episodes/rt_000002/camera_info.json

{
  "camera_source": "hdf5_verified",
  "camera_name": "head_camera",
  "camera_convention": "opencv_intrinsic_cv_plus_extrinsic_cv_w2c_inverted_to_c2w",
  "intrinsic_key": "observation/head_camera/intrinsic_cv",
  "extrinsic_key": "observation/head_camera/extrinsic_cv",
  "cam2world_key": "observation/head_camera/cam2world_gl",
  "intrinsic_cv_shape": [
    141,
    3,
    3
  ],
  "extrinsic_cv_shape": [
    141,
    3,
    4
  ],
  "cam2world_gl_shape": [
    141,
    4,
    4
  ],
  "abot_extrinsic_json_is": "camera_to_world; generated by inverting RoboTwin extrinsic_cv when available",
  "intrinsic_cv_first": [
    [
      717.2843627929688,
      0.0,
      320.0
    ],
    [
      0.0,
      717.2843627929688,
      240.0
    ],
    [
      0.0,
      0.0,
      1.0
    ]
  ],
  "extrinsic_cv_first": [
    [
      1.0,
      0.0,
      0.0,
      0.03200000524520874
    ],
    [
      0.0,
      -0.800000011920929,
      -0.6000000238418579,
      0.44999998807907104
    ],
    [
      0.0,
      0.6000000238418579,
      -0.800000011920929,
      1.350000023841858
    ]
  ],
  "cam2world_gl_first": [
    [
      1.0,
      0.0,
      -0.0,
      -0.03200000151991844
    ],
    [
      -0.0,
      0.7999999523162842,
      -0.6000000834465027,
      -0.44999998807907104
    ],
    [
      0.0,
      0.6000000834465027,
      0.7999999523162842,
      1.350000023841858
    ],
    [
      0.0,
      0.0,
      0.0,
      1.0
    ]
  ],
  "c2w_for_abot_first": [
    [
      1.0,
      0.0,
      0.0,
      -0.03200000524520874
    ],
    [
      -0.0,
      -0.7999999523162842,
      0.6000000238418579,
      -0.45000001788139343
    ],
    [
      -0.0,
      -0.6000000238418579,
      -0.7999999523162842,
      1.350000023841858
    ],
    [
      0.0,
      0.0,
      0.0,
      1.0
    ]
  ]
}