diff --git a/franka_data_new/view_008_408322072302/T_cam_world.yaml b/franka_data_new/view_008_408322072302/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4bc930c68f66a83738a2053b91ef09b206512511 --- /dev/null +++ b/franka_data_new/view_008_408322072302/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - -0.21882860357670297 + - 0.97513798207264 + - 0.03492789967875776 + - -0.3114880796241416 +- - 0.07720878952453786 + - 0.052987286189819405 + - -0.995605921196933 + - 0.3225632191978439 +- - -0.972703883551837 + - -0.21517031259339037 + - -0.08688435705946629 + - 1.2905929579152517 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_008_408322072302/T_cb.yaml b/franka_data_new/view_008_408322072302/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b332b77b91d0b45256e17ba1ce05012a345104b2 --- /dev/null +++ b/franka_data_new/view_008_408322072302/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - -0.21882860357670297 + - 0.97513798207264 + - 0.03492789967875776 + - 0.05963035853340137 +- - 0.07720878952453786 + - 0.052987286189819405 + - -0.995605921196933 + - 0.33034225029251285 +- - -0.972703883551837 + - -0.21517031259339037 + - -0.08688435705946629 + - 1.4081922416491848 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_008_408322072302/intrinsics.yaml b/franka_data_new/view_008_408322072302/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ce855e80a4dba3fa8b4c016110a01c74571f8e39 --- /dev/null +++ b/franka_data_new/view_008_408322072302/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 910.6677856445312 + - 0.0 + - 652.4881591796875 +- - 0.0 + - 910.5277099609375 + - 359.45245361328125 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_008_408322072302/pose_001/precision.yaml b/franka_data_new/view_008_408322072302/pose_001/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..099250b4e85dcd549e17844aa1df0e578fac73f6 --- /dev/null +++ b/franka_data_new/view_008_408322072302/pose_001/precision.yaml @@ -0,0 +1,29 @@ +view_id: 8 +pose_id: 1 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1684960 + robot_within_threshold: 7817 + robot_within_threshold_pct: 97.7125 + inliers: + mean_mm: 14.423594034669089 + median_mm: 10.299791124790246 + p75_mm: 22.0816083763183 + p90_mm: 33.75896580859148 + p95_mm: 40.15077005895747 + max_mm: 49.999989535658315 + all_robot_points: + mean_mm: 15.373350665926603 + median_mm: 10.805993299584006 + p75_mm: 23.17588780840746 + p90_mm: 35.91781993290997 + p95_mm: 43.96081062896359 + max_mm: 76.5969435474834 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_008_408322072302/pose_002/precision.yaml b/franka_data_new/view_008_408322072302/pose_002/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e5be9c46cbba25a96bb8a69f904193285efb521 --- /dev/null +++ b/franka_data_new/view_008_408322072302/pose_002/precision.yaml @@ -0,0 +1,29 @@ +view_id: 8 +pose_id: 2 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1711367 + robot_within_threshold: 7750 + robot_within_threshold_pct: 96.875 + inliers: + mean_mm: 14.099843479355872 + median_mm: 9.875365252478167 + p75_mm: 21.26255827503977 + p90_mm: 34.52880458063792 + p95_mm: 39.92987983566158 + max_mm: 49.92269586431879 + all_robot_points: + mean_mm: 15.46232555267841 + median_mm: 10.401461190441594 + p75_mm: 22.812057754046144 + p90_mm: 37.47049797334454 + p95_mm: 45.26432208256066 + max_mm: 78.28740086099509 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_008_408322072302/pose_003/precision.yaml b/franka_data_new/view_008_408322072302/pose_003/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..834d55e42b2753d529abbf79f80f23299d207ca0 --- /dev/null +++ b/franka_data_new/view_008_408322072302/pose_003/precision.yaml @@ -0,0 +1,29 @@ +view_id: 8 +pose_id: 3 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1678999 + robot_within_threshold: 7705 + robot_within_threshold_pct: 96.3125 + inliers: + mean_mm: 15.361247296814094 + median_mm: 11.333483327116179 + p75_mm: 24.09682163885095 + p90_mm: 35.71493800901198 + p95_mm: 41.437601068693 + max_mm: 49.967688566125815 + all_robot_points: + mean_mm: 16.955208765178615 + median_mm: 12.050578406138053 + p75_mm: 25.866830054817907 + p90_mm: 39.29572804970597 + p95_mm: 46.964883699842716 + max_mm: 81.3100047020048 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_008_408322072302/pose_004/precision.yaml b/franka_data_new/view_008_408322072302/pose_004/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eb1727529b5953661047e51dce8a24836a6b3b93 --- /dev/null +++ b/franka_data_new/view_008_408322072302/pose_004/precision.yaml @@ -0,0 +1,29 @@ +view_id: 8 +pose_id: 4 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1682526 + robot_within_threshold: 7725 + robot_within_threshold_pct: 96.5625 + inliers: + mean_mm: 14.830929132988794 + median_mm: 11.08813714596827 + p75_mm: 23.02168759526713 + p90_mm: 33.99603947658664 + p95_mm: 40.384846247444905 + max_mm: 49.995635344143885 + all_robot_points: + mean_mm: 16.305788830511343 + median_mm: 11.754196470750582 + p75_mm: 24.574403947061224 + p90_mm: 38.16788811233122 + p95_mm: 46.234283185373044 + max_mm: 76.15063206508636 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_008_408322072302/pose_005/precision.yaml b/franka_data_new/view_008_408322072302/pose_005/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..58fc1402726edf8174f673670c0be8da1eeb9f8a --- /dev/null +++ b/franka_data_new/view_008_408322072302/pose_005/precision.yaml @@ -0,0 +1,29 @@ +view_id: 8 +pose_id: 5 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1650366 + robot_within_threshold: 7699 + robot_within_threshold_pct: 96.2375 + inliers: + mean_mm: 15.106135381701804 + median_mm: 10.770405506496465 + p75_mm: 23.68733561983816 + p90_mm: 35.71727767447364 + p95_mm: 41.7037354387098 + max_mm: 49.990784693357725 + all_robot_points: + mean_mm: 16.69987807050488 + median_mm: 11.679056551933904 + p75_mm: 25.59050500802477 + p90_mm: 39.73506366461761 + p95_mm: 47.03418355050968 + max_mm: 75.83894909760077 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_008_408322072302/pose_006/precision.yaml b/franka_data_new/view_008_408322072302/pose_006/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..adbff98f5a93f614cf2121d46ea5459a8f7871eb --- /dev/null +++ b/franka_data_new/view_008_408322072302/pose_006/precision.yaml @@ -0,0 +1,29 @@ +view_id: 8 +pose_id: 6 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1652771 + robot_within_threshold: 7663 + robot_within_threshold_pct: 95.7875 + inliers: + mean_mm: 14.326546979233308 + median_mm: 10.020976887018014 + p75_mm: 21.921422501257744 + p90_mm: 34.22602900051323 + p95_mm: 40.982456139692424 + max_mm: 49.87470785924892 + all_robot_points: + mean_mm: 16.2115730977198 + median_mm: 10.748501252630522 + p75_mm: 23.784457974912545 + p90_mm: 39.27395832551569 + p95_mm: 47.6686307768671 + max_mm: 89.27089853433446 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_011_215222074939/T_cam_world.yaml b/franka_data_new/view_011_215222074939/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..097e990a5a4c69cb1ae417fdec5b94773bf586dd --- /dev/null +++ b/franka_data_new/view_011_215222074939/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.47554378248626306 + - 0.8007628695776017 + - 0.3641935442103589 + - -0.4598913049891298 +- - 0.5802859552330033 + - 0.025607888163734282 + - -0.8140101020399653 + - 0.1560062021127085 +- - -0.6611552927247718 + - 0.5984338415979151 + - -0.4524937746890919 + - 1.3453294073245472 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_011_215222074939/T_cb.yaml b/franka_data_new/view_011_215222074939/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f12fe4c8b5a763c66f2d0ec6f5a0124f1688c931 --- /dev/null +++ b/franka_data_new/view_011_215222074939/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - 0.47554378248626306 + - 0.8007628695776017 + - 0.3641935442103589 + - -0.2845862232473511 +- - 0.5802859552330033 + - 0.025607888163734282 + - -0.8140101020399653 + - 0.05555034966365112 +- - -0.6611552927247718 + - 0.5984338415979151 + - -0.4524937746890919 + - 1.6781893628978206 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_011_215222074939/intrinsics.yaml b/franka_data_new/view_011_215222074939/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3661567d0b286fa1176e7daadc3ed021bebebc80 --- /dev/null +++ b/franka_data_new/view_011_215222074939/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 912.4526977539062 + - 0.0 + - 646.1953125 +- - 0.0 + - 911.779296875 + - 366.7369689941406 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_011_215222074939/pose_001/precision.yaml b/franka_data_new/view_011_215222074939/pose_001/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6c8b899fa7c235370623bd1b9e05d40735dbea94 --- /dev/null +++ b/franka_data_new/view_011_215222074939/pose_001/precision.yaml @@ -0,0 +1,29 @@ +view_id: 11 +pose_id: 1 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1659932 + robot_within_threshold: 7493 + robot_within_threshold_pct: 93.6625 + inliers: + mean_mm: 15.834489270442473 + median_mm: 11.700635437679445 + p75_mm: 25.09340649313442 + p90_mm: 37.61755495817134 + p95_mm: 42.76094926679626 + max_mm: 49.938449673687806 + all_robot_points: + mean_mm: 18.584320041450226 + median_mm: 13.24308882058227 + p75_mm: 28.800118051562926 + p90_mm: 44.21504107132838 + p95_mm: 53.13229367903287 + max_mm: 80.26184155500023 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_011_215222074939/pose_002/precision.yaml b/franka_data_new/view_011_215222074939/pose_002/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..215991a3b59db5c41aa4a6c0d76e4853b38625fb --- /dev/null +++ b/franka_data_new/view_011_215222074939/pose_002/precision.yaml @@ -0,0 +1,29 @@ +view_id: 11 +pose_id: 2 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1650626 + robot_within_threshold: 7510 + robot_within_threshold_pct: 93.875 + inliers: + mean_mm: 16.068094236056734 + median_mm: 12.580682847841018 + p75_mm: 24.39151065073038 + p90_mm: 36.738173572344756 + p95_mm: 42.30159718532998 + max_mm: 49.97619089911069 + all_robot_points: + mean_mm: 18.667455422881343 + median_mm: 13.964613423593399 + p75_mm: 27.56679413046646 + p90_mm: 43.51926203097615 + p95_mm: 52.37113847499922 + max_mm: 80.1934143578291 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_011_215222074939/pose_003/precision.yaml b/franka_data_new/view_011_215222074939/pose_003/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1047e3517cd3dcb24aab0c626bf6d8283d454ff0 --- /dev/null +++ b/franka_data_new/view_011_215222074939/pose_003/precision.yaml @@ -0,0 +1,29 @@ +view_id: 11 +pose_id: 3 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1651674 + robot_within_threshold: 7533 + robot_within_threshold_pct: 