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Browse files- .gitattributes +1 -0
- 20261013_095636/right/angle_data.json +1 -0
- 20261013_095636/right/dcam_calib.json +2429 -0
- 20261013_095636/right/dcam_calib_offline.json +9 -0
- 20261013_095636/right/dcam_clock_pairs.json +1 -0
- 20261013_095636/right/dcam_depth.mkv +3 -0
- 20261013_095636/right/dcam_depth_timestamps.json +1 -0
- 20261013_095636/right/dcam_left.mp4 +3 -0
- 20261013_095636/right/dcam_left_timestamps.json +1 -0
- 20261013_095636/right/dcam_mask.png +3 -0
- 20261013_095636/right/frame_timestamps.json +1 -0
- 20261013_095636/right/frames.json +163 -0
- 20261013_095636/right/metadata.json +32 -0
- 20261013_095636/right/raw_video.mp4 +3 -0
- 20261013_095636/right/rpi_camera_intrinsics.json +35 -0
.gitattributes
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20261013_095636/right/dcam_depth.mkv filter=lfs diff=lfs merge=lfs -text
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20261013_095636/right/angle_data.json
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|
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ADDED
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| 1986 |
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| 2409 |
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| 2429 |
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|
20261013_095636/right/dcam_calib_offline.json
ADDED
|
@@ -0,0 +1,9 @@
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{
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20261013_095636/right/dcam_clock_pairs.json
ADDED
|
@@ -0,0 +1 @@
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20261013_095636/right/dcam_depth.mkv
ADDED
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20261013_095636/right/dcam_depth_timestamps.json
ADDED
|
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20261013_095636/right/dcam_left.mp4
ADDED
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20261013_095636/right/dcam_left_timestamps.json
ADDED
|
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|
|
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20261013_095636/right/dcam_mask.png
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Git LFS Details
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20261013_095636/right/frame_timestamps.json
ADDED
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20261013_095636/right/frames.json
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{
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"urdf_source": "grabette_right/robot.urdf",
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"parent_link": "grip_r",
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"frames_in_grip_r": {
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| 5 |
+
"camera": [
|
| 6 |
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[
|
| 7 |
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1.0,
|
| 8 |
+
0.0,
|
| 9 |
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-0.0,
|
| 10 |
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-0.0408486
|
| 11 |
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],
|
| 12 |
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[
|
| 13 |
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0.0,
|
| 14 |
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|
| 15 |
+
0.939693365427804,
|
| 16 |
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-0.0255417
|
| 17 |
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],
|
| 18 |
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[
|
| 19 |
+
-0.0,
|
| 20 |
+
-0.939693365427804,
|
| 21 |
+
-0.34201809743194533,
|
| 22 |
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0.0701847
|
| 23 |
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],
|
| 24 |
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[
|
| 25 |
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0.0,
|
| 26 |
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0.0,
|
| 27 |
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0.0,
