{
 "images": {
  "CAM_FRONT_WIDE": "synthetic_8cam/CAM_FRONT_WIDE.png",
  "CAM_FRONT_LEFT": "synthetic_8cam/CAM_FRONT_LEFT.png",
  "CAM_FRONT_RIGHT": "synthetic_8cam/CAM_FRONT_RIGHT.png",
  "CAM_BACK_WIDE": "synthetic_8cam/CAM_BACK_WIDE.png",
  "CAM_BACK_LEFT": "synthetic_8cam/CAM_BACK_LEFT.png",
  "CAM_BACK_RIGHT": "synthetic_8cam/CAM_BACK_RIGHT.png",
  "CAM_FRONT_NARROW": "synthetic_8cam/CAM_FRONT_NARROW.png",
  "CAM_BACK_NARROW": "synthetic_8cam/CAM_BACK_NARROW.png"
 },
 "calibration": {
  "preset": "synthetic_8cam"
 },
 "ego_speed": 8.0,
 "stream": {
  "id": "synthetic_8cam",
  "reset": true,
  "T_world_from_ego": {
   "x": 0.0,
   "y": 0.0,
   "z": 0.0,
   "roll": 0.0,
   "pitch": 0.0,
   "yaw": 0.0
  }
 },
 "_source": "synthetic street scene rendered and optimised by code/scripts/make_synthetic_sample.py (data generated by this repository, Apache-2.0); calibration preset calib/synthetic_8cam.json; all eight cameras present"
}