94.1625 + inliers: + mean_mm: 16.556642073503497 + median_mm: 12.610270609963257 + p75_mm: 26.986407177103892 + p90_mm: 37.96193816579751 + p95_mm: 43.01313083875698 + max_mm: 49.98370410596093 + all_robot_points: + mean_mm: 18.944355910299905 + median_mm: 14.13104859778695 + p75_mm: 30.122225278466424 + p90_mm: 43.730510463474815 + p95_mm: 51.40172000461947 + max_mm: 79.7596066031854 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_011_215222074939/pose_004/precision.yaml b/franka_data_new/view_011_215222074939/pose_004/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fef787ec7627d625597191f612cd27d7c9eaf06c --- /dev/null +++ b/franka_data_new/view_011_215222074939/pose_004/precision.yaml @@ -0,0 +1,29 @@ +view_id: 11 +pose_id: 4 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1659188 + robot_within_threshold: 7400 + robot_within_threshold_pct: 92.5 + inliers: + mean_mm: 16.708876313619218 + median_mm: 12.75951874945195 + p75_mm: 26.80773235728351 + p90_mm: 38.07024441252714 + p95_mm: 43.02356118783127 + max_mm: 49.987821510470596 + all_robot_points: + mean_mm: 19.969697022114698 + median_mm: 14.648799902125184 + p75_mm: 31.427025439449395 + p90_mm: 45.96069134758104 + p95_mm: 55.1217621375635 + max_mm: 91.5281069101543 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_011_215222074939/pose_005/precision.yaml b/franka_data_new/view_011_215222074939/pose_005/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4885b54f9840ce1c269567f25e1dafc206c4a37c --- /dev/null +++ b/franka_data_new/view_011_215222074939/pose_005/precision.yaml @@ -0,0 +1,29 @@ +view_id: 11 +pose_id: 5 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1631785 + robot_within_threshold: 7392 + robot_within_threshold_pct: 92.4 + inliers: + mean_mm: 15.605285726880343 + median_mm: 11.431251702093917 + p75_mm: 24.807021264643772 + p90_mm: 37.05223450151005 + p95_mm: 42.231523264480785 + max_mm: 49.97760285813632 + all_robot_points: + mean_mm: 19.129246482341205 + median_mm: 13.260100325484931 + p75_mm: 29.21247727163819 + p90_mm: 45.51602932537212 + p95_mm: 55.69557610792889 + max_mm: 97.9862101771576 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_011_215222074939/pose_006/precision.yaml b/franka_data_new/view_011_215222074939/pose_006/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..84860263d376488d80ad7031cfe858ffa1b29e3c --- /dev/null +++ b/franka_data_new/view_011_215222074939/pose_006/precision.yaml @@ -0,0 +1,29 @@ +view_id: 11 +pose_id: 6 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1628452 + robot_within_threshold: 6912 + robot_within_threshold_pct: 86.4 + inliers: + mean_mm: 17.04488858335305 + median_mm: 12.729158766823971 + p75_mm: 27.476365136611243 + p90_mm: 39.898217135976786 + p95_mm: 44.90849473413523 + max_mm: 49.994286893482986 + all_robot_points: + mean_mm: 23.285867892538203 + median_mm: 16.7546041257118 + p75_mm: 36.97126535589396 + p90_mm: 54.699550660183434 + p95_mm: 64.43475083730954 + max_mm: 95.24436791043793 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_011_408322072302/T_cam_world.yaml b/franka_data_new/view_011_408322072302/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..45770cbd20086f9a7ad00efc69965031401a48e8 --- /dev/null +++ b/franka_data_new/view_011_408322072302/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.20004497802233268 + - 0.974093791003466 + - 0.10546702373984351 + - -0.5892477646187035 +- - 0.6304964412214517 + - -0.04558727769309792 + - -0.7748522683193341 + - 0.04326422167363527 +- - -0.7499708290161221 + - 0.22150188812068528 + - -0.6232821746078117 + - 1.2707935287635415 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_011_408322072302/T_cb.yaml b/franka_data_new/view_011_408322072302/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0016a6fd8737dcfac65fae63fd254d3290a5be03 --- /dev/null +++ b/franka_data_new/view_011_408322072302/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - 0.20004497802233268 + - 0.974093791003466 + - 0.10546702373984351 + - -0.30051426288358957 +- - 0.6304964412214517 + - -0.04558727769309792 + - -0.7748522683193341 + - -0.09117123560552515 +- - -0.7499708290161221 + - 0.22150188812068528 + - -0.6232821746078117 + - 1.4948003875913953 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_011_408322072302/intrinsics.yaml b/franka_data_new/view_011_408322072302/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ce855e80a4dba3fa8b4c016110a01c74571f8e39 --- /dev/null +++ b/franka_data_new/view_011_408322072302/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 910.6677856445312 + - 0.0 + - 652.4881591796875 +- - 0.0 + - 910.5277099609375 + - 359.45245361328125 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_011_408322072302/pose_001/precision.yaml b/franka_data_new/view_011_408322072302/pose_001/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6c8b899fa7c235370623bd1b9e05d40735dbea94 --- /dev/null +++ b/franka_data_new/view_011_408322072302/pose_001/precision.yaml @@ -0,0 +1,29 @@ +view_id: 11 +pose_id: 1 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1659932 + robot_within_threshold: 7493 + robot_within_threshold_pct: 93.6625 + inliers: + mean_mm: 15.834489270442473 + median_mm: 11.700635437679445 + p75_mm: 25.09340649313442 + p90_mm: 37.61755495817134 + p95_mm: 42.76094926679626 + max_mm: 49.938449673687806 + all_robot_points: + mean_mm: 18.584320041450226 + median_mm: 13.24308882058227 + p75_mm: 28.800118051562926 + p90_mm: 44.21504107132838 + p95_mm: 53.13229367903287 + max_mm: 80.26184155500023 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_011_408322072302/pose_002/precision.yaml b/franka_data_new/view_011_408322072302/pose_002/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..215991a3b59db5c41aa4a6c0d76e4853b38625fb --- /dev/null +++ b/franka_data_new/view_011_408322072302/pose_002/precision.yaml @@ -0,0 +1,29 @@ +view_id: 11 +pose_id: 2 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1650626 + robot_within_threshold: 7510 + robot_within_threshold_pct: 93.875 + inliers: + mean_mm: 16.068094236056734 + median_mm: 12.580682847841018 + p75_mm: 24.39151065073038 + p90_mm: 36.738173572344756 + p95_mm: 42.30159718532998 + max_mm: 49.97619089911069 + all_robot_points: + mean_mm: 18.667455422881343 + median_mm: 13.964613423593399 + p75_mm: 27.56679413046646 + p90_mm: 43.51926203097615 + p95_mm: 52.37113847499922 + max_mm: 80.1934143578291 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_011_408322072302/pose_003/precision.yaml b/franka_data_new/view_011_408322072302/pose_003/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1047e3517cd3dcb24aab0c626bf6d8283d454ff0 --- /dev/null +++ b/franka_data_new/view_011_408322072302/pose_003/precision.yaml @@ -0,0 +1,29 @@ +view_id: 11 +pose_id: 3 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1651674 + robot_within_threshold: 7533 + robot_within_threshold_pct: 94.1625 + inliers: + mean_mm: 16.556642073503497 + median_mm: 12.610270609963257 + p75_mm: 26.986407177103892 + p90_mm: 37.96193816579751 + p95_mm: 43.01313083875698 + max_mm: 49.98370410596093 + all_robot_points: + mean_mm: 18.944355910299905 + median_mm: 14.13104859778695 + p75_mm: 30.122225278466424 + p90_mm: 43.730510463474815 + p95_mm: 51.40172000461947 + max_mm: 79.7596066031854 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_011_408322072302/pose_004/precision.yaml b/franka_data_new/view_011_408322072302/pose_004/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fef787ec7627d625597191f612cd27d7c9eaf06c --- /dev/null +++ b/franka_data_new/view_011_408322072302/pose_004/precision.yaml @@ -0,0 +1,29 @@ +view_id: 11 +pose_id: 4 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1659188 + robot_within_threshold: 7400 + robot_within_threshold_pct: 92.5 + inliers: + mean_mm: 16.708876313619218 + median_mm: 12.75951874945195 + p75_mm: 26.80773235728351 + p90_mm: 38.07024441252714 + p95_mm: 43.02356118783127 + max_mm: 49.987821510470596 + all_robot_points: + mean_mm: 19.969697022114698 + median_mm: 14.648799902125184 + p75_mm: 31.427025439449395 + p90_mm: 45.96069134758104 + p95_mm: 55.1217621375635 + max_mm: 91.5281069101543 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_011_408322072302/pose_005/precision.yaml b/franka_data_new/view_011_408322072302/pose_005/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4885b54f9840ce1c269567f25e1dafc206c4a37c --- /dev/null +++ b/franka_data_new/view_011_408322072302/pose_005/precision.yaml @@ -0,0 +1,29 @@ +view_id: 11 +pose_id: 5 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1631785 + robot_within_threshold: 7392 + robot_within_threshold_pct: 92.4 + inliers: + mean_mm: 15.605285726880343 + median_mm: 11.431251702093917 + p75_mm: 24.807021264643772 + p90_mm: 37.05223450151005 + p95_mm: 42.231523264480785 + max_mm: 49.97760285813632 + all_robot_points: + mean_mm: 19.129246482341205 + median_mm: 13.260100325484931 + p75_mm: 29.21247727163819 + p90_mm: 45.51602932537212 + p95_mm: 55.69557610792889 + max_mm: 97.9862101771576 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_011_408322072302/pose_006/precision.yaml b/franka_data_new/view_011_408322072302/pose_006/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..84860263d376488d80ad7031cfe858ffa1b29e3c --- /dev/null +++ b/franka_data_new/view_011_408322072302/pose_006/precision.yaml @@ -0,0 +1,29 @@ +view_id: 11 +pose_id: 6 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1628452 + robot_within_threshold: 6912 + robot_within_threshold_pct: 86.4 + inliers: + mean_mm: 17.04488858335305 + median_mm: 12.729158766823971 + p75_mm: 27.476365136611243 + p90_mm: 39.898217135976786 + p95_mm: 44.90849473413523 + max_mm: 49.994286893482986 + all_robot_points: + mean_mm: 23.285867892538203 + median_mm: 16.7546041257118 + p75_mm: 36.97126535589396 + p90_mm: 54.699550660183434 + p95_mm: 64.43475083730954 + max_mm: 95.24436791043793 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_013_408322072302/T_cam_world.yaml b/franka_data_new/view_013_408322072302/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e92c83a1c64b9363bac9ed2deda44c3997cf2492 --- /dev/null +++ b/franka_data_new/view_013_408322072302/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - -0.019406661072544462 + - 0.9903969138430859 + - 0.1368843839015484 + - -0.23303469728174042 +- - 0.5600759033706388 + - 0.124181151943803 + - -0.8190812071861209 + - 0.11485073539033429 +- - -0.8282139602600154 + - 0.06077001359224149 + - -0.5571073877435304 + - 1.3388721636022833 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_013_408322072302/T_cb.yaml b/franka_data_new/view_013_408322072302/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3d74ea7506e0f408318f18b6398186584e734f98 --- /dev/null +++ b/franka_data_new/view_013_408322072302/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - -0.019406661072544462 + - 0.9903969138430859 + - 0.1368843839015484 + - 0.10382893967301798 +- - 0.5600759033706388 + - 0.124181151943803 + - -0.8190812071861209 + - 0.051580388474051914 +- - -0.8282139602600154 + - 0.06077001359224149 + - -0.5571073877435304 + - 1.5236389173722893 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_013_408322072302/intrinsics.yaml b/franka_data_new/view_013_408322072302/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ce855e80a4dba3fa8b4c016110a01c74571f8e39 --- /dev/null +++ b/franka_data_new/view_013_408322072302/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 910.6677856445312 + - 0.0 + - 652.4881591796875 +- - 0.0 + - 910.5277099609375 + - 359.45245361328125 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_013_408322072302/pose_001/precision.yaml b/franka_data_new/view_013_408322072302/pose_001/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3578aa24e2e142f6bb76317b5e67121e7fc3843a --- /dev/null +++ b/franka_data_new/view_013_408322072302/pose_001/precision.yaml @@ -0,0 +1,29 @@ +view_id: 13 +pose_id: 1 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1801501 + robot_within_threshold: 7282 + robot_within_threshold_pct: 91.025 + inliers: + mean_mm: 16.93903512992844 + median_mm: 13.156185216069407 + p75_mm: 26.571883564020123 + p90_mm: 38.13265146190745 + p95_mm: 43.45696106012532 + max_mm: 49.988859170622945 + all_robot_points: + mean_mm: 20.991346043551268 + median_mm: 15.306348614428527 + p75_mm: 31.65991507867368 + p90_mm: 48.46514317671284 + p95_mm: 58.19817471037475 + max_mm: 106.00171203178444 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_013_408322072302/pose_002/precision.yaml b/franka_data_new/view_013_408322072302/pose_002/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..44bca488a866dd6f1a66f85039430ed44f5b6c00 --- /dev/null +++ b/franka_data_new/view_013_408322072302/pose_002/precision.yaml @@ -0,0 +1,29 @@ +view_id: 13 +pose_id: 2 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1799372 + robot_within_threshold: 7257 + robot_within_threshold_pct: 90.7125 + inliers: + mean_mm: 16.98015543311847 + median_mm: 12.665122330778381 + p75_mm: 27.17974426313319 + p90_mm: 38.20858841887618 + p95_mm: 43.379653582106094 + max_mm: 49.983717535344404 + all_robot_points: + mean_mm: 21.235519045478124 + median_mm: 15.42127504166162 + p75_mm: 32.6881219153476 + p90_mm: 48.777649557325326 + p95_mm: 59.15655329314467 + max_mm: 96.48835254489065 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_013_408322072302/pose_003/precision.yaml b/franka_data_new/view_013_408322072302/pose_003/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bfcb5d6042a413091d6626570125f1d06ad5c268 --- /dev/null +++ b/franka_data_new/view_013_408322072302/pose_003/precision.yaml @@ -0,0 +1,29 @@ +view_id: 13 +pose_id: 3 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1784293 + robot_within_threshold: 7505 + robot_within_threshold_pct: 93.8125 + inliers: + mean_mm: 15.474835337185999 + median_mm: 10.713534114192926 + p75_mm: 23.529413126140284 + p90_mm: 37.710550175601526 + p95_mm: 43.38599228634337 + max_mm: 49.98186634203353 + all_robot_points: + mean_mm: 18.03274289450118 + median_mm: 12.137860196950594 + p75_mm: 27.542113575152438 + p90_mm: 44.467213250463494 + p95_mm: 51.85022612232818 + max_mm: 81.07302592211498 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_013_408322072302/pose_004/precision.yaml b/franka_data_new/view_013_408322072302/pose_004/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..912d6d814a9342d5c837a52c6887aac2aef956aa --- /dev/null +++ b/franka_data_new/view_013_408322072302/pose_004/precision.yaml @@ -0,0 +1,29 @@ +view_id: 13 +pose_id: 4 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1784752 + robot_within_threshold: 7482 + robot_within_threshold_pct: 93.525 + inliers: + mean_mm: 16.60801182478962 + median_mm: 11.966639303532283 + p75_mm: 26.01530398818841 + p90_mm: 38.8355806246003 + p95_mm: 43.58418861568887 + max_mm: 49.99328404872947 + all_robot_points: + mean_mm: 19.319311719964038 + median_mm: 13.260726800411357 + p75_mm: 30.079655042480457 + p90_mm: 45.06859209012855 + p95_mm: 52.621420421692605 + max_mm: 88.4143031436593 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_013_408322072302/pose_005/precision.yaml b/franka_data_new/view_013_408322072302/pose_005/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1746c722c0d6adadf640ae4ca5a04edc1f8681ab --- /dev/null +++ b/franka_data_new/view_013_408322072302/pose_005/precision.yaml @@ -0,0 +1,29 @@ +view_id: 13 +pose_id: 5 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1803487 + robot_within_threshold: 7243 + robot_within_threshold_pct: 90.5375 + inliers: + mean_mm: 17.831798543410446 + median_mm: 14.178913445050098 + p75_mm: 28.308235905853245 + p90_mm: 39.23984938168911 + p95_mm: 44.10368738959153 + max_mm: 49.989991776955065 + all_robot_points: + mean_mm: 22.004000511809657 + median_mm: 17.1787624993569 + p75_mm: 33.2582958865996 + p90_mm: 49.13896484083634 + p95_mm: 58.281991618026275 + max_mm: 92.23676268787176 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_013_408322072302/pose_006/precision.yaml b/franka_data_new/view_013_408322072302/pose_006/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..84d3012fb9e2514484ca23306c23426be954a310 --- /dev/null +++ b/franka_data_new/view_013_408322072302/pose_006/precision.yaml @@ -0,0 +1,29 @@ +view_id: 13 +pose_id: 6 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1794377 + robot_within_threshold: 7491 + robot_within_threshold_pct: 93.6375 + inliers: + mean_mm: 16.698849399274142 + median_mm: 12.846047649908682 + p75_mm: 25.39318343108345 + p90_mm: 38.13295166293577 + p95_mm: 43.14336738358783 + max_mm: 49.988658763276156 + all_robot_points: + mean_mm: 19.399675587173856 + median_mm: 14.129365276773905 + p75_mm: 29.12611852761532 + p90_mm: 44.34167095827138 + p95_mm: 52.517337490903714 + max_mm: 82.6334096568065 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_014_215222074939/T_cam_world.yaml b/franka_data_new/view_014_215222074939/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bfa4f9270af166451cce5ec20f3110ead4ec108a --- /dev/null +++ b/franka_data_new/view_014_215222074939/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.3871629583724242 + - 0.895757239298312 + - 0.218457803497561 + - -0.3552419975411655 +- - 0.5499445136944352 + - -0.03417751574533348 + - -0.8345016053159325 + - 0.17805308825638966 +- - -0.7400445091490804 + - 0.4432277807878743 + - -0.5058490474599634 + - 1.3314559534887014 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_014_215222074939/T_cb.yaml b/franka_data_new/view_014_215222074939/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7fc8ab57265d007da1dbf28036aacf9037178631 --- /dev/null +++ b/franka_data_new/view_014_215222074939/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - 0.3871629583724242 + - 0.895757239298312 + - 0.218457803497561 + - -0.12996087379774487 +- - 0.5499445136944352 + - -0.03417751574533348 + - -0.8345016053159325 + - 0.06346859330637707 +- - -0.7400445091490804 + - 0.4432277807878743 + - -0.5058490474599634 + - 1.6276616401355855 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_014_215222074939/intrinsics.yaml b/franka_data_new/view_014_215222074939/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3661567d0b286fa1176e7daadc3ed021bebebc80 --- /dev/null +++ b/franka_data_new/view_014_215222074939/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 912.4526977539062 + - 0.0 + - 646.1953125 +- - 0.0 + - 911.779296875 + - 366.7369689941406 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_014_215222074939/pose_001/precision.yaml b/franka_data_new/view_014_215222074939/pose_001/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fc99582e0c356c251d4f0428263591980654d1b4 --- /dev/null +++ b/franka_data_new/view_014_215222074939/pose_001/precision.yaml @@ -0,0 +1,29 @@ +view_id: 14 +pose_id: 1 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1772088 + robot_within_threshold: 7545 + robot_within_threshold_pct: 94.3125 + inliers: + mean_mm: 16.382442546403077 + median_mm: 12.364038945406934 + p75_mm: 25.87987700914841 + p90_mm: 37.46219818835996 + p95_mm: 42.808035386816144 + max_mm: 49.989033395514305 + all_robot_points: + mean_mm: 18.727590902274905 + median_mm: 13.751221773193718 + p75_mm: 28.909718392249008 + p90_mm: 43.24409514883896 + p95_mm: 51.08108395296341 + max_mm: 83.9298218393364 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_014_215222074939/pose_002/precision.yaml b/franka_data_new/view_014_215222074939/pose_002/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b93ae85f2bf303f964dc4138c86b83d5c475a844 --- /dev/null +++ b/franka_data_new/view_014_215222074939/pose_002/precision.yaml @@ -0,0 +1,29 @@ +view_id: 14 +pose_id: 2 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1776539 + robot_within_threshold: 7085 + robot_within_threshold_pct: 88.5625 + inliers: + mean_mm: 16.777671985732624 + median_mm: 12.323815955244731 + p75_mm: 26.987318114424685 + p90_mm: 39.024245537907134 + p95_mm: 43.886167541284316 + max_mm: 49.98736717436157 + all_robot_points: + mean_mm: 22.204098635691437 + median_mm: 15.539492719392435 + p75_mm: 34.094743340072604 + p90_mm: 52.3332322751306 + p95_mm: 63.74181703764851 + max_mm: 99.99815557817368 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_014_215222074939/pose_003/precision.yaml b/franka_data_new/view_014_215222074939/pose_003/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..685774583f222ed5e025afb775f06b3ddc2344c3 --- /dev/null +++ b/franka_data_new/view_014_215222074939/pose_003/precision.yaml @@ -0,0 +1,29 @@ +view_id: 14 +pose_id: 3 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1753999 + robot_within_threshold: 7332 + robot_within_threshold_pct: 91.65 + inliers: + mean_mm: 15.633626209693727 + median_mm: 11.394858664799742 + p75_mm: 24.787363155398637 + p90_mm: 37.12139078226077 + p95_mm: 42.89422166564208 + max_mm: 49.998989825623354 + all_robot_points: + mean_mm: 19.297842083056022 + median_mm: 13.597773750376636 + p75_mm: 29.94062959001143 + p90_mm: 47.28640041712167 + p95_mm: 55.931610913775195 + max_mm: 87.87666074276943 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_014_215222074939/pose_004/precision.yaml b/franka_data_new/view_014_215222074939/pose_004/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3c58d14e6367382c343db4fa763dfbc5885537d3 --- /dev/null +++ b/franka_data_new/view_014_215222074939/pose_004/precision.yaml @@ -0,0 +1,29 @@ +view_id: 14 +pose_id: 4 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1753383 + robot_within_threshold: 7496 + robot_within_threshold_pct: 93.7 + inliers: + mean_mm: 15.707283896205185 + median_mm: 11.211017541313883 + p75_mm: 25.204135625693088 + p90_mm: 37.52340589867857 + p95_mm: 43.119838878702176 + max_mm: 49.99920349490622 + all_robot_points: + mean_mm: 18.559022575221036 + median_mm: 12.884923221523009 + p75_mm: 28.973140102458444 + p90_mm: 44.34134809567452 + p95_mm: 52.3590809700323 + max_mm: 97.12435830021376 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_014_215222074939/pose_005/precision.yaml b/franka_data_new/view_014_215222074939/pose_005/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..66b75a2225d619922b1d77c8f016034b5bafe90c --- /dev/null +++ b/franka_data_new/view_014_215222074939/pose_005/precision.yaml @@ -0,0 +1,29 @@ +view_id: 14 +pose_id: 5 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1751585 + robot_within_threshold: 7359 + robot_within_threshold_pct: 91.9875 + inliers: + mean_mm: 16.1036878234678 + median_mm: 11.699501221863196 + p75_mm: 25.327835849988894 + p90_mm: 38.04614906193829 + p95_mm: 43.21958590593571 + max_mm: 49.99307601063985 + all_robot_points: + mean_mm: 19.55212387796691 + median_mm: 13.698846808341317 + p75_mm: 30.544812688125653 + p90_mm: 46.88722987999405 + p95_mm: 55.0167843354605 + max_mm: 84.61209030135483 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_014_215222074939/pose_006/precision.yaml b/franka_data_new/view_014_215222074939/pose_006/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..efb48625f26776e468297b1ba195bd7f7679fc98 --- /dev/null +++ b/franka_data_new/view_014_215222074939/pose_006/precision.yaml @@ -0,0 +1,29 @@ +view_id: 14 +pose_id: 6 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1780778 + robot_within_threshold: 6653 + robot_within_threshold_pct: 83.1625 + inliers: + mean_mm: 17.81424247553238 + median_mm: 14.210413861393842 + p75_mm: 27.911690753939524 + p90_mm: 39.19365044256361 + p95_mm: 44.471311659789194 + max_mm: 49.9216547058504 + all_robot_points: + mean_mm: 26.345524089218777 + median_mm: 19.054260337111927 + p75_mm: 39.384708707159 + p90_mm: 61.135268943777824 + p95_mm: 74.27916879552983 + max_mm: 116.44696990313415 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_016_408322072302/T_cam_world.yaml b/franka_data_new/view_016_408322072302/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..111784072c63bdeae107ec1243638c9e506be4de --- /dev/null +++ b/franka_data_new/view_016_408322072302/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.24688298366051548 + - 0.9653682756225489 + - 0.08433792029940218 + - -0.47365790165447813 +- - 0.5522420371276328 + - -0.0686440067806828 + - -0.8308530151369832 + - 0.18085266870214795 +- - -0.7962898497456841 + - 0.25169841627360345 + - -0.5500639803126142 + - 1.2840637233557208 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_016_408322072302/T_cb.yaml b/franka_data_new/view_016_408322072302/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3eaf7af74b4daf58fc57286f41ee94f7ee444466 --- /dev/null +++ b/franka_data_new/view_016_408322072302/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - 0.24688298366051548 + - 0.9653682756225489 + - 0.08433792029940218 + - -0.1968926641849767 +- - 0.5522420371276328 + - -0.0686440067806828 + - -0.8308530151369832 + - 0.05418670625285438 +- - -0.7962898497456841 + - 0.25169841627360345 + - -0.5500639803126142 + - 1.5269129302418967 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_016_408322072302/intrinsics.yaml b/franka_data_new/view_016_408322072302/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ce855e80a4dba3fa8b4c016110a01c74571f8e39 --- /dev/null +++ b/franka_data_new/view_016_408322072302/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 910.6677856445312 + - 0.0 + - 652.4881591796875 +- - 0.0 + - 910.5277099609375 + - 359.45245361328125 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_016_408322072302/pose_001/precision.yaml b/franka_data_new/view_016_408322072302/pose_001/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe6f8a0639c70ac2e493a6657739a393a532e181 --- /dev/null +++ b/franka_data_new/view_016_408322072302/pose_001/precision.yaml @@ -0,0 +1,29 @@ +view_id: 16 +pose_id: 1 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1753088 + robot_within_threshold: 7411 + robot_within_threshold_pct: 92.6375 + inliers: + mean_mm: 16.428525917588768 + median_mm: 12.333937112893896 + p75_mm: 26.109913223042888 + p90_mm: 38.28176221772357 + p95_mm: 43.9327441588492 + max_mm: 49.997360694131025 + all_robot_points: + mean_mm: 19.695931181474986 + median_mm: 14.379897517987395 + p75_mm: 30.29159343205514 + p90_mm: 46.655092819934055 + p95_mm: 55.56890096394121 + max_mm: 88.39627011435616 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_016_408322072302/pose_002/precision.yaml b/franka_data_new/view_016_408322072302/pose_002/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..adc870ade3b0472f009bd2febd8e1574149f607d --- /dev/null +++ b/franka_data_new/view_016_408322072302/pose_002/precision.yaml @@ -0,0 +1,29 @@ +view_id: 16 +pose_id: 2 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1750671 + robot_within_threshold: 7302 + robot_within_threshold_pct: 91.275 + inliers: + mean_mm: 17.265867447749137 + median_mm: 12.586074116913547 + p75_mm: 28.201336206545964 + p90_mm: 40.537294363172066 + p95_mm: 45.08845605663443 + max_mm: 49.997494903072635 + all_robot_points: + mean_mm: 20.893133445491507 + median_mm: 15.269921186465744 + p75_mm: 33.995797098533686 + p90_mm: 48.4027658318178 + p95_mm: 55.68907078045645 + max_mm: 88.6981121344115 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_016_408322072302/pose_003/precision.yaml b/franka_data_new/view_016_408322072302/pose_003/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a7134b12e8b9164bc818ac6e749ae06c2d445873 --- /dev/null +++ b/franka_data_new/view_016_408322072302/pose_003/precision.yaml @@ -0,0 +1,29 @@ +view_id: 16 +pose_id: 3 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1766344 + robot_within_threshold: 6404 + robot_within_threshold_pct: 80.05 + inliers: + mean_mm: 22.04879254826209 + median_mm: 20.19661654326449 + p75_mm: 34.39562612922256 + p90_mm: 43.0370421432112 + p95_mm: 46.15147272646183 + max_mm: 49.99541320322148 + all_robot_points: + mean_mm: 30.47582934959016 + median_mm: 26.88938108538825 + p75_mm: 45.28630087910222 + p90_mm: 61.777878703332924 + p95_mm: 70.729969428823 + max_mm: 102.82466341121385 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_016_408322072302/pose_004/precision.yaml b/franka_data_new/view_016_408322072302/pose_004/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d9577e237f0371df50a586eecc36f462f867aaa --- /dev/null +++ b/franka_data_new/view_016_408322072302/pose_004/precision.yaml @@ -0,0 +1,29 @@ +view_id: 16 +pose_id: 4 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1766227 + robot_within_threshold: 7311 + robot_within_threshold_pct: 91.3875 + inliers: + mean_mm: 17.816492652267833 + median_mm: 14.406826160323083 + p75_mm: 28.43363280673217 + p90_mm: 39.7757143813202 + p95_mm: 44.48555427978347 + max_mm: 49.99225503926443 + all_robot_points: + mean_mm: 21.364472683056192 + median_mm: 16.724725264044984 + p75_mm: 33.616511630727985 + p90_mm: 47.9567272678012 + p95_mm: 55.748318852841464 + max_mm: 88.56061855532379 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_016_408322072302/pose_005/precision.yaml b/franka_data_new/view_016_408322072302/pose_005/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0642e979c6da67c9ba9b432636261d5c848e45a4 --- /dev/null +++ b/franka_data_new/view_016_408322072302/pose_005/precision.yaml @@ -0,0 +1,29 @@ +view_id: 16 +pose_id: 5 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1768936 + robot_within_threshold: 5721 + robot_within_threshold_pct: 71.5125 + inliers: + mean_mm: 21.192574760337852 + median_mm: 18.02355164391983 + p75_mm: 33.653003345400876 + p90_mm: 43.475343731685776 + p95_mm: 46.613421803606855 + max_mm: 49.99911705925657 + all_robot_points: + mean_mm: 37.68391594386443 + median_mm: 30.62086123657324 + p75_mm: 54.25044681541239 + p90_mm: 85.97828228491382 + p95_mm: 105.43236592416955 + max_mm: 142.807815956317 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_016_408322072302/pose_006/precision.yaml b/franka_data_new/view_016_408322072302/pose_006/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4df4eeea69ac22c85e065862bfc1fa15188e1ea1 --- /dev/null +++ b/franka_data_new/view_016_408322072302/pose_006/precision.yaml @@ -0,0 +1,29 @@ +view_id: 16 +pose_id: 6 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1750764 + robot_within_threshold: 7141 + robot_within_threshold_pct: 89.2625 + inliers: + mean_mm: 17.165997211910767 + median_mm: 12.863675008617507 + p75_mm: 27.288767622471813 + p90_mm: 39.52767468331753 + p95_mm: 44.33792082629907 + max_mm: 49.96729441379692 + all_robot_points: + mean_mm: 21.96092861441666 + median_mm: 15.664335289585248 + p75_mm: 34.52772231378603 + p90_mm: 51.0026103481013 + p95_mm: 59.04693721050404 + max_mm: 103.07211110951235 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_018_215222074939/T_cam_world.yaml b/franka_data_new/view_018_215222074939/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2787287a7ea877913f586d8869026ffcfadd8a2e --- /dev/null +++ b/franka_data_new/view_018_215222074939/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - -0.14305349230089393 + - 0.8964057766347052 + - 0.41951445977039825 + - -0.21903413602912372 +- - 0.6801692153679314 + - -0.21887299517392228 + - 0.6996173600257276 + - 0.10927648563839314 +- - 0.7189614292897016 + - 0.3854235275635456 + - -0.5783970674149223 + - 1.2378471827435458 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_018_215222074939/T_cb.yaml b/franka_data_new/view_018_215222074939/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b16a58e715358534bb7cf45fa4d4a5ca772c4598 --- /dev/null +++ b/franka_data_new/view_018_215222074939/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - -0.14305349230089393 + - 0.8964057766347052 + - 0.41951445977039825 + - 0.10885246939659429 +- - 0.6801692153679314 + - -0.21887299517392228 + - 0.6996173600257276 + - -0.10061479753209394 +- - 0.7189614292897016 + - 0.3854235275635456 + - -0.5783970674149223 + - 1.2304294181580435 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_018_215222074939/intrinsics.yaml b/franka_data_new/view_018_215222074939/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3661567d0b286fa1176e7daadc3ed021bebebc80 --- /dev/null +++ b/franka_data_new/view_018_215222074939/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 912.4526977539062 + - 0.0 + - 646.1953125 +- - 0.0 + - 911.779296875 + - 366.7369689941406 