File size: 1,312 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": [
[
0.9603833556175232,
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0.22486238181591034,
0.18235638737678528
],
[
-0.2771751284599304,
-0.4804461598396301,
0.8320729732513428,
-0.7760321497917175
],
[
-0.028944076970219612,
-0.8614352941513062,
-0.507041871547699,
0.47138991951942444
],
[
0.0,
0.0,
0.0,
1.0
]
]
},
"cam2": {
"fx_fy_cx_cy": [
601.3878173828125,
601.7159423828125,
333.2942199707031,
245.56826782226562
],
"T_base_cam": [
[
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0.2029283493757248,
-0.18380846083164215,
0.5361539125442505
],
[
0.2541901469230652,
0.4123094379901886,
-0.8748647570610046,
0.6881464719772339
],
[
-0.10174888372421265,
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-0.4481362998485565,
0.4329851269721985
],
[
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1.0
]
]
}
} |