
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/back_left_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,27952 @@
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\ No newline at end of file
diff --git a/parameters/1957/1237407/parameters/camera/back_left_fisheye_intrinsic_params.json b/parameters/1957/1237407/parameters/camera/back_left_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..b44c5275afa0feef60d26ec8d3104e3c2b40ba60
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/back_left_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
+    "intrinsic": {
+        "fu": 236.5715,
+        "fv": 236.697,
+        "pu": 476.7585,
+        "pv": 385.487,
+        "distortion_model": "equidistant",
+        "k1": 0.0996644,
+        "k2": -0.0472069,
+        "k3": 0.0136756,
+        "k4": -0.00175233
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237407/parameters/camera/back_right_fisheye_extrinsic_params.json b/parameters/1957/1237407/parameters/camera/back_right_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdff44961bc8e96364d931180b442f2b1eb5afdd
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/back_right_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
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+}
diff --git a/parameters/1957/1237407/parameters/camera/back_right_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237407/parameters/camera/back_right_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5458c730902d6c5ca00947d2a86e01e6f0c4d4f
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/back_right_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,27952 @@
+[
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\ No newline at end of file
diff --git a/parameters/1957/1237407/parameters/camera/back_right_fisheye_intrinsic_params.json b/parameters/1957/1237407/parameters/camera/back_right_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..30be258c7dc58f408a64e306e07a833189752b22
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/back_right_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
+    "intrinsic": {
+        "fu": 235.3475,
+        "fv": 235.4555,
+        "pu": 480.4635,
+        "pv": 387.9695,
+        "distortion_model": "equidistant",
+        "k1": 0.1014,
+        "k2": -0.0479755,
+        "k3": 0.0136264,
+        "k4": -0.00169217
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237407/parameters/camera/fisheye_camera_info.json b/parameters/1957/1237407/parameters/camera/fisheye_camera_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf98573198d0da7f97c0de2feab317e96e85f5db
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/fisheye_camera_info.json
@@ -0,0 +1,37 @@
+{
+    "cam0": {
+        "SN": "CC2306980",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "back_left_fisheye"
+    },
+    "cam3": {
+        "SN": "CC7055459",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "back_right_fisheye"
+    },
+    "cam4": {
+        "SN": "CC6802023",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "head_center_fisheye"
+    },
+    "cam5": {
+        "SN": "CC6801859",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "head_left_fisheye"
+    },
+    "cam6": {
+        "SN": "CC3831630",
+        "width": "960",
+        "height": "768",
+        "fps": "30",
+        "name": "head_right_fisheye"
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237407/parameters/camera/hand_left_extrinsic_params.json b/parameters/1957/1237407/parameters/camera/hand_left_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee6c2adb2b0d28f9fad81ab58d1c0c1b33feb463
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/hand_left_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
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+}
\ No newline at end of file
diff --git a/parameters/1957/1237407/parameters/camera/hand_left_extrinsic_params_aligned.json b/parameters/1957/1237407/parameters/camera/hand_left_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1dbf401a0e762d8b1a083bcd56accdd97c5fe0e
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/hand_left_extrinsic_params_aligned.json
@@ -0,0 +1,27952 @@
+[
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diff --git a/parameters/1957/1237407/parameters/camera/hand_left_intrinsic_params.json b/parameters/1957/1237407/parameters/camera/hand_left_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..7befe402b40c6c26c9e02da531be58ada512d267
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/hand_left_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
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+}
\ No newline at end of file
diff --git a/parameters/1957/1237407/parameters/camera/hand_right_extrinsic_params.json b/parameters/1957/1237407/parameters/camera/hand_right_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cb7ca9ceff7facbf6e2d4eab7b46fb21b322161
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/hand_right_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
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+}
\ No newline at end of file
diff --git a/parameters/1957/1237407/parameters/camera/hand_right_extrinsic_params_aligned.json b/parameters/1957/1237407/parameters/camera/hand_right_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..2eff7e0fd22cc9710976a54a7b33ac7e2c53e49d
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/hand_right_extrinsic_params_aligned.json
@@ -0,0 +1,27952 @@
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diff --git a/parameters/1957/1237407/parameters/camera/hand_right_intrinsic_params.json b/parameters/1957/1237407/parameters/camera/hand_right_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..d595f68e02e5a6c67d0dbf90083d35820940e80f
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/hand_right_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
+    "intrinsic": {
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+        "fy": 435.221923828125,
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+        "p2": 0.0015935895498842
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+}
\ No newline at end of file
diff --git a/parameters/1957/1237407/parameters/camera/head_center_fisheye_extrinsic_params.json b/parameters/1957/1237407/parameters/camera/head_center_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa70f0a2243d61f023c92df2c265a18a8d7fdd3d
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/head_center_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
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diff --git a/parameters/1957/1237407/parameters/camera/head_center_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237407/parameters/camera/head_center_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff6a70872032a071c054b20f5fe5026e1c5fd699
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/head_center_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,27952 @@
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\ No newline at end of file
diff --git a/parameters/1957/1237407/parameters/camera/head_center_fisheye_intrinsic_params.json b/parameters/1957/1237407/parameters/camera/head_center_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..a144bd3d3bb542721ac84354a28b99176de830c0
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/head_center_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
+    "intrinsic": {
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+        "fv": 236.654,
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+        "k2": -0.0477212,
+        "k3": 0.0138531,
+        "k4": -0.00177512