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_018_408322072302/T_cam_world.yaml b/franka_data_new/view_018_408322072302/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..707a98a209306cfcb70179d7344ebf9bab6e428c --- /dev/null +++ b/franka_data_new/view_018_408322072302/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - -0.1071879258680215 + - 0.9932841048463563 + - -0.04355956390603949 + - -0.24365934147675022 +- - 0.24489647107813783 + - -0.016085412302580204 + - -0.9694157920956987 + - 0.3372878533430075 +- - -0.9636059708208466 + - -0.11457725154073478 + - -0.24152761007343415 + - 1.3259009709301632 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_018_408322072302/T_cb.yaml b/franka_data_new/view_018_408322072302/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1cd2afdfd12e750ccc94515cbbf71e88478ca999 --- /dev/null +++ b/franka_data_new/view_018_408322072302/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - -0.1071879258680215 + - 0.9932841048463563 + - -0.04355956390603949 + - 0.11219684522026624 +- - 0.24489647107813783 + - -0.016085412302580204 + - -0.9694157920956987 + - 0.28895933649727956 +- - -0.9636059708208466 + - -0.11457725154073478 + - -0.24152761007343415 + - 1.4763992395213679 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_018_408322072302/intrinsics.yaml b/franka_data_new/view_018_408322072302/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ce855e80a4dba3fa8b4c016110a01c74571f8e39 --- /dev/null +++ b/franka_data_new/view_018_408322072302/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 910.6677856445312 + - 0.0 + - 652.4881591796875 +- - 0.0 + - 910.5277099609375 + - 359.45245361328125 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_020_215222074939/T_cam_world.yaml b/franka_data_new/view_020_215222074939/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..09176a1b312e51066ed4ce1c0629f55dc104438a --- /dev/null +++ b/franka_data_new/view_020_215222074939/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.5775128408057917 + - 0.8012782466943087 + - 0.15630767760708053 + - -0.24876169881139984 +- - 0.3488749549641062 + - -0.06912965117767077 + - -0.9346161549678277 + - 0.3086617481353666 +- - -0.7380820987554279 + - 0.5942846647041705 + - -0.319469173464725 + - 1.4342693551531982 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_020_215222074939/T_cb.yaml b/franka_data_new/view_020_215222074939/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c9a42609882ca4439b3cde1a165e8d4b053a3e0b --- /dev/null +++ b/franka_data_new/view_020_215222074939/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - 0.5775128408057917 + - 0.8012782466943087 + - 0.15630767760708053 + - -0.09212747202058258 +- - 0.3488749549641062 + - -0.06912965117767077 + - -0.9346161549678277 + - 0.22200752024533 +- - -0.7380820987554279 + - 0.5942846647041705 + - -0.319469173464725 + - 1.7800666422831357 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_020_215222074939/intrinsics.yaml b/franka_data_new/view_020_215222074939/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3661567d0b286fa1176e7daadc3ed021bebebc80 --- /dev/null +++ b/franka_data_new/view_020_215222074939/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 912.4526977539062 + - 0.0 + - 646.1953125 +- - 0.0 + - 911.779296875 + - 366.7369689941406 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_020_215222074939/pose_001/precision.yaml b/franka_data_new/view_020_215222074939/pose_001/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9fc6432129d9416f7c65be89d1c35d73d066a46b --- /dev/null +++ b/franka_data_new/view_020_215222074939/pose_001/precision.yaml @@ -0,0 +1,29 @@ +view_id: 20 +pose_id: 1 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1578426 + robot_within_threshold: 7699 + robot_within_threshold_pct: 96.2375 + inliers: + mean_mm: 15.821284959456445 + median_mm: 12.908986240806218 + p75_mm: 23.176539728286173 + p90_mm: 33.702641674342864 + p95_mm: 39.740541539674176 + max_mm: 49.98444936450749 + all_robot_points: + mean_mm: 17.390257851451388 + median_mm: 13.6035844551509 + p75_mm: 24.893133579649927 + p90_mm: 37.803480140644574 + p95_mm: 46.61657764983604 + max_mm: 76.0893678331919 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_020_215222074939/pose_002/precision.yaml b/franka_data_new/view_020_215222074939/pose_002/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fd16ffb2376497e2735602fbc864759629020fa8 --- /dev/null +++ b/franka_data_new/view_020_215222074939/pose_002/precision.yaml @@ -0,0 +1,29 @@ +view_id: 20 +pose_id: 2 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1564610 + robot_within_threshold: 7578 + robot_within_threshold_pct: 94.725 + inliers: + mean_mm: 15.218208139357728 + median_mm: 11.552250042759281 + p75_mm: 22.12415745438049 + p90_mm: 34.155350281608676 + p95_mm: 40.35779463200464 + max_mm: 49.94423066361907 + all_robot_points: + mean_mm: 17.5543423865039 + median_mm: 12.393313929226839 + p75_mm: 24.414785071079052 + p90_mm: 40.41288693323626 + p95_mm: 50.699904646545235 + max_mm: 80.41390605422887 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_020_215222074939/pose_003/precision.yaml b/franka_data_new/view_020_215222074939/pose_003/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..24e30d7f2fcb76a13ba2b6604cb49c428e1f470f --- /dev/null +++ b/franka_data_new/view_020_215222074939/pose_003/precision.yaml @@ -0,0 +1,29 @@ +view_id: 20 +pose_id: 3 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1563698 + robot_within_threshold: 7640 + robot_within_threshold_pct: 95.5 + inliers: + mean_mm: 14.878073651745902 + median_mm: 10.207755915324764 + p75_mm: 23.18707915049005 + p90_mm: 35.33794946673112 + p95_mm: 41.88195592557326 + max_mm: 49.997137838736485 + all_robot_points: + mean_mm: 16.869707917509146 + median_mm: 10.981122156883464 + p75_mm: 25.50282736745924 + p90_mm: 41.064493707063605 + p95_mm: 49.08619572003072 + max_mm: 88.15374141407554 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_020_215222074939/pose_004/precision.yaml b/franka_data_new/view_020_215222074939/pose_004/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ddc4fa100e8474d5532c6c0276a5402b4629cd5f --- /dev/null +++ b/franka_data_new/view_020_215222074939/pose_004/precision.yaml @@ -0,0 +1,29 @@ +view_id: 20 +pose_id: 4 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1545742 + robot_within_threshold: 7776 + robot_within_threshold_pct: 97.2 + inliers: + mean_mm: 14.72205807967561 + median_mm: 10.48591230162872 + p75_mm: 22.06914193843814 + p90_mm: 35.164475771939024 + p95_mm: 40.96486715939286 + max_mm: 49.91283570592145 + all_robot_points: + mean_mm: 15.900026675531672 + median_mm: 10.930597398537504 + p75_mm: 23.68887798763511 + p90_mm: 38.07780450591119 + p95_mm: 45.429606556344375 + max_mm: 73.2342192383774 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_020_215222074939/pose_005/precision.yaml b/franka_data_new/view_020_215222074939/pose_005/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..60dcf472ca9007cb9946ac8415835dbd75dedfd9 --- /dev/null +++ b/franka_data_new/view_020_215222074939/pose_005/precision.yaml @@ -0,0 +1,29 @@ +view_id: 20 +pose_id: 5 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1579397 + robot_within_threshold: 7761 + robot_within_threshold_pct: 97.0125 + inliers: + mean_mm: 15.31986638229591 + median_mm: 11.738812763307394 + p75_mm: 22.390476879002062 + p90_mm: 33.94868406811469 + p95_mm: 40.64986694172826 + max_mm: 49.98739273320162 + all_robot_points: + mean_mm: 16.543261044082712 + median_mm: 12.12056957926953 + p75_mm: 23.934710307405986 + p90_mm: 37.12371831010884 + p95_mm: 45.61289108410426 + max_mm: 75.0734582302001 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_020_215222074939/pose_006/precision.yaml b/franka_data_new/view_020_215222074939/pose_006/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2ed5b6b5ea0bef1ec63a1fa23fb49e8c8a8c5091 --- /dev/null +++ b/franka_data_new/view_020_215222074939/pose_006/precision.yaml @@ -0,0 +1,29 @@ +view_id: 20 +pose_id: 6 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1575617 + robot_within_threshold: 7831 + robot_within_threshold_pct: 97.8875 + inliers: + mean_mm: 16.067369500677394 + median_mm: 13.434501890778733 + p75_mm: 22.768060947013183 + p90_mm: 34.07584624063333 + p95_mm: 39.83608528516015 + max_mm: 49.99415705537012 + all_robot_points: + mean_mm: 16.941276510280773 + median_mm: 13.802297668603847 + p75_mm: 23.719745864719727 + p90_mm: 36.25883138310458 + p95_mm: 43.45950596638599 + max_mm: 75.72157613413158 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_022_215222074939/T_cam_world.yaml b/franka_data_new/view_022_215222074939/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..571a5ffb8c47043a3f7230e194038bbd55d9dc5c --- /dev/null +++ b/franka_data_new/view_022_215222074939/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.7264489628037042 + - 0.6861793808468888 + - 0.03781219038885514 + - -0.4136721968450664 +- - 0.2185581370996219 + - -0.17851890541058824 + - -0.9593556906166496 + - 0.15795933667284046 +- - -0.6515399029598767 + - 0.7051871082993406 + - -0.2796549608704424 + - 1.2507448560297094 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_022_215222074939/T_cb.yaml b/franka_data_new/view_022_215222074939/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b369a98724b442cadf6875068a98059a07678565 --- /dev/null +++ b/franka_data_new/view_022_215222074939/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - 0.7264489628037042 + - 0.6861793808468888 + - 0.03781219038885514 + - -0.32427635419833145 +- - 0.2185581370996219 + - -0.17851890541058824 + - -0.9593556906166496 + - 0.059976407268129195 +- - -0.6515399029598767 + - 0.7051871082993406 + - -0.2796549608704424 + - 1.6168414674081153 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_022_215222074939/intrinsics.yaml b/franka_data_new/view_022_215222074939/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3661567d0b286fa1176e7daadc3ed021bebebc80 --- /dev/null +++ b/franka_data_new/view_022_215222074939/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 912.4526977539062 + - 0.0 + - 646.1953125 +- - 0.0 + - 911.779296875 + - 366.7369689941406 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_022_215222074939/pose_001/precision.yaml b/franka_data_new/view_022_215222074939/pose_001/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e2af79a27f71ae2a846559eb46584686b6ba4f87 --- /dev/null +++ b/franka_data_new/view_022_215222074939/pose_001/precision.yaml @@ -0,0 +1,29 @@ +view_id: 22 +pose_id: 1 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1606065 + robot_within_threshold: 7758 + robot_within_threshold_pct: 96.975 + inliers: + mean_mm: 15.023955112864718 + median_mm: 