Datasets:
File size: 1,314 Bytes
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"convention": "fx_fy_cx_cy: pinhole intrinsics of the 640x480 color image; T_base_cam: 4x4 transform mapping points from the camera optical frame (OpenCV: x right, y down, z forward) to the robot base frame. Constant over all frames and episodes of this dataset.",
"cam1": {
"fx_fy_cx_cy": [
597.2525634765625,
597.4514770507812,
328.7528076171875,
244.22544860839844
],
"T_base_cam": [
[
0.9617976546287537,
-0.15996836125850677,
0.22216077148914337,
0.1896357238292694
],
[
-0.27268409729003906,
-0.4878794848918915,
0.8292267322540283,
-0.7830475568771362
],
[
-0.02426237054169178,
-0.8581280708312988,
-0.5128621459007263,
0.47405460476875305
],
[
0.0,
0.0,
0.0,
1.0
]
]
},
"cam2": {
"fx_fy_cx_cy": [
601.3878173828125,
601.7159423828125,
333.2942199707031,
245.56826782226562
],
"T_base_cam": [
[
-0.9614414572715759,
0.20834267139434814,
-0.1795095056295395,
0.5334809422492981
],
[
0.25141674280166626,
0.40136945247650146,
-0.8807339072227478,
0.6938977837562561
],
[
-0.11144483089447021,
-0.8919057846069336,
-0.4382740557193756,
0.4252861738204956
],
[
0.0,
0.0,
0.0,
1.0
]
]
}
} |