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237407/parameters/camera/head_extrinsic_params.json b/parameters/1957/1237407/parameters/camera/head_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..38efaa86fa9b01b6ae4b17b25cbe8a1ddd15ca33
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/head_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
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+}
diff --git a/parameters/1957/1237407/parameters/camera/head_extrinsic_params_aligned.json b/parameters/1957/1237407/parameters/camera/head_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdeeacc553a98c99cc92bc0bbb9702e84b28daac
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/head_extrinsic_params_aligned.json
@@ -0,0 +1,27952 @@
+[
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\ No newline at end of file
diff --git a/parameters/1957/1237407/parameters/camera/head_intrinsic_params.json b/parameters/1957/1237407/parameters/camera/head_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a635e30a32fd5d739aadb95a7cde3740d05a795
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/head_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
+    "intrinsic": {
+        "fx": 321.7855224609375,
+        "fy": 428.5180257161458,
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+        "p1": -0.0007377127767540514,
+        "p2": 0.0011970652267336845
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237407/parameters/camera/head_left_fisheye_extrinsic_params.json b/parameters/1957/1237407/parameters/camera/head_left_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..23d25f810955d0cf8c9c0927a0eb3c53cc88fe31
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/head_left_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
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+}
diff --git a/parameters/1957/1237407/parameters/camera/head_left_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237407/parameters/camera/head_left_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2a40dd8aba6eb14667b407fd632df414eef547f
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/head_left_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,27952 @@
+[
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diff --git a/parameters/1957/1237407/parameters/camera/head_left_fisheye_intrinsic_params.json b/parameters/1957/1237407/parameters/camera/head_left_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c0ee56c43c558efacb6d0023f4fdb1b86257cde
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/head_left_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
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+        "k2": -0.0509376,
+        "k3": 0.0156047,
+        "k4": -0.00212971
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237407/parameters/camera/head_right_fisheye_extrinsic_params.json b/parameters/1957/1237407/parameters/camera/head_right_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..cda5ad0de127ab231d6abd9fb4a19b27eef770b5
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/head_right_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
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diff --git a/parameters/1957/1237407/parameters/camera/head_right_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237407/parameters/camera/head_right_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..edb33dcacb5ac5ebc949dd78b1c6b759d634027f
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/head_right_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,27952 @@
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+                    -0.6933893992123338,
+                    0.26180748808024046,
+                    -0.6713180917010017
+                ],
+                [
+                    0.6825194635787366,
+                    -0.060088837314002316,
+                    -0.7283931036648038
+                ]
+            ],
+            "translation_vector": [
+                0.48705968452402587,
+                -0.0759989623152521,
+                0.6355903210221773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310374924036203,
+                    -0.963247720379014,
+                    -0.13702374352089838
+                ],
+                [
+                    -0.6933893992123338,
+                    0.26180748808024046,
+                    -0.6713180917010017
+                ],
+                [
+                    0.6825194635787366,
+                    -0.060088837314002316,
+                    -0.7283931036648038
+                ]
+            ],
+            "translation_vector": [
+                0.48705968452402587,
+                -0.0759989623152521,
+                0.6355903210221773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310374924036203,
+                    -0.963247720379014,
+                    -0.13702374352089838
+                ],
+                [
+                    -0.6933893992123338,
+                    0.26180748808024046,
+                    -0.6713180917010017
+                ],
+                [
+                    0.6825194635787366,
+                    -0.060088837314002316,
+                    -0.7283931036648038
+                ]
+            ],
+            "translation_vector": [
+                0.48705968452402587,
+                -0.0759989623152521,
+                0.6355903210221773
+            ]
+        }
+    },
+    {
+        "extrinsic": {
+            "rotation_matrix": [
+                [
+                    -0.2310374924036203,
+                    -0.963247720379014,
+                    -0.13702374352089838
+                ],
+                [
+                    -0.6933893992123338,
+                    0.26180748808024046,
+                    -0.6713180917010017
+                ],
+                [
+                    0.6825194635787366,
+                    -0.060088837314002316,
+                    -0.7283931036648038
+                ]
+            ],
+            "translation_vector": [
+                0.48705968452402587,
+                -0.0759989623152521,
+                0.6355903973161227
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/parameters/1957/1237407/parameters/camera/head_right_fisheye_intrinsic_params.json b/parameters/1957/1237407/parameters/camera/head_right_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5fe3fbabb51ca3c39054783d4b7babc4e9a292f
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/head_right_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
+    "intrinsic": {
+        "fu": 236.2685,
+        "fv": 236.259,
+        "pu": 480.7825,
+        "pv": 387.778,
+        "distortion_model": "equidistant",
+        "k1": 0.100896,
+        "k2": -0.0484948,
+        "k3": 0.0143345,
+        "k4": -0.00188306
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237407/parameters/camera/rs_camera_info.json b/parameters/1957/1237407/parameters/camera/rs_camera_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..47d42b9cd4db0e5346de3135ac8a07834aacf71e
--- /dev/null
+++ b/parameters/1957/1237407/parameters/camera/rs_camera_info.json
@@ -0,0 +1,23 @@
+{
+    "d455_1": {
+        "SN": "246322300659",
+        "name": "head",
+        "fps": "30",
+        "width": "640",
+        "height": "480"
+    },
+    "d405_1": {
+        "SN": "230322271141",
+        "name": "hand_left",
+        "fps": "30",
+        "width": "640",
+        "height": "480"
+    },
+    "d405_2": {
+        "SN": "218622276006",
+        "name": "hand_right",
+        "fps": "30",
+        "width": "640",
+        "height": "480"
+    }
+}
\ No newline at end of file