{
   "camera_from_imu" : [
	   0.999997,0.000190,-0.001339,-0.002216,
	   -0.012446, 0.002413, 0.02961
   ],

   "gyro_bias" : [-0.014881,-0.018926,0.025454],
   "gyro_scale" : [1.003928,1.005399,1.005399],

   "acc_bias" : [0.219305,0.121911,-0.065783],
   "acc_scale" : [0.993133,0.993074,0.989950],

   "device" : {
      "eye_target_height_in_pixels" : 800,
      "eye_target_width_in_pixels" : 640,
      "first_eye" : "eEYE_LEFT",
      "flip_y" : false,
      "horizontal_FOV_degrees" : 90.0,
      "last_eye" : "eEYE_RIGHT",
      "latency_scan_out_to_display_max" : 0.0,
      "latency_scan_out_to_display_min" : 0.0,
      "num_windows" : 1,
      "persistence" : 0.01666666753590107,
      "physical_aspect_x_over_y" : 1.600000023841858
   },

   "tracking_camera_intrinsics" : "ids_ui_1221le_m__sunex_ds2311a__4002902139",
   "tracking_camera_unique_id" : 0,
   "tracking_to_eye_transform" : [
      {
         "distortion" : {
            "center_x" : 0.1312609612941742,
            "center_y" : 0.01633208617568016,
            "coeffs" : [
               -0.3037821054458618,
               0.1585478484630585,
               -0.2812943160533905,
               0.0,
               0.0
            ],
            "type" : "DISTORT_DPOLY3"
         },
         "extrinsics" : [
            [
               -0.9999196529388428,
               -0.008207561448216438,
               0.009662670083343983,
               0.02567717060446739
            ],
            [
               0.008334858343005180,
               -0.9998780488967896,
               0.01320836506783962,
               0.01403965055942535
            ],
            [
               0.009553082287311554,
               0.01328784041106701,
               0.9998660683631897,
               -0.1059713512659073
            ]
         ],
         "intrinsics" : [
            [ 1.046938538551331, 0.0, -0.1298234313726425 ],
            [ 0.0, 0.8389952778816223, 0.01520840451121330 ],
            [ 0.0, 0.0, -1.0 ]
         ]
      },
      {
         "distortion" : {
            "center_x" : -0.1521312296390533,
            "center_y" : 0.01072998531162739,
            "coeffs" : [
               -0.3151262998580933,
               0.1288114339113236,
               -0.2526813447475433,
               0.0,
               0.0
            ],
            "type" : "DISTORT_DPOLY3"
         },
         "extrinsics" : [
            [
               -0.9996869564056397,
               -0.009285381995141506,
               0.02323318459093571,
               -0.03862460330128670
            ],
            [
               0.009541238658130169,
               -0.9998947978019714,
               0.01092604082077742,
               0.01215710490942001
            ],
            [
               0.02312928810715675,
               0.01114429347217083,
               0.9996703863143921,
               -0.1079100891947746
            ]
         ],
         "intrinsics" : [
            [ 1.066257238388062, 0.0, 0.1645185202360153 ],
            [ 0.0, 0.8537374734878540, 0.0102743636816740 ],
            [ 0.0, 0.0, -1.0 ]
         ]
      }
   ]
}