|
| 28 |
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1.0
|
| 29 |
+
]
|
| 30 |
+
],
|
| 31 |
+
"oak_l": [
|
| 32 |
+
[
|
| 33 |
+
1.0,
|
| 34 |
+
0.0,
|
| 35 |
+
-0.0,
|
| 36 |
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-0.0373486
|
| 37 |
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],
|
| 38 |
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[
|
| 39 |
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0.0,
|
| 40 |
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-3.673205103346574e-06,
|
| 41 |
+
0.9999999999932537,
|
| 42 |
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-0.025667
|
| 43 |
+
],
|
| 44 |
+
[
|
| 45 |
+
-0.0,
|
| 46 |
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-0.9999999999932537,
|
| 47 |
+
-3.673205103346574e-06,
|
| 48 |
+
0.0298246
|
| 49 |
+
],
|
| 50 |
+
[
|
| 51 |
+
0.0,
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
+
1.0
|
| 55 |
+
]
|
| 56 |
+
],
|
| 57 |
+
"oak_r": [
|
| 58 |
+
[
|
| 59 |
+
1.0,
|
| 60 |
+
0.0,
|
| 61 |
+
-0.0,
|
| 62 |
+
-0.0173486
|
| 63 |
+
],
|
| 64 |
+
[
|
| 65 |
+
0.0,
|
| 66 |
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-3.673205103346574e-06,
|
| 67 |
+
0.9999999999932537,
|
| 68 |
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-0.025667
|
| 69 |
+
],
|
| 70 |
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[
|
| 71 |
+
-0.0,
|
| 72 |
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-0.9999999999932537,
|
| 73 |
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-3.673205103346574e-06,
|
| 74 |
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0.0298246
|
| 75 |
+
],
|
| 76 |
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[
|
| 77 |
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0.0,
|
| 78 |
+
0.0,
|
| 79 |
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0.0,
|
| 80 |
+
1.0
|
| 81 |
+
]
|
| 82 |
+
],
|
| 83 |
+
"gripper_center": [
|
| 84 |
+
[
|
| 85 |
+
-3.673205103346574e-06,
|
| 86 |
+
-0.9999999999932537,
|
| 87 |
+
0.0,
|
| 88 |
+
-0.0373485
|
| 89 |
+
],
|
| 90 |
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[
|
| 91 |
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0.9999999999932537,
|
| 92 |
+
-3.673205103346574e-06,
|
| 93 |
+
0.0,
|
| 94 |
+
0.0335873
|
| 95 |
+
],
|
| 96 |
+
[
|
| 97 |
+
0.0,
|
| 98 |
+
0.0,
|
| 99 |
+
1.0,
|
| 100 |
+
-0.0232
|
| 101 |
+
],
|
| 102 |
+
[
|
| 103 |
+
0.0,
|
| 104 |
+
0.0,
|
| 105 |
+
0.0,
|
| 106 |
+
1.0
|
| 107 |
+
]
|
| 108 |
+
],
|
| 109 |
+
"thumb_tip": [
|
| 110 |
+
[
|
| 111 |
+
0.6971025837445746,
|
| 112 |
+
-2.6335830036882566e-06,
|
| 113 |
+
0.7169713995200245,
|
| 114 |
+
-0.0910992
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
-0.7169713995248614,
|
| 118 |
+
-2.5606007681666537e-06,
|
| 119 |
+
0.6971025837398718,
|
| 120 |
+
0.0551614
|
| 121 |
+
],
|
| 122 |
+
[
|
| 123 |
+
0.0,
|
| 124 |
+
-0.9999999999932537,
|
| 125 |
+
-3.673205103346574e-06,
|
| 126 |
+
-0.0232
|
| 127 |
+
],
|
| 128 |
+
[
|
| 129 |
+
0.0,
|
| 130 |
+
0.0,
|
| 131 |
+
0.0,
|
| 132 |
+
1.0
|
| 133 |
+
]
|
| 134 |
+
]
|
| 135 |
+
},
|
| 136 |
+
"T_camera_in_oak_l": [
|
| 137 |
+
[
|
| 138 |
+
1.0,
|
| 139 |
+
0.0,
|
| 140 |
+
0.0,
|
| 141 |
+
-0.003499999999999996
|
| 142 |
+
],
|
| 143 |
+
[
|
| 144 |
+
0.0,
|
| 145 |
+
0.9396946217240855,
|
| 146 |
+
0.34201464574317253,
|
| 147 |
+
-0.04036010045998032
|
| 148 |
+
],
|
| 149 |
+
[
|
| 150 |
+
0.0,
|
| 151 |
+
-0.34201464574317253,
|
| 152 |
+
0.9396946217240856,
|
| 153 |
+
0.00012515174907385893
|
| 154 |
+
],
|
| 155 |
+
[
|
| 156 |
+
0.0,
|
| 157 |
+
0.0,
|
| 158 |
+
0.0,
|
| 159 |
+
1.0
|
| 160 |
+
]
|
| 161 |
+
],
|
| 162 |
+
"note": "4x4 row-major homogeneous transforms, meters + radians. frames_in_grip_r[X] = T_X_in_grip_r (pose of frame X in the grip_r link frame). T_camera_in_oak_l = inv(T_oak_l_in_grip_r) @ T_camera_in_grip_r \u2014 provided as a convenience so SLAM poses (produced in the oak_l frame) can be re-expressed in the primary RPi camera frame without URDF parsing."
