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diff --git a/parameters/1957/1237136/parameters/camera/back_right_fisheye_intrinsic_params.json b/parameters/1957/1237136/parameters/camera/back_right_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..30be258c7dc58f408a64e306e07a833189752b22
--- /dev/null
+++ b/parameters/1957/1237136/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/1957/1237136/parameters/camera/fisheye_camera_info.json b/parameters/1957/1237136/parameters/camera/fisheye_camera_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf98573198d0da7f97c0de2feab317e96e85f5db
--- /dev/null
+++ b/parameters/1957/1237136/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/1957/1237136/parameters/camera/hand_left_extrinsic_params.json b/parameters/1957/1237136/parameters/camera/hand_left_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee6c2adb2b0d28f9fad81ab58d1c0c1b33feb463
--- /dev/null
+++ b/parameters/1957/1237136/parameters/camera/hand_left_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
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diff --git a/parameters/1957/1237136/parameters/camera/hand_left_extrinsic_params_aligned.json b/parameters/1957/1237136/parameters/camera/hand_left_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae32f66a0276699f1d91c3bf3238cb3ded310d55
--- /dev/null
+++ b/parameters/1957/1237136/parameters/camera/hand_left_extrinsic_params_aligned.json
@@ -0,0 +1,15784 @@
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\ No newline at end of file
diff --git a/parameters/1957/1237136/parameters/camera/hand_left_intrinsic_params.json b/parameters/1957/1237136/parameters/camera/hand_left_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..7befe402b40c6c26c9e02da531be58ada512d267
--- /dev/null
+++ b/parameters/1957/1237136/parameters/camera/hand_left_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
+    "intrinsic": {
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+        "p2": -3.121867121080868e-05
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+}
\ No newline at end of file
diff --git a/parameters/1957/1237136/parameters/camera/hand_right_extrinsic_params.json b/parameters/1957/1237136/parameters/camera/hand_right_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cb7ca9ceff7facbf6e2d4eab7b46fb21b322161
--- /dev/null
+++ b/parameters/1957/1237136/parameters/camera/hand_right_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
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+}
\ No newline at end of file
diff --git a/parameters/1957/1237136/parameters/camera/hand_right_extrinsic_params_aligned.json b/parameters/1957/1237136/parameters/camera/hand_right_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a68fd3b0478bb30d982bba5c634d5e56e26063b
--- /dev/null
+++ b/parameters/1957/1237136/parameters/camera/hand_right_extrinsic_params_aligned.json
@@ -0,0 +1,15784 @@
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diff --git a/parameters/1957/1237136/parameters/camera/hand_right_intrinsic_params.json b/parameters/1957/1237136/parameters/camera/hand_right_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..d595f68e02e5a6c67d0dbf90083d35820940e80f
--- /dev/null
+++ b/parameters/1957/1237136/parameters/camera/hand_right_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
+    "intrinsic": {
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+}
\ No newline at end of file
diff --git a/parameters/1957/1237136/parameters/camera/head_center_fisheye_extrinsic_params.json b/parameters/1957/1237136/parameters/camera/head_center_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa70f0a2243d61f023c92df2c265a18a8d7fdd3d
--- /dev/null
+++ b/parameters/1957/1237136/parameters/camera/head_center_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
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diff --git a/parameters/1957/1237136/parameters/camera/head_center_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237136/parameters/camera/head_center_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..b394e744477709b1ef9c74dff87817ad5a3c810f
--- /dev/null
+++ b/parameters/1957/1237136/parameters/camera/head_center_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,15784 @@
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diff --git a/parameters/1957/1237136/parameters/camera/head_center_fisheye_intrinsic_params.json b/parameters/1957/1237136/parameters/camera/head_center_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..a144bd3d3bb542721ac84354a28b99176de830c0
--- /dev/null
+++ b/parameters/1957/1237136/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/1957/1237136/parameters/camera/head_extrinsic_params.json b/parameters/1957/1237136/parameters/camera/head_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..38efaa86fa9b01b6ae4b17b25cbe8a1ddd15ca33
--- /dev/null
+++ b/parameters/1957/1237136/parameters/camera/head_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
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diff --git a/parameters/1957/1237136/parameters/camera/head_extrinsic_params_aligned.json b/parameters/1957/1237136/parameters/camera/head_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1836998fe5ca6872ce6625dd9be7a5865418bbf
--- /dev/null