11.060991284413838 + p75_mm: 22.410109704390155 + p90_mm: 34.053618444471944 + p95_mm: 40.16667147431999 + max_mm: 49.98048462033607 + all_robot_points: + mean_mm: 16.27808970101005 + median_mm: 11.620621298024236 + p75_mm: 23.895234855989045 + p90_mm: 37.14323064328391 + p95_mm: 45.4908895753153 + max_mm: 74.37103316883774 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_022_215222074939/pose_002/precision.yaml b/franka_data_new/view_022_215222074939/pose_002/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a6fb0fa663de98fda53580889719c05017cc165e --- /dev/null +++ b/franka_data_new/view_022_215222074939/pose_002/precision.yaml @@ -0,0 +1,29 @@ +view_id: 22 +pose_id: 2 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1607706 + robot_within_threshold: 7574 + robot_within_threshold_pct: 94.675 + inliers: + mean_mm: 15.099509874996865 + median_mm: 11.037889726531262 + p75_mm: 23.26580608891083 + p90_mm: 34.68904940015491 + p95_mm: 41.13221359653112 + max_mm: 49.97602755450643 + all_robot_points: + mean_mm: 17.445979772700827 + median_mm: 12.224955189944204 + p75_mm: 26.06101217688778 + p90_mm: 41.17321741351409 + p95_mm: 50.47019006751578 + max_mm: 85.97153168281757 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_022_215222074939/pose_003/precision.yaml b/franka_data_new/view_022_215222074939/pose_003/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ee0d96635c98b0d9f4a967121b7b1a9a1a31a9e4 --- /dev/null +++ b/franka_data_new/view_022_215222074939/pose_003/precision.yaml @@ -0,0 +1,29 @@ +view_id: 22 +pose_id: 3 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1627396 + robot_within_threshold: 7716 + robot_within_threshold_pct: 96.45 + inliers: + mean_mm: 13.80085557863248 + median_mm: 9.218689966353274 + p75_mm: 20.796534120715034 + p90_mm: 33.78727427905258 + p95_mm: 40.98003539213032 + max_mm: 49.987367843311866 + all_robot_points: + mean_mm: 15.34482407315949 + median_mm: 9.802189527144705 + p75_mm: 22.752548100068978 + p90_mm: 38.26345504851421 + p95_mm: 46.90169768363637 + max_mm: 78.59482692625663 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_022_215222074939/pose_004/precision.yaml b/franka_data_new/view_022_215222074939/pose_004/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f68d9bee1a620ecbb9369ba821e821e332f8dbd2 --- /dev/null +++ b/franka_data_new/view_022_215222074939/pose_004/precision.yaml @@ -0,0 +1,29 @@ +view_id: 22 +pose_id: 4 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1588601 + robot_within_threshold: 7709 + robot_within_threshold_pct: 96.3625 + inliers: + mean_mm: 14.847870854465626 + median_mm: 10.321900421560333 + p75_mm: 23.72965703030529 + p90_mm: 36.119432686002796 + p95_mm: 41.78155825762064 + max_mm: 49.959832515282805 + all_robot_points: + mean_mm: 16.46714272001403 + median_mm: 11.130130301470524 + p75_mm: 25.650585041092604 + p90_mm: 39.69114392386452 + p95_mm: 47.07485765979699 + max_mm: 82.31989245554331 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_022_215222074939/pose_005/precision.yaml b/franka_data_new/view_022_215222074939/pose_005/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5661bc9a97c8b26e9e8ded71d0d34b7554d4a104 --- /dev/null +++ b/franka_data_new/view_022_215222074939/pose_005/precision.yaml @@ -0,0 +1,29 @@ +view_id: 22 +pose_id: 5 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1585542 + robot_within_threshold: 7654 + robot_within_threshold_pct: 95.675 + inliers: + mean_mm: 15.62593881397129 + median_mm: 10.77494253999755 + p75_mm: 24.72254541874156 + p90_mm: 37.479300686656465 + p95_mm: 42.604803161171006 + max_mm: 49.98807684204879 + all_robot_points: + mean_mm: 17.459477734843276 + median_mm: 11.938264743269233 + p75_mm: 27.21248561313145 + p90_mm: 41.57665748160105 + p95_mm: 48.69717729949554 + max_mm: 80.33888271178343 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_022_215222074939/pose_006/precision.yaml b/franka_data_new/view_022_215222074939/pose_006/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..80d2a9e4152e1536dc048a4ef8b7fa30a18114fe --- /dev/null +++ b/franka_data_new/view_022_215222074939/pose_006/precision.yaml @@ -0,0 +1,29 @@ +view_id: 22 +pose_id: 6 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1581735 + robot_within_threshold: 7754 + robot_within_threshold_pct: 96.925 + inliers: + mean_mm: 14.68692080546109 + median_mm: 10.07677814486743 + p75_mm: 23.172260088031862 + p90_mm: 34.76097871588895 + p95_mm: 40.5539957764498 + max_mm: 49.95839203631752 + all_robot_points: + mean_mm: 15.97810355880443 + median_mm: 10.714626213247023 + p75_mm: 24.993024266328856 + p90_mm: 37.77383174873505 + p95_mm: 45.58473605968968 + max_mm: 77.60890723515865 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_024_215222074939/T_cam_world.yaml b/franka_data_new/view_024_215222074939/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c410708cad435c78b2e98f55bc8bbadbfde13c3b --- /dev/null +++ b/franka_data_new/view_024_215222074939/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.5310846110676958 + - 0.8434545481878559 + - -0.0808304461715631 + - -0.1534091770982422 +- - 0.25545680043645763 + - -0.2503424250643509 + - -0.933847146659274 + - 0.21276489093994821 +- - -0.807892913075639 + - 0.47530316152337926 + - -0.3484192096426922 + - 1.4103792170301832 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_024_215222074939/T_cb.yaml b/franka_data_new/view_024_215222074939/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7c2ae72282621238f424390cc0fe1abef833ed01 --- /dev/null +++ b/franka_data_new/view_024_215222074939/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - 0.5310846110676958 + - 0.8434545481878559 + - -0.0808304461715631 + - 0.02767765871372241 +- - 0.25545680043645763 + - -0.2503424250643509 + - -0.933847146659274 + - 0.08325465334144908 +- - -0.807892913075639 + - 0.47530316152337926 + - -0.3484192096426922 + - 1.7298375965615251 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_024_215222074939/intrinsics.yaml b/franka_data_new/view_024_215222074939/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3661567d0b286fa1176e7daadc3ed021bebebc80 --- /dev/null +++ b/franka_data_new/view_024_215222074939/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 912.4526977539062 + - 0.0 + - 646.1953125 +- - 0.0 + - 911.779296875 + - 366.7369689941406 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_024_215222074939/pose_001/precision.yaml b/franka_data_new/view_024_215222074939/pose_001/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9e26bdfee3181d8d93fa90f12b1a26695d4a7be7 --- /dev/null +++ b/franka_data_new/view_024_215222074939/pose_001/precision.yaml @@ -0,0 +1,29 @@ +view_id: 24 +pose_id: 1 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1736858 + robot_within_threshold: 7084 + robot_within_threshold_pct: 88.55 + inliers: + mean_mm: 16.72771759411818 + median_mm: 12.94934543823163 + p75_mm: 25.504120518453583 + p90_mm: 37.66090849321201 + p95_mm: 43.6250151351278 + max_mm: 49.99752060855916 + all_robot_points: + mean_mm: 21.91688955815404 + median_mm: 15.369390094524086 + p75_mm: 32.59385522297646 + p90_mm: 52.24652329761419 + p95_mm: 61.472119773475505 + max_mm: 92.77246907221222 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_024_215222074939/pose_002/precision.yaml b/franka_data_new/view_024_215222074939/pose_002/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5ad4c9e5e7ad3622e2e2bc09c030da6f55cf10f8 --- /dev/null +++ b/franka_data_new/view_024_215222074939/pose_002/precision.yaml @@ -0,0 +1,29 @@ +view_id: 24 +pose_id: 2 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1723779 + robot_within_threshold: 7756 + robot_within_threshold_pct: 96.95 + inliers: + mean_mm: 15.266185246152503 + median_mm: 11.118365644394405 + p75_mm: 24.022613566382937 + p90_mm: 35.47728409002886 + p95_mm: 41.033901958656074 + max_mm: 49.89714945728353 + all_robot_points: + mean_mm: 16.51122466257888 + median_mm: 11.720256334208077 + p75_mm: 25.568008849125647 + p90_mm: 38.36350633198252 + p95_mm: 45.888757000238186 + max_mm: 72.98218796527007 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_024_215222074939/pose_003/precision.yaml b/franka_data_new/view_024_215222074939/pose_003/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..438c85e9a4307947cba96635e4643f6c693822a6 --- /dev/null +++ b/franka_data_new/view_024_215222074939/pose_003/precision.yaml @@ -0,0 +1,29 @@ +view_id: 24 +pose_id: 3 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1698822 + robot_within_threshold: 7660 + robot_within_threshold_pct: 95.75 + inliers: + mean_mm: 15.634621886886446 + median_mm: 10.62793798672335 + p75_mm: 25.101340778861896 + p90_mm: 38.34545270397445 + p95_mm: 43.36240006926005 + max_mm: 49.94079612883067 + all_robot_points: + mean_mm: 17.38473371041536 + median_mm: 11.576640806686802 + p75_mm: 27.986167025748752 + p90_mm: 42.20425459134396 + p95_mm: 48.78714988321992 + max_mm: 79.98625268054677 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_024_215222074939/pose_004/precision.yaml b/franka_data_new/view_024_215222074939/pose_004/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c1fef3cc6db240bd9618f6e203a63434c9745077 --- /dev/null +++ b/franka_data_new/view_024_215222074939/pose_004/precision.yaml @@ -0,0 +1,29 @@ +view_id: 24 +pose_id: 4 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1691686 + robot_within_threshold: 7406 + robot_within_threshold_pct: 92.575 + inliers: + mean_mm: 16.9603506730627 + median_mm: 11.996546740929318 + p75_mm: 27.529996468744663 + p90_mm: 40.492324197383724 + p95_mm: 45.271947492079725 + max_mm: 49.98543221672409 + all_robot_points: + mean_mm: 19.87382916187796 + median_mm: 13.857149061274637 + p75_mm: 32.52779598750191 + p90_mm: 47.58491023112877 + p95_mm: 52.48260282219185 + max_mm: 75.32323348560094 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_024_215222074939/pose_005/precision.yaml b/franka_data_new/view_024_215222074939/pose_005/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c1617c0a02818c1e25bab5bda5ce500727acfa13 --- /dev/null +++ b/franka_data_new/view_024_215222074939/pose_005/precision.yaml @@ -0,0 +1,29 @@ +view_id: 24 +pose_id: 5 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1694330 + robot_within_threshold: 7421 + robot_within_threshold_pct: 92.7625 + inliers: + mean_mm: 16.632607381045343 + median_mm: 12.290575079476298 + p75_mm: 26.23185137128139 + p90_mm: 39.12157506753345 + p95_mm: 44.0636503820216 + max_mm: 49.99933563177627 + all_robot_points: + mean_mm: 19.599370918319917 + median_mm: 14.139649270565531 + p75_mm: 30.60903435746997 + p90_mm: 46.594099824209984 + p95_mm: 53.036274765390786 + max_mm: 80.43207269995672 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_024_215222074939/pose_006/precision.yaml