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0000000000000000000000000000000000000000..f02c5c818b16bfad2fc36fece8f650a964849e1f --- /dev/null +++ b/scans/big_silver_sprocket/recon/big_silver_sprocket_v1/images/006891.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89c7451c73d0dae3c8d571da5cd9c9d8a25978347002b9f9f5f9be52036f6ca6 +size 4177809 diff --git a/scans/big_silver_sprocket/recon/big_silver_sprocket_v1/sparse/0/cameras.txt b/scans/big_silver_sprocket/recon/big_silver_sprocket_v1/sparse/0/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..cb84c241b16221d0c86bc275bee66da9a44f3c8b --- /dev/null +++ b/scans/big_silver_sprocket/recon/big_silver_sprocket_v1/sparse/0/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +1 PINHOLE 2208 1242 1461.9229736328125 1461.9229736328125 1172.293701171875 609.03411865234375 diff --git a/scans/big_silver_sprocket/recon/big_silver_sprocket_v1/sparse/0/frames.txt b/scans/big_silver_sprocket/recon/big_silver_sprocket_v1/sparse/0/frames.txt new file mode 100644 index 0000000000000000000000000000000000000000..2014af58c9ee17c8d8a0934a1c36301b261b0ed1 --- /dev/null +++ b/scans/big_silver_sprocket/recon/big_silver_sprocket_v1/sparse/0/frames.txt @@ -0,0 +1,764 @@ +# Frame list with one line of data per frame: +# FRAME_ID, RIG_ID, RIG_FROM_WORLD[QW, QX, QY, QZ, TX, TY, TZ], NUM_DATA_IDS, DATA_IDS[] as (SENSOR_TYPE, SENSOR_ID, DATA_ID) +# Number of frames: 761 +1 1 0.90103736471688789 0.012976326266420139 -0.43350282320265282 -0.006211651632461096 0.51617348675165753 -1.9680955087066969 3.2919126001892534 1 CAMERA 1 1 +2 1 0.90041739911659868 0.012196010656807955 -0.43478857725558151 -0.0076588367410585709 0.55369615191175525 -1.9673493234849087 3.2905124002449946 1 CAMERA 1 2 +3 1 0.90422044326099715 0.012375857027201238 -0.42683044585528679 -0.0069281052752745908 0.5968690401508856 -1.966766191245545 3.2847350410522309 1 CAMERA 1 3 +4 1 0.89745969078622601 0.012884175195092927 -0.44085673203772541 -0.0067411616544185765 0.57510957709446098 -1.9696624083748029 3.307920180305941 1 CAMERA 1 4 +5 1 0.87607157834898208 0.014544935339859321 -0.48191294942934554 -0.0068515427015928554 0.30740191600629269 -1.9775163732749377 3.3125795863037748 1 CAMERA 1 5 +6 1 0.90447699367723 0.012296105060724956 -0.42628716861736254 -0.0070301906893036085 0.60025744505267808 -1.9667438869316434 3.2843651895466044 1 CAMERA 1 6 +7 1 0.89972297763048359 0.011921915474951535 -0.43622026003504516 -0.0082653608573536805 0.59970303428816818 -1.9690373799455112 3.2997272646218612 1 CAMERA 1 7 +8 1 0.89745914651249792 0.013985304407925739 -0.44081544062769557 -0.0072964995639736114 0.58123441412141141 -1.9752592166979757 3.2960416596180528 1 CAMERA 1 8 +9 1 0.85826388691476385 0.0143949671980885 -0.51296948999754577 -0.0061796172199704534 0.13604308955042937 -1.9744103224550746 3.2872647315980066 1 CAMERA 1 9 +10 1 0.82746811580510216 0.014659619831582482 -0.56128029253785217 -0.0067857262670018787 0.17726146156457087 -1.9740536093989698 3.1739964724520013 1 CAMERA 1 10 +11 1 0.83403152082292775 0.014514346301956251 -0.55148365960442169 -0.0068212326258190684 0.07771621083924804 -1.9767060618822418 3.2164156285016672 1 CAMERA 1 11 +12 1 0.83925173650064389 0.01350234212593239 -0.54351291572508953 -0.0082413577631326694 -0.059964163014861779 -1.975762838737106 3.2607030970818465 1 CAMERA 1 12 +13 1 0.82921311216618021 0.014618122604405258 -0.55870038750630713 -0.0067677251349735354 0.25710653140147788 -1.9751062044316379 3.1568820968453899 1 CAMERA 1 13 +14 1 0.82612641544524168 0.014816460267151402 -0.56324831044834467 -0.0068526626820082188 0.31394552532742348 -1.9756270476156113 3.1452230431234365 1 CAMERA 1 14 +15 1 0.83824249776730797 0.014542410453453367 -0.54506281258616207 -0.0066755951562782381 0.035640503601435378 -1.9763500737568249 