+++ b/parameters/1957/1237136/parameters/camera/head_extrinsic_params_aligned.json
@@ -0,0 +1,15784 @@
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\ No newline at end of file
diff --git a/parameters/1957/1237136/parameters/camera/head_intrinsic_params.json b/parameters/1957/1237136/parameters/camera/head_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a635e30a32fd5d739aadb95a7cde3740d05a795
--- /dev/null
+++ b/parameters/1957/1237136/parameters/camera/head_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
+    "intrinsic": {
+        "fx": 321.7855224609375,
+        "fy": 428.5180257161458,
+        "ppx": 325.7337951660156,
+        "ppy": 236.8461710611979,
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+        "k3": -0.02059057354927063,
+        "p1": -0.0007377127767540514,
+        "p2": 0.0011970652267336845
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237136/parameters/camera/head_left_fisheye_extrinsic_params.json b/parameters/1957/1237136/parameters/camera/head_left_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..23d25f810955d0cf8c9c0927a0eb3c53cc88fe31
--- /dev/null
+++ b/parameters/1957/1237136/parameters/camera/head_left_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
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+}
diff --git a/parameters/1957/1237136/parameters/camera/head_right_fisheye_extrinsic_params.json b/parameters/1957/1237136/parameters/camera/head_right_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..cda5ad0de127ab231d6abd9fb4a19b27eef770b5
--- /dev/null
+++ b/parameters/1957/1237136/parameters/camera/head_right_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
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+}
diff --git a/parameters/1957/1237136/parameters/camera/head_right_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237136/parameters/camera/head_right_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1790a6633ed93edf29ce134d5fb5ed3274ad76a
--- /dev/null
+++ b/parameters/1957/1237136/parameters/camera/head_right_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,15784 @@
+[
+    {
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+                0.4870601629832724,
+                -0.07599896231249997,
+                0.6355899710447883
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/parameters/1957/1237136/parameters/camera/head_right_fisheye_intrinsic_params.json b/parameters/1957/1237136/parameters/camera/head_right_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5fe3fbabb51ca3c39054783d4b7babc4e9a292f
--- /dev/null
+++ b/parameters/1957/1237136/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/1957/1237136/parameters/camera/rs_camera_info.json b/parameters/1957/1237136/parameters/camera/rs_camera_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..47d42b9cd4db0e5346de3135ac8a07834aacf71e
--- /dev/null
+++ b/parameters/1957/1237136/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/1957/1237164/parameters/camera/back_left_fisheye_extrinsic_params.json b/parameters/1957/1237164/parameters/camera/back_left_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..231243b8d5f5255c580e3269fab6d80135b68395
--- /dev/null
+++ b/parameters/1957/1237164/parameters/camera/back_left_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                0.777058,
+                0.000000,
+                -0.629624
+            ],
+            [
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+                -0.252871,
+                0.751592
+            ],
+            [
+                -0.159001,
+                -0.967678,
+                -0.196914
+            ]
+        ],
+        "translation_vector": [
+            -0.20355,
+            0.16055,
+            0.69999
+        ]
+    }
+}
diff --git a/parameters/1957/1237164/parameters/camera/back_left_fisheye_intrinsic_params.json b/parameters/1957/1237164/parameters/camera/back_left_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..b44c5275afa0feef60d26ec8d3104e3c2b40ba60
--- /dev/null
+++ b/parameters/1957/1237164/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/1957/1237164/parameters/camera/fisheye_camera_info.json b/parameters/1957/1237164/parameters/camera/fisheye_camera_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf98573198d0da7f97c0de2feab317e96e85f5db
--- /dev/null
+++ b/parameters/1957/1237164/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/1957/1237164/parameters/camera/hand_left_extrinsic_params.json b/parameters/1957/1237164/parameters/camera/hand_left_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee6c2adb2b0d28f9fad81ab58d1c0c1b33feb463
--- /dev/null
+++ b/parameters/1957/1237164/parameters/camera/hand_left_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
+                0.8646710727343956,
+                -0.44356026800797427,
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+        "translation_vector": [
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+            0.05407264508531332
+        ]
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237164/parameters/camera/hand_right_extrinsic_params_aligned.json b/parameters/1957/1237164/parameters/camera/hand_right_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..959d5f33862c351761c6fb22e2dc82aa2148c374