b/franka_data_new/view_024_215222074939/pose_006/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8682dd79d497c549d8c9a8392c7764ca7670b122 --- /dev/null +++ b/franka_data_new/view_024_215222074939/pose_006/precision.yaml @@ -0,0 +1,29 @@ +view_id: 24 +pose_id: 6 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1696752 + robot_within_threshold: 7449 + robot_within_threshold_pct: 93.1125 + inliers: + mean_mm: 15.813807432575251 + median_mm: 11.889790081269574 + p75_mm: 24.579615357810898 + p90_mm: 37.2128129521307 + p95_mm: 42.80107249604493 + max_mm: 49.99012722102915 + all_robot_points: + mean_mm: 18.88597617216531 + median_mm: 13.482793074699043 + p75_mm: 28.683048193102817 + p90_mm: 45.138338850024255 + p95_mm: 54.309396578841906 + max_mm: 85.06519792865882 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_024_408322072302/T_cam_world.yaml b/franka_data_new/view_024_408322072302/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..39856ea1510566385154333f53761b2b923b6779 --- /dev/null +++ b/franka_data_new/view_024_408322072302/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.21334137493129676 + - 0.9768667438429475 + - 0.014724894434304248 + - -0.6141996995590467 +- - 0.594265631387209 + - -0.11779127000925116 + - -0.7955963650379316 + - 0.12473791508290712 +- - -0.7754571665117204 + - 0.17848412109564604 + - -0.6056480838096732 + - 1.3584341036520011 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_024_408322072302/T_cb.yaml b/franka_data_new/view_024_408322072302/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43026f233f55bf31a6616ed93516c150640beeb2 --- /dev/null +++ b/franka_data_new/view_024_408322072302/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - 0.21334137493129676 + - 0.9768667438429475 + - 0.014724894434304248 + - -0.3266707994677478 +- - 0.594265631387209 + - -0.11779127000925116 + - -0.7955963650379316 + - -0.026861559205526644 +- - -0.7754571665117204 + - 0.17848412109564604 + - -0.6056480838096732 + - 1.5728256403500678 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_024_408322072302/intrinsics.yaml b/franka_data_new/view_024_408322072302/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ce855e80a4dba3fa8b4c016110a01c74571f8e39 --- /dev/null +++ b/franka_data_new/view_024_408322072302/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 910.6677856445312 + - 0.0 + - 652.4881591796875 +- - 0.0 + - 910.5277099609375 + - 359.45245361328125 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_024_408322072302/pose_001/precision.yaml b/franka_data_new/view_024_408322072302/pose_001/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9e26bdfee3181d8d93fa90f12b1a26695d4a7be7 --- /dev/null +++ b/franka_data_new/view_024_408322072302/pose_001/precision.yaml @@ -0,0 +1,29 @@ +view_id: 24 +pose_id: 1 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1736858 + robot_within_threshold: 7084 + robot_within_threshold_pct: 88.55 + inliers: + mean_mm: 16.72771759411818 + median_mm: 12.94934543823163 + p75_mm: 25.504120518453583 + p90_mm: 37.66090849321201 + p95_mm: 43.6250151351278 + max_mm: 49.99752060855916 + all_robot_points: + mean_mm: 21.91688955815404 + median_mm: 15.369390094524086 + p75_mm: 32.59385522297646 + p90_mm: 52.24652329761419 + p95_mm: 61.472119773475505 + max_mm: 92.77246907221222 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_024_408322072302/pose_002/precision.yaml b/franka_data_new/view_024_408322072302/pose_002/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5ad4c9e5e7ad3622e2e2bc09c030da6f55cf10f8 --- /dev/null +++ b/franka_data_new/view_024_408322072302/pose_002/precision.yaml @@ -0,0 +1,29 @@ +view_id: 24 +pose_id: 2 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1723779 + robot_within_threshold: 7756 + robot_within_threshold_pct: 96.95 + inliers: + mean_mm: 15.266185246152503 + median_mm: 11.118365644394405 + p75_mm: 24.022613566382937 + p90_mm: 35.47728409002886 + p95_mm: 41.033901958656074 + max_mm: 49.89714945728353 + all_robot_points: + mean_mm: 16.51122466257888 + median_mm: 11.720256334208077 + p75_mm: 25.568008849125647 + p90_mm: 38.36350633198252 + p95_mm: 45.888757000238186 + max_mm: 72.98218796527007 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_024_408322072302/pose_003/precision.yaml b/franka_data_new/view_024_408322072302/pose_003/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..438c85e9a4307947cba96635e4643f6c693822a6 --- /dev/null +++ b/franka_data_new/view_024_408322072302/pose_003/precision.yaml @@ -0,0 +1,29 @@ +view_id: 24 +pose_id: 3 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1698822 + robot_within_threshold: 7660 + robot_within_threshold_pct: 95.75 + inliers: + mean_mm: 15.634621886886446 + median_mm: 10.62793798672335 + p75_mm: 25.101340778861896 + p90_mm: 38.34545270397445 + p95_mm: 43.36240006926005 + max_mm: 49.94079612883067 + all_robot_points: + mean_mm: 17.38473371041536 + median_mm: 11.576640806686802 + p75_mm: 27.986167025748752 + p90_mm: 42.20425459134396 + p95_mm: 48.78714988321992 + max_mm: 79.98625268054677 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_024_408322072302/pose_004/precision.yaml b/franka_data_new/view_024_408322072302/pose_004/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c1fef3cc6db240bd9618f6e203a63434c9745077 --- /dev/null +++ b/franka_data_new/view_024_408322072302/pose_004/precision.yaml @@ -0,0 +1,29 @@ +view_id: 24 +pose_id: 4 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1691686 + robot_within_threshold: 7406 + robot_within_threshold_pct: 92.575 + inliers: + mean_mm: 16.9603506730627 + median_mm: 11.996546740929318 + p75_mm: 27.529996468744663 + p90_mm: 40.492324197383724 + p95_mm: 45.271947492079725 + max_mm: 49.98543221672409 + all_robot_points: + mean_mm: 19.87382916187796 + median_mm: 13.857149061274637 + p75_mm: 32.52779598750191 + p90_mm: 47.58491023112877 + p95_mm: 52.48260282219185 + max_mm: 75.32323348560094 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_024_408322072302/pose_005/precision.yaml b/franka_data_new/view_024_408322072302/pose_005/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c1617c0a02818c1e25bab5bda5ce500727acfa13 --- /dev/null +++ b/franka_data_new/view_024_408322072302/pose_005/precision.yaml @@ -0,0 +1,29 @@ +view_id: 24 +pose_id: 5 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1694330 + robot_within_threshold: 7421 + robot_within_threshold_pct: 92.7625 + inliers: + mean_mm: 16.632607381045343 + median_mm: 12.290575079476298 + p75_mm: 26.23185137128139 + p90_mm: 39.12157506753345 + p95_mm: 44.0636503820216 + max_mm: 49.99933563177627 + all_robot_points: + mean_mm: 19.599370918319917 + median_mm: 14.139649270565531 + p75_mm: 30.60903435746997 + p90_mm: 46.594099824209984 + p95_mm: 53.036274765390786 + max_mm: 80.43207269995672 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_024_408322072302/pose_006/precision.yaml b/franka_data_new/view_024_408322072302/pose_006/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8682dd79d497c549d8c9a8392c7764ca7670b122 --- /dev/null +++ b/franka_data_new/view_024_408322072302/pose_006/precision.yaml @@ -0,0 +1,29 @@ +view_id: 24 +pose_id: 6 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1696752 + robot_within_threshold: 7449 + robot_within_threshold_pct: 93.1125 + inliers: + mean_mm: 15.813807432575251 + median_mm: 11.889790081269574 + p75_mm: 24.579615357810898 + p90_mm: 37.2128129521307 + p95_mm: 42.80107249604493 + max_mm: 49.99012722102915 + all_robot_points: + mean_mm: 18.88597617216531 + median_mm: 13.482793074699043 + p75_mm: 28.683048193102817 + p90_mm: 45.138338850024255 + p95_mm: 54.309396578841906 + max_mm: 85.06519792865882 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_025_215222074939/T_cam_world.yaml b/franka_data_new/view_025_215222074939/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..32130d32767593f8d923c0d289418376117611b6 --- /dev/null +++ b/franka_data_new/view_025_215222074939/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.5489315482079551 + - 0.8356310710646573 + - -0.019871297223668205 + - -0.21286752172813603 +- - 0.26508579432166024 + - -0.1965842583303043 + - -0.9439725372200076 + - 0.3044438361845106 +- - -0.7927191665595529 + - 0.5129087077132324 + - -0.32942522751160097 + - 1.4157150119792359 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_025_215222074939/T_cb.yaml b/franka_data_new/view_025_215222074939/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..04a6d653f5d7a3d4679c497eda55a301bb48033d --- /dev/null +++ b/franka_data_new/view_025_215222074939/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - 0.5489315482079551 + - 0.8356310710646573 + - -0.019871297223668205 + - -0.03820214619377943 +- - 0.26508579432166024 + - -0.1965842583303043 + - -0.9439725372200076 + - 0.19122307392057436 +- - -0.7927191665595529 + - 0.5129087077132324 + - -0.32942522751160097 + - 1.744792610095266 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_025_215222074939/intrinsics.yaml b/franka_data_new/view_025_215222074939/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3661567d0b286fa1176e7daadc3ed021bebebc80 --- /dev/null +++ b/franka_data_new/view_025_215222074939/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 912.4526977539062 + - 0.0 + - 646.1953125 +- - 0.0 + - 911.779296875 + - 366.7369689941406 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_025_215222074939/pose_001/precision.yaml b/franka_data_new/view_025_215222074939/pose_001/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ede270e2b2afaca83b4a2be8e69ff9c0232461b5 --- /dev/null +++ b/franka_data_new/view_025_215222074939/pose_001/precision.yaml @@ -0,0 +1,29 @@ +view_id: 25 +pose_id: 1 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1610736 + robot_within_threshold: 7793 + robot_within_threshold_pct: 97.4125 + inliers: + mean_mm: 16.35431896356553 + median_mm: 13.882711397739932 + p75_mm: 22.686461652884727 + p90_mm: 33.87109987102518 + p95_mm: 40.38544207156558 + max_mm: 49.88841992827343 + all_robot_points: + mean_mm: 17.37710039510548 + median_mm: 14.2504180582441 + p75_mm: 23.768956042683975 + p90_mm: 36.756480238412806 + p95_mm: 44.60675821404629 + max_mm: 72.68860665675894 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_025_215222074939/pose_002/precision.yaml b/franka_data_new/view_025_215222074939/pose_002/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1bde807d72ef0ba559b6fcfe877c69d16f7ee284 --- /dev/null +++ b/franka_data_new/view_025_215222074939/pose_002/precision.yaml @@ -0,0 +1,29 @@ +view_id: 25 +pose_id: 2 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1604889 + robot_within_threshold: 7489 + robot_within_threshold_pct: 93.6125 + inliers: + mean_mm: 