3.2435650588628255 1 CAMERA 1 15 +16 1 0.82515798464193235 0.015018070810266657 -0.56466151318900326 -0.0067921612103631016 0.37263414095504854 -1.975700651035835 3.1322927107992502 1 CAMERA 1 16 +17 1 0.81401242715687816 0.015135933308889985 -0.58061555518760288 -0.0063442124198776683 0.48123321724568252 -1.9724714750069208 3.0808037993934581 1 CAMERA 1 17 +18 1 0.81702652556812772 0.014994683436683172 -0.57636648499110121 -0.0066701548490253363 0.37407359913683802 -1.9747952927201875 3.1175742889785942 1 CAMERA 1 18 +19 1 0.79997477132515915 0.015506397617247179 -0.59980286805523786 -0.0060362528862025035 0.48225233523307959 -1.9738710379016391 3.0565683396650951 1 CAMERA 1 19 +20 1 0.7924336053981722 0.015427958755562368 -0.60973360649221087 -0.0059906792847040959 0.46311350986006267 -1.9731685062654447 3.0401214745220075 1 CAMERA 1 20 +21 1 0.81180721918062737 0.015221882437695193 -0.58369536925966437 -0.0060867960450610254 0.50914669823582481 -1.9726226455401916 3.0715591440751862 1 CAMERA 1 21 +22 1 0.77653915198854406 0.014855679706461985 -0.62985843383802775 -0.0066788870688753183 0.40439856056746121 -1.9710687887531988 3.0099645411964104 1 CAMERA 1 22 +23 1 0.78633225165580511 0.014031800961032828 -0.61760517624546318 -0.0069674128994809412 0.55430141263852351 -1.9660810629939873 2.9919730103448927 1 CAMERA 1 23 +24 1 0.78187518421422808 0.014304474903356588 -0.62323169905655973 -0.0069876747763551956 0.47465045171796594 -1.968530954435445 3.0115327042021054 1 CAMERA 1 24 +25 1 0.76653504399044714 0.01406544989844895 -0.64200900612075773 -0.0071151608242075101 0.50442347178135738 -1.9668178392974611 2.9241745375645785 1 CAMERA 1 25 +26 1 0.77897104561257735 0.014243993870052126 -0.62685616861491311 -0.0072500072627285535 0.54241788727094464 -1.969273042665773 2.9423182811883613 1 CAMERA 1 26 +27 1 0.77797700481105325 0.015289607679146167 -0.62807997701689922 -0.0057922666281361255 0.45064837365269778 -1.9681213158661335 3.0035877603629952 1 CAMERA 1 27 +28 1 0.77898665785704868 0.013311760259652677 -0.62684574308541008 -0.0081852486336747958 0.63808855192451497 -1.9671281716527469 2.9194225923429777 1 CAMERA 1 28 +29 1 0.77817340811425084 0.012594171558245281 -0.62786446741474478 -0.0085874504139497928 0.62672004382382185 -1.9653886850578401 2.9216221322961284 1 CAMERA 1 29 +30 1 0.77173609093778572 0.014904549675077707 -0.63573788156630262 -0.006213395580421676 0.55778678747146782 -1.9669050763866485 2.9210205716448434 1 CAMERA 1 30 +31 1 0.77820570576068804 0.012916657787036726 -0.62781133916334753 -0.0090532806786339289 0.62579576273636017 -1.9692984680618768 2.9186884074646535 1 CAMERA 1 31 +32 1 0.73902758113898503 0.013715409373411511 -0.67349393741545582 -0.007485861754469616 0.3095948023264789 -1.9644977291011849 2.9060159685835401 1 CAMERA 1 32 +33 1 0.73268080314321471 0.014124677698422496 -0.68038924669389789 -0.0070574194036978387 0.3305369185717526 -1.9654330744793531 2.8715863085940665 1 CAMERA 1 33 +34 1 0.7306129218045031 0.0147153003202104 -0.68260074282845329 -0.0066666572445897073 0.43736936886869393 -1.965549115607957 2.8561752993811309 1 CAMERA 1 34 +35 1 0.73195885671320426 0.013940698163715202 -0.68116854227668411 -0.0071628225207886927 0.34746484301883018 -1.9660693853886306 2.86519339414154 1 CAMERA 1 35 +36 1 0.70342923390368328 0.015915539995549878 -0.71056520845591231 -0.0055761105022471566 0.43602560756896858 -1.9658541443474604 2.799027482597042 1 CAMERA 1 36 +37 1 0.71532593271491596 0.015297745478688075 -0.69859592423823236 -0.0062067388002864663 0.43044160129526371 -1.9661923565946819 2.8309273742111922 1 CAMERA 1 37 +38 1 0.69660068990892632 0.015983808516733616 -0.71726006347455817 -0.0054770455705005407 0.42975670946968536 -1.965062710071962 2.7897630017834349 1 CAMERA 1 38 +39 1 0.69010561225634648 