--- /dev/null
+++ b/parameters/1957/1237164/parameters/camera/hand_right_extrinsic_params_aligned.json
@@ -0,0 +1,17474 @@
+[
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\ No newline at end of file
diff --git a/parameters/1957/1237164/parameters/camera/head_center_fisheye_intrinsic_params.json b/parameters/1957/1237164/parameters/camera/head_center_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..a144bd3d3bb542721ac84354a28b99176de830c0
--- /dev/null
+++ b/parameters/1957/1237164/parameters/camera/head_center_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
+    "intrinsic": {
+        "fu": 236.57,
+        "fv": 236.654,
+        "pu": 481.391,
+        "pv": 387.1705,
+        "distortion_model": "equidistant",
+        "k1": 0.0998943,
+        "k2": -0.0477212,
+        "k3": 0.0138531,
+        "k4": -0.00177512
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237164/parameters/camera/head_right_fisheye_extrinsic_params.json b/parameters/1957/1237164/parameters/camera/head_right_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..cda5ad0de127ab231d6abd9fb4a19b27eef770b5
--- /dev/null
+++ b/parameters/1957/1237164/parameters/camera/head_right_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
+            [
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+    }
+}
diff --git a/parameters/1957/1237164/parameters/camera/head_right_fisheye_intrinsic_params.json b/parameters/1957/1237164/parameters/camera/head_right_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5fe3fbabb51ca3c39054783d4b7babc4e9a292f
--- /dev/null
+++ b/parameters/1957/1237164/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",
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+        "k2": -0.0484948,
+        "k3": 0.0143345,
+        "k4": -0.00188306
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237164/parameters/camera/rs_camera_info.json b/parameters/1957/1237164/parameters/camera/rs_camera_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..47d42b9cd4db0e5346de3135ac8a07834aacf71e
--- /dev/null
+++ b/parameters/1957/1237164/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/1957/1237616/parameters/camera/back_left_fisheye_extrinsic_params.json b/parameters/1957/1237616/parameters/camera/back_left_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..231243b8d5f5255c580e3269fab6d80135b68395
--- /dev/null
+++ b/parameters/1957/1237616/parameters/camera/back_left_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
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+                0.000000,
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+            0.16055,
+            0.69999
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+    }
+}
diff --git a/parameters/1957/1237616/parameters/camera/back_left_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237616/parameters/camera/back_left_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9018aa02866df7e397266af0a8ad9a1c02c155e
--- /dev/null
+++ b/parameters/1957/1237616/parameters/camera/back_left_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,22830 @@
+[
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\ No newline at end of file
diff --git a/parameters/1957/1237616/parameters/camera/back_left_fisheye_intrinsic_params.json b/parameters/1957/1237616/parameters/camera/back_left_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..b44c5275afa0feef60d26ec8d3104e3c2b40ba60
--- /dev/null
+++ b/parameters/1957/1237616/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/1957/1237616/parameters/camera/back_right_fisheye_extrinsic_params.json b/parameters/1957/1237616/parameters/camera/back_right_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdff44961bc8e96364d931180b442f2b1eb5afdd
--- /dev/null
+++ b/parameters/1957/1237616/parameters/camera/back_right_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
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+}
diff --git a/parameters/1957/1237616/parameters/camera/back_right_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237616/parameters/camera/back_right_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..20ac4f2ad1a3ddf5001b094ef35d9b5edf100871
--- /dev/null
+++ b/parameters/1957/1237616/parameters/camera/back_right_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,22830 @@
+[
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+            "translation_vector": [
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\ No newline at end of file
diff --git a/parameters/1957/1237616/parameters/camera/back_right_fisheye_intrinsic_params.json b/parameters/1957/1237616/parameters/camera/back_right_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..30be258c7dc58f408a64e306e07a833189752b22
--- /dev/null
+++ b/parameters/1957/1237616/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/1957/1237616/parameters/camera/fisheye_camera_info.json b/parameters/1957/1237616/parameters/camera/fisheye_camera_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf98573198d0da7f97c0de2feab317e96e85f5db
--- /dev/null
+++ b/parameters/1957/1237616/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/1957/1237616/parameters/camera/hand_left_extrinsic_params.json b/parameters/1957/1237616/parameters/camera/hand_left_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee6c2adb2b0d28f9fad81ab58d1c0c1b33feb463
