{ "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": [ 179, 3, 3 ], "extrinsic_cv_shape": [ 179, 3, 4 ], "cam2world_gl_shape": [ 179, 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 ] ] }