0.015933353177100939 -0.72351312392618083 -0.0053973785679315286 0.48816054182045948 -1.9645868707142617 2.772421955176783 1 CAMERA 1 39 +40 1 0.67068810976169235 0.016020880250650196 -0.74154759206438159 -0.0052876765975357386 0.52622424257151179 -1.9614445828206859 2.7668252670087825 1 CAMERA 1 40 +41 1 0.65886624936880123 0.015212405597254177 -0.75208336839195766 -0.005869850665903599 0.65230272180162352 -1.9601832932539522 2.7284568549445893 1 CAMERA 1 41 +42 1 0.65392720329706577 0.015357907870142589 -0.75637994557466148 -0.0057206106669219544 0.70037483672659862 -1.9603429628674138 2.7197471669617017 1 CAMERA 1 42 +43 1 0.64260009576357546 0.016541124362656753 -0.76600794628272162 -0.0048305653075034604 0.72116273917891016 -1.9607400734335616 2.7128667765277541 1 CAMERA 1 43 +44 1 0.66252724547703634 0.016062147498323572 -0.74884866736134703 -0.005032872886117804 0.53592241994445955 -1.9611622098349917 2.7497768837177241 1 CAMERA 1 44 +45 1 0.66031854363940756 0.015747592852476504 -0.75080060493224277 -0.0054667978435862692 0.5329832461942775 -1.9610722821130493 2.7461149594299115 1 CAMERA 1 45 +46 1 0.61753795463157579 0.016715978170619733 -0.78634856890914129 -0.0048351667804659498 0.63626949051569237 -1.959720483584775 2.7290407745648815 1 CAMERA 1 46 +47 1 0.61725982686825376 0.015649192723650729 -0.78658298188632847 -0.0057115241821459866 0.7105173874820564 -1.9621622054674535 2.7174251841991093 1 CAMERA 1 47 +48 1 0.58438441476604663 0.015770472442133251 -0.81130431901502964 -0.0056080232752841984 0.66823877140996712 -1.9614534778256048 2.7162488677003247 1 CAMERA 1 48 +49 1 0.58725866156836692 0.016774372288510652 -0.80921098223464516 -0.0048446958725508506 0.6289296143268519 -1.9614353150399682 2.7071893809961427 1 CAMERA 1 49 +50 1 0.57903216744011632 0.015288483303968666 -0.81513858738873435 -0.006090541664279088 0.72064537641246595 -1.9621609216272911 2.7179190810654159 1 CAMERA 1 50 +51 1 0.55852770161905896 0.015844073108816095 -0.82931768786681892 -0.0052862522345948027 0.73353877647892329 -1.9633423501711633 2.730419723935078 1 CAMERA 1 51 +52 1 0.55237226735502953 0.016139395776904163 -0.83342551560571565 -0.0051291420693090131 0.84371609534196568 -1.9638998272641217 2.7079089754530501 1 CAMERA 1 52 +53 1 0.5097012118176546 0.016939877407629311 -0.86017294939155431 -0.0044958158396167245 0.9275574326880005 -1.9614910235820751 2.7227641103211639 1 CAMERA 1 53 +54 1 -0.49759996616000285 -0.016605643122010162 0.8672360680741521 0.0044864825144954211 0.95547292425333319 -1.9631163065323558 2.7395202536390078 1 CAMERA 1 54 +55 1 0.53674469736597186 0.015944237137896469 -0.84357744480755292 -0.0052920471995090137 0.92481904357435296 -1.9632465917806023 2.7124832276252273 1 CAMERA 1 55 +56 1 0.55534741584493297 0.015773876141613633 -0.83145198476977566 -0.0052942958195641935 0.75619246089248726 -1.9641217703277554 2.7283045838130811 1 CAMERA 1 56 +57 1 -0.49826035923869505 -0.016603273192689273 0.86685574007589117 0.0046980451354590187 0.94568411868377877 -1.9621373205718458 2.7407816396046076 1 CAMERA 1 57 +58 1 0.54020144632420686 0.016082590453460999 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0000000000000000000000000000000000000000..70bad6d3597dfd02698db0113cc7fb629d9550d0 --- /dev/null +++ b/scans/big_silver_sprocket/recon/big_silver_sprocket_v1/stereo/calibration.json @@ -0,0 +1,13 @@ +{ + "fx": 1461.9229736328125, + "fy": 1461.9229736328125, + "cx": 1172.293701171875, + "cy": 609.0341186523438, + "baseline_m": 0.06304030865430832, + "width": 2208, + "height": 1242, + "left_stream_id": "zed_12933256_left_rgb", + "right_stream_id": "zed_12933256_right_rgb", + "session": "/home/shaunak/reconstruction/scans/big_silver_sprocket/converted/sessions/session_20261105_160421_076800", + "frames": 767 +} \ No newline at end of file