--- /dev/null
+++ b/parameters/1957/1237616/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/1957/1237616/parameters/camera/hand_left_extrinsic_params_aligned.json b/parameters/1957/1237616/parameters/camera/hand_left_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..57dfddcf8a6fe0d2537fa62dd0959ac9eafb696d
--- /dev/null
+++ b/parameters/1957/1237616/parameters/camera/hand_left_extrinsic_params_aligned.json
@@ -0,0 +1,22830 @@
+[
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diff --git a/parameters/1957/1237616/parameters/camera/hand_left_intrinsic_params.json b/parameters/1957/1237616/parameters/camera/hand_left_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..7befe402b40c6c26c9e02da531be58ada512d267
--- /dev/null
+++ b/parameters/1957/1237616/parameters/camera/hand_left_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
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+        "p2": -3.121867121080868e-05
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+}
\ No newline at end of file
diff --git a/parameters/1957/1237616/parameters/camera/hand_right_extrinsic_params.json b/parameters/1957/1237616/parameters/camera/hand_right_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cb7ca9ceff7facbf6e2d4eab7b46fb21b322161
--- /dev/null
+++ b/parameters/1957/1237616/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/1957/1237616/parameters/camera/hand_right_extrinsic_params_aligned.json b/parameters/1957/1237616/parameters/camera/hand_right_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..89bcaf2b313948439cd30e3c861a4b25d520fd10
--- /dev/null
+++ b/parameters/1957/1237616/parameters/camera/hand_right_extrinsic_params_aligned.json
@@ -0,0 +1,22830 @@
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\ No newline at end of file
diff --git a/parameters/1957/1237616/parameters/camera/hand_right_intrinsic_params.json b/parameters/1957/1237616/parameters/camera/hand_right_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..d595f68e02e5a6c67d0dbf90083d35820940e80f
--- /dev/null
+++ b/parameters/1957/1237616/parameters/camera/hand_right_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
+    "intrinsic": {
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+}
\ No newline at end of file
diff --git a/parameters/1957/1237616/parameters/camera/head_center_fisheye_extrinsic_params.json b/parameters/1957/1237616/parameters/camera/head_center_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa70f0a2243d61f023c92df2c265a18a8d7fdd3d
--- /dev/null
+++ b/parameters/1957/1237616/parameters/camera/head_center_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
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+}
diff --git a/parameters/1957/1237616/parameters/camera/head_center_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237616/parameters/camera/head_center_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0f6d55de9cf6f7b6c8b931f82f63ddbb7079aeb
--- /dev/null
+++ b/parameters/1957/1237616/parameters/camera/head_center_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,22830 @@
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\ No newline at end of file
diff --git a/parameters/1957/1237616/parameters/camera/head_center_fisheye_intrinsic_params.json b/parameters/1957/1237616/parameters/camera/head_center_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..a144bd3d3bb542721ac84354a28b99176de830c0
--- /dev/null
+++ b/parameters/1957/1237616/parameters/camera/head_center_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
+{
+    "intrinsic": {
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+        "k2": -0.0477212,
+        "k3": 0.0138531,
+        "k4": -0.00177512
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+}
\ No newline at end of file
diff --git a/parameters/1957/1237616/parameters/camera/head_extrinsic_params.json b/parameters/1957/1237616/parameters/camera/head_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..38efaa86fa9b01b6ae4b17b25cbe8a1ddd15ca33
--- /dev/null
+++ b/parameters/1957/1237616/parameters/camera/head_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
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diff --git a/parameters/1957/1237616/parameters/camera/head_extrinsic_params_aligned.json b/parameters/1957/1237616/parameters/camera/head_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..b05de0de7aa9ed067fdca3e83772a3cb997d5962
--- /dev/null
+++ b/parameters/1957/1237616/parameters/camera/head_extrinsic_params_aligned.json
@@ -0,0 +1,22830 @@
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diff --git a/parameters/1957/1237616/parameters/camera/head_intrinsic_params.json b/parameters/1957/1237616/parameters/camera/head_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a635e30a32fd5d739aadb95a7cde3740d05a795
--- /dev/null
+++ b/parameters/1957/1237616/parameters/camera/head_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
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+        "fy": 428.5180257161458,
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+        "p1": -0.0007377127767540514,
+        "p2": 0.0011970652267336845