|
| 163 |
+
}
|
20261013_095636/right/metadata.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"duration_seconds": 5.11,
|
| 3 |
+
"frame_count": 246,
|
| 4 |
+
"imu_sample_count": 0,
|
| 5 |
+
"angle_sample_count": 436,
|
| 6 |
+
"fps": 48.704,
|
| 7 |
+
"backend": "rpi",
|
| 8 |
+
"hand": "right",
|
| 9 |
+
"angle_convention": "positive_closing",
|
| 10 |
+
"device_id": "grabette-35ed8c08",
|
| 11 |
+
"urdf": "grabette_right",
|
| 12 |
+
"dcam": {
|
| 13 |
+
"left_frames": 145,
|
| 14 |
+
"depth_frames": 145,
|
| 15 |
+
"imu_samples": 0
|
| 16 |
+
},
|
| 17 |
+
"depth_camera": {
|
| 18 |
+
"model": "gemini305",
|
| 19 |
+
"name": "Orbbec Gemini 305",
|
| 20 |
+
"serial": "CV27864000VS",
|
| 21 |
+
"firmware": "1.0.70",
|
| 22 |
+
"link": "USB3.2",
|
| 23 |
+
"imu": null,
|
| 24 |
+
"image_orientation": "rotate_180_in_capture"
|
| 25 |
+
},
|
| 26 |
+
"sync": {
|
| 27 |
+
"scheduled_start_utc": "2026-10-13T09:56:36.631149+00:00",
|
| 28 |
+
"capture_started_utc": "2026-10-13T09:56:36.704510+00:00",
|
| 29 |
+
"wake_skew_ms": -0.2,
|
| 30 |
+
"start_capture_ms": 73.6
|
| 31 |
+
}
|
| 32 |
+
}
|
20261013_095636/right/raw_video.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ee177f982a9b30bf2c481cce450ccc9afd7916b2b3e4f0a526720fd2a060e3e2
|
| 3 |
+
size 5155563
|
20261013_095636/right/rpi_camera_intrinsics.json
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"image_width": 1296,
|
| 3 |
+
"image_height": 972,
|
| 4 |
+
"intrinsic_type": "FISHEYE",
|
| 5 |
+
"intrinsics": {
|
| 6 |
+
"aspect_ratio": 0.9974064140442742,
|
| 7 |
+
"focal_length": 512.336215632677,
|
| 8 |
+
"principal_pt_x": 639.4547113545062,
|
| 9 |
+
"principal_pt_y": 495.85762143010663,
|
| 10 |
+
"radial_distortion_1": -0.0036315938261216887,
|
| 11 |
+
"radial_distortion_2": -0.006340515410813272,
|
| 12 |
+
"radial_distortion_3": -0.005022585622138357,
|
| 13 |
+
"radial_distortion_4": 0.002255799946569448,
|
| 14 |
+
"skew": 0.0
|
| 15 |
+
},
|
| 16 |
+
"fps": 49.62,
|
| 17 |
+
"calibration_source": "OpenICC (full spline optimization)",
|
| 18 |
+
"camera_reproj_error": 0.31874753391544464,
|
| 19 |
+
"imu_camera_reproj_error": 7.244266583888487,
|
| 20 |
+
"nr_calib_images": 29,
|
| 21 |
+
"t_i_c": {
|
| 22 |
+
"x": -0.00011395952305253986,
|
| 23 |
+
"y": -0.005276075233591049,
|
| 24 |
+
"z": -0.006171107108430983
|
| 25 |
+
},
|
| 26 |
+
"q_i_c": {
|
| 27 |
+
"w": -0.528343102376054,
|
| 28 |
+
"x": -0.8414094982035182,
|
| 29 |
+
"y": -0.09443487530222187,
|
| 30 |
+
"z": 0.06297362012147899
|
| 31 |
+
},
|
| 32 |
+
"time_offset_imu_to_cam": -0.17615498950452477,
|
| 33 |
+
"gyro_bias": [0.00015996975557990202, 0.0009524907263527097, -0.0020606042040575644],
|
| 34 |
+
"_note": "Final calibration from OpenICC spline optimization. Euler angles XYZ: (116deg, 12deg, 5deg)"
|
| 35 |
+
}
|