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237616/parameters/camera/head_left_fisheye_extrinsic_params.json b/parameters/1957/1237616/parameters/camera/head_left_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..23d25f810955d0cf8c9c0927a0eb3c53cc88fe31
--- /dev/null
+++ b/parameters/1957/1237616/parameters/camera/head_left_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
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diff --git a/parameters/1957/1237616/parameters/camera/head_left_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237616/parameters/camera/head_left_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6e30e86016dd57e0ff3e928a1fd9da25afea0ff
--- /dev/null
+++ b/parameters/1957/1237616/parameters/camera/head_left_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,22830 @@
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\ No newline at end of file
diff --git a/parameters/1957/1237616/parameters/camera/head_left_fisheye_intrinsic_params.json b/parameters/1957/1237616/parameters/camera/head_left_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c0ee56c43c558efacb6d0023f4fdb1b86257cde
--- /dev/null
+++ b/parameters/1957/1237616/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/1957/1237616/parameters/camera/head_right_fisheye_extrinsic_params.json b/parameters/1957/1237616/parameters/camera/head_right_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..cda5ad0de127ab231d6abd9fb4a19b27eef770b5
--- /dev/null
+++ b/parameters/1957/1237616/parameters/camera/head_right_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
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+}
diff --git a/parameters/1957/1237616/parameters/camera/head_right_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237616/parameters/camera/head_right_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..6302e8073b967399139fb59e84eccbe933b4eddf
--- /dev/null
+++ b/parameters/1957/1237616/parameters/camera/head_right_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,22830 @@
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diff --git a/parameters/1957/1237616/parameters/camera/head_right_fisheye_intrinsic_params.json b/parameters/1957/1237616/parameters/camera/head_right_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5fe3fbabb51ca3c39054783d4b7babc4e9a292f
--- /dev/null
+++ b/parameters/1957/1237616/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/1957/1237616/parameters/camera/rs_camera_info.json b/parameters/1957/1237616/parameters/camera/rs_camera_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..47d42b9cd4db0e5346de3135ac8a07834aacf71e
--- /dev/null
+++ b/parameters/1957/1237616/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/1957/1237625/parameters/camera/back_left_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237625/parameters/camera/back_left_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..b46d9f5866e34887d8947e5d7490b614c31ce220
--- /dev/null
+++ b/parameters/1957/1237625/parameters/camera/back_left_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,31176 @@
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diff --git a/parameters/1957/1237625/parameters/camera/back_right_fisheye_extrinsic_params.json b/parameters/1957/1237625/parameters/camera/back_right_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdff44961bc8e96364d931180b442f2b1eb5afdd
--- /dev/null
+++ b/parameters/1957/1237625/parameters/camera/back_right_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
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+}
diff --git a/parameters/1957/1237625/parameters/camera/back_right_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237625/parameters/camera/back_right_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..c06efdf27990ae323b998923b90ee8c0b4499bf2
--- /dev/null
+++ b/parameters/1957/1237625/parameters/camera/back_right_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,31176 @@
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diff --git a/parameters/1957/1237625/parameters/camera/back_right_fisheye_intrinsic_params.json b/parameters/1957/1237625/parameters/camera/back_right_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0c3f3b62e9408f88a167fdaa2636a8f44b8631e
--- /dev/null
+++ b/parameters/1957/1237625/parameters/camera/back_right_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
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+        "k4": -0.00152561
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+}
\ No newline at end of file
diff --git a/parameters/1957/1237625/parameters/camera/hand_left_extrinsic_params_aligned.json b/parameters/1957/1237625/parameters/camera/hand_left_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6f96b0f34b5af1277ed81aa383d9e7d6c85ee9b
--- /dev/null
+++ b/parameters/1957/1237625/parameters/camera/hand_left_extrinsic_params_aligned.json
@@ -0,0 +1,31176 @@
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\ No newline at end of file
diff --git a/parameters/1957/1237625/parameters/camera/hand_left_intrinsic_params.json b/parameters/1957/1237625/parameters/camera/hand_left_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c33bb27c3e6ed04d51f5fc79e9f6295e3ad3bce
--- /dev/null
+++ b/parameters/1957/1237625/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/1957/1237625/parameters/camera/hand_right_extrinsic_params.json b/parameters/1957/1237625/parameters/camera/hand_right_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cb7ca9ceff7facbf6e2d4eab7b46fb21b322161
--- /dev/null
+++ b/parameters/1957/1237625/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/1957/1237625/parameters/camera/hand_right_intrinsic_params.json b/parameters/1957/1237625/parameters/camera/hand_right_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..35e35177b116f956776a7e1218b9c462ce1b2b82
--- /dev/null
+++ b/parameters/1957/1237625/parameters/camera/hand_right_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
+    "intrinsic": {
+        "fx": 329.23459610849056,
+        "fy": 435.65704345703125,
+        "ppx": 316.8152546432783,
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+        "p2": 0.00025812239618971944
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+}
\ No newline at end of file
diff --git a/parameters/1957/1237625/parameters/camera/head_center_fisheye_extrinsic_params.json b/parameters/1957/1237625/parameters/camera/head_center_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..68cd31d79a57d59e01a9766e397867f95bd52b49
--- /dev/null
+++ b/parameters/1957/1237625/parameters/camera/head_center_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
+    "extrinsic": {
+        "rotation_matrix": [
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+}
diff --git a/parameters/1957/1237625/parameters/camera/head_center_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237625/parameters/camera/head_center_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..12851baa07a160c61e316235ef94be4e3c60727f
--- /dev/null
+++ b/parameters/1957/1237625/parameters/camera/head_center_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,31176 @@
+[
+    {
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diff --git a/parameters/1957/1237625/parameters/camera/head_extrinsic_params.json b/parameters/1957/1237625/parameters/camera/head_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..c12417ad0c278fe60b33a4f3fb213e8ca9f6a811
--- /dev/null
+++ b/parameters/1957/1237625/parameters/camera/head_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
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+}
diff --git a/parameters/1957/1237625/parameters/camera/head_extrinsic_params_aligned.json b/parameters/1957/1237625/parameters/camera/head_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dc67dab6c6777040d965bb6a654a8a5739ee59c
--- /dev/null
+++ b/parameters/1957/1237625/parameters/camera/head_extrinsic_params_aligned.json
@@ -0,0 +1,31176 @@
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\ No newline at end of file
diff --git a/parameters/1957/1237625/parameters/camera/head_intrinsic_params.json b/parameters/1957/1237625/parameters/camera/head_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..31d59efc4e86a4188bda7ca78ae3317018e00a27
--- /dev/null
+++ b/parameters/1957/1237625/parameters/camera/head_intrinsic_params.json
@@ -0,0 +1,14 @@
+{
+    "intrinsic": {
+        "fx": 321.9091491699219,
+        "fy": 428.55167643229163,
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+        "p1": -0.00028152373852208257,
+        "p2": 0.001022492186166346
+    }
+}
\ No newline at end of file
diff --git a/parameters/1957/1237625/parameters/camera/head_left_fisheye_extrinsic_params.json b/parameters/1957/1237625/parameters/camera/head_left_fisheye_extrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2d21b692dab96282a1642a2beba957460d51494
--- /dev/null
+++ b/parameters/1957/1237625/parameters/camera/head_left_fisheye_extrinsic_params.json
@@ -0,0 +1,26 @@
+{
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+}
diff --git a/parameters/1957/1237625/parameters/camera/head_left_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237625/parameters/camera/head_left_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..aea6bd7471c2fe0109bf473bd37d414b15485789
--- /dev/null
+++ b/parameters/1957/1237625/parameters/camera/head_left_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,31176 @@
+[
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diff --git a/parameters/1957/1237625/parameters/camera/head_left_fisheye_intrinsic_params.json b/parameters/1957/1237625/parameters/camera/head_left_fisheye_intrinsic_params.json
new file mode 100644
index 0000000000000000000000000000000000000000..da091b1e84da3e095280bd2f3cd97fa5269aa0b4
--- /dev/null
+++ b/parameters/1957/1237625/parameters/camera/head_left_fisheye_intrinsic_params.json
@@ -0,0 +1,13 @@
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+        "k4": -0.0016985
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+}
\ No newline at end of file
diff --git a/parameters/1957/1237625/parameters/camera/head_right_fisheye_extrinsic_params_aligned.json b/parameters/1957/1237625/parameters/camera/head_right_fisheye_extrinsic_params_aligned.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a6134e19e135e44ede2f117efb3a9ad1e5fc6ee
--- /dev/null
+++ b/parameters/1957/1237625/parameters/camera/head_right_fisheye_extrinsic_params_aligned.json
@@ -0,0 +1,31176 @@
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\ No newline at end of file