16.43674611198051 + median_mm: 13.566725482130744 + p75_mm: 23.028077524702628 + p90_mm: 34.85294497054446 + p95_mm: 41.666224737910355 + max_mm: 49.97763213246793 + all_robot_points: + mean_mm: 19.17010548278918 + median_mm: 14.602121327232343 + p75_mm: 26.156475133328243 + p90_mm: 43.427443722132494 + p95_mm: 53.167020814233446 + max_mm: 77.25202421960101 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_025_215222074939/pose_003/precision.yaml b/franka_data_new/view_025_215222074939/pose_003/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e1d5161f94b20713de1af1b0cfb47248033646ad --- /dev/null +++ b/franka_data_new/view_025_215222074939/pose_003/precision.yaml @@ -0,0 +1,29 @@ +view_id: 25 +pose_id: 3 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1581721 + robot_within_threshold: 7835 + robot_within_threshold_pct: 97.9375 + inliers: + mean_mm: 15.289888351412436 + median_mm: 11.701960089279037 + p75_mm: 22.71145448453584 + p90_mm: 34.15594486873383 + p95_mm: 40.52322348031186 + max_mm: 49.99061844017317 + all_robot_points: + mean_mm: 16.13882352565423 + median_mm: 12.002069316644539 + p75_mm: 23.740159523241243 + p90_mm: 36.29372071811639 + p95_mm: 43.22563731127738 + max_mm: 74.79404335500489 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_025_215222074939/pose_004/precision.yaml b/franka_data_new/view_025_215222074939/pose_004/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5af67e3979f548f2dfb7cb6b8e1fbc2bd20b848b --- /dev/null +++ b/franka_data_new/view_025_215222074939/pose_004/precision.yaml @@ -0,0 +1,29 @@ +view_id: 25 +pose_id: 4 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1569717 + robot_within_threshold: 7744 + robot_within_threshold_pct: 96.8 + inliers: + mean_mm: 15.974779147124192 + median_mm: 11.952390390110462 + p75_mm: 24.235293091648206 + p90_mm: 36.82616878369418 + p95_mm: 41.92203770148244 + max_mm: 49.980402649624274 + all_robot_points: + mean_mm: 17.267012937217164 + median_mm: 12.500612462744671 + p75_mm: 26.079549438444637 + p90_mm: 39.61379158661835 + p95_mm: 46.27554428800521 + max_mm: 75.15244420516157 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_025_215222074939/pose_005/precision.yaml b/franka_data_new/view_025_215222074939/pose_005/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..11b0ade346af52027bbe9575b1a7ea16a17fa2f6 --- /dev/null +++ b/franka_data_new/view_025_215222074939/pose_005/precision.yaml @@ -0,0 +1,29 @@ +view_id: 25 +pose_id: 5 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1581262 + robot_within_threshold: 7821 + robot_within_threshold_pct: 97.7625 + inliers: + mean_mm: 16.31623952997531 + median_mm: 12.544178842868641 + p75_mm: 24.546852451814622 + p90_mm: 35.889723109443345 + p95_mm: 41.821695385018835 + max_mm: 49.99553067492905 + all_robot_points: + mean_mm: 17.17789491146177 + median_mm: 12.942790192111229 + p75_mm: 25.616983361058963 + p90_mm: 38.344840752656026 + p95_mm: 44.84213624533806 + max_mm: 69.77505589245203 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_025_215222074939/pose_006/precision.yaml b/franka_data_new/view_025_215222074939/pose_006/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7650c1c30a5462724365f2e1473d6e64ec8066a9 --- /dev/null +++ b/franka_data_new/view_025_215222074939/pose_006/precision.yaml @@ -0,0 +1,29 @@ +view_id: 25 +pose_id: 6 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1579741 + robot_within_threshold: 7841 + robot_within_threshold_pct: 98.0125 + inliers: + mean_mm: 15.142409465194355 + median_mm: 11.719029895739084 + p75_mm: 22.163575236749402 + p90_mm: 34.387561938945254 + p95_mm: 39.86932520327524 + max_mm: 49.96153459601446 + all_robot_points: + mean_mm: 15.964755435595075 + median_mm: 11.988333064595038 + p75_mm: 23.158635563358512 + p90_mm: 36.10599027604031 + p95_mm: 42.91689839909147 + max_mm: 73.59488391652751 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_025_408322072302/T_cam_world.yaml b/franka_data_new/view_025_408322072302/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..096173f75f8d0be9bd439649c8713691717b92c3 --- /dev/null +++ b/franka_data_new/view_025_408322072302/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - -0.0031644622980969705 + - 0.999597906035492 + - -0.028178226129831063 + - -0.319612882532728 +- - 0.5800106131521698 + - -0.021119588874186856 + - -0.814335097853844 + - 0.11587359471492961 +- - -0.8146027711769757 + - -0.01892060293027953 + - -0.5797105622425271 + - 1.5377473813442035 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_025_408322072302/T_cb.yaml b/franka_data_new/view_025_408322072302/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d0ce93aa380ec61db0dd08a545900083fcd269db --- /dev/null +++ b/franka_data_new/view_025_408322072302/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - -0.0031644622980969705 + - 0.999597906035492 + - -0.028178226129831063 + - 0.018009573080010888 +- - 0.5800106131521698 + - -0.021119588874186856 + - -0.814335097853844 + - -0.00027410081107526185 +- - -0.8146027711769757 + - -0.01892060293027953 + - -0.5797105622425271 + - 1.693117231347422 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_025_408322072302/intrinsics.yaml b/franka_data_new/view_025_408322072302/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ce855e80a4dba3fa8b4c016110a01c74571f8e39 --- /dev/null +++ b/franka_data_new/view_025_408322072302/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 910.6677856445312 + - 0.0 + - 652.4881591796875 +- - 0.0 + - 910.5277099609375 + - 359.45245361328125 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_025_408322072302/pose_001/precision.yaml b/franka_data_new/view_025_408322072302/pose_001/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ede270e2b2afaca83b4a2be8e69ff9c0232461b5 --- /dev/null +++ b/franka_data_new/view_025_408322072302/pose_001/precision.yaml @@ -0,0 +1,29 @@ +view_id: 25 +pose_id: 1 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1610736 + robot_within_threshold: 7793 + robot_within_threshold_pct: 97.4125 + inliers: + mean_mm: 16.35431896356553 + median_mm: 13.882711397739932 + p75_mm: 22.686461652884727 + p90_mm: 33.87109987102518 + p95_mm: 40.38544207156558 + max_mm: 49.88841992827343 + all_robot_points: + mean_mm: 17.37710039510548 + median_mm: 14.2504180582441 + p75_mm: 23.768956042683975 + p90_mm: 36.756480238412806 + p95_mm: 44.60675821404629 + max_mm: 72.68860665675894 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_025_408322072302/pose_002/precision.yaml b/franka_data_new/view_025_408322072302/pose_002/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1bde807d72ef0ba559b6fcfe877c69d16f7ee284 --- /dev/null +++ b/franka_data_new/view_025_408322072302/pose_002/precision.yaml @@ -0,0 +1,29 @@ +view_id: 25 +pose_id: 2 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1604889 + robot_within_threshold: 7489 + robot_within_threshold_pct: 93.6125 + inliers: + mean_mm: 16.43674611198051 + median_mm: 13.566725482130744 + p75_mm: 23.028077524702628 + p90_mm: 34.85294497054446 + p95_mm: 41.666224737910355 + max_mm: 49.97763213246793 + all_robot_points: + mean_mm: 19.17010548278918 + median_mm: 14.602121327232343 + p75_mm: 26.156475133328243 + p90_mm: 43.427443722132494 + p95_mm: 53.167020814233446 + max_mm: 77.25202421960101 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_025_408322072302/pose_003/precision.yaml b/franka_data_new/view_025_408322072302/pose_003/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e1d5161f94b20713de1af1b0cfb47248033646ad --- /dev/null +++ b/franka_data_new/view_025_408322072302/pose_003/precision.yaml @@ -0,0 +1,29 @@ +view_id: 25 +pose_id: 3 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1581721 + robot_within_threshold: 7835 + robot_within_threshold_pct: 97.9375 + inliers: + mean_mm: 15.289888351412436 + median_mm: 11.701960089279037 + p75_mm: 22.71145448453584 + p90_mm: 34.15594486873383 + p95_mm: 40.52322348031186 + max_mm: 49.99061844017317 + all_robot_points: + mean_mm: 16.13882352565423 + median_mm: 12.002069316644539 + p75_mm: 23.740159523241243 + p90_mm: 36.29372071811639 + p95_mm: 43.22563731127738 + max_mm: 74.79404335500489 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_025_408322072302/pose_004/precision.yaml b/franka_data_new/view_025_408322072302/pose_004/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5af67e3979f548f2dfb7cb6b8e1fbc2bd20b848b --- /dev/null +++ b/franka_data_new/view_025_408322072302/pose_004/precision.yaml @@ -0,0 +1,29 @@ +view_id: 25 +pose_id: 4 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1569717 + robot_within_threshold: 7744 + robot_within_threshold_pct: 96.8 + inliers: + mean_mm: 15.974779147124192 + median_mm: 11.952390390110462 + p75_mm: 24.235293091648206 + p90_mm: 36.82616878369418 + p95_mm: 41.92203770148244 + max_mm: 49.980402649624274 + all_robot_points: + mean_mm: 17.267012937217164 + median_mm: 12.500612462744671 + p75_mm: 26.079549438444637 + p90_mm: 39.61379158661835 + p95_mm: 46.27554428800521 + max_mm: 75.15244420516157 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_025_408322072302/pose_005/precision.yaml b/franka_data_new/view_025_408322072302/pose_005/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..11b0ade346af52027bbe9575b1a7ea16a17fa2f6 --- /dev/null +++ b/franka_data_new/view_025_408322072302/pose_005/precision.yaml @@ -0,0 +1,29 @@ +view_id: 25 +pose_id: 5 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1581262 + robot_within_threshold: 7821 + robot_within_threshold_pct: 97.7625 + inliers: + mean_mm: 16.31623952997531 + median_mm: 12.544178842868641 + p75_mm: 24.546852451814622 + p90_mm: 35.889723109443345 + p95_mm: 41.821695385018835 + max_mm: 49.99553067492905 + all_robot_points: + mean_mm: 17.17789491146177 + median_mm: 12.942790192111229 + p75_mm: 25.616983361058963 + p90_mm: 38.344840752656026 + p95_mm: 44.84213624533806 + max_mm: 69.77505589245203 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_025_408322072302/pose_006/precision.yaml b/franka_data_new/view_025_408322072302/pose_006/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7650c1c30a5462724365f2e1473d6e64ec8066a9 --- /dev/null +++ b/franka_data_new/view_025_408322072302/pose_006/precision.yaml @@ -0,0 +1,29 @@ +view_id: 25 +pose_id: 6 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1579741 + robot_within_threshold: 7841 + robot_within_threshold_pct: 98.0125 + inliers: + mean_mm: 15.142409465194355 + median_mm: 11.719029895739084 + p75_mm: 22.163575236749402 + p90_mm: 34.387561938945254 + p95_mm: 39.86932520327524 + max_mm: 49.96153459601446 + all_robot_points: + mean_mm: 15.964755435595075 + median_mm: 11.988333064595038 + p75_mm: 23.158635563358512 + p90_mm: 36.10599027604031 + p95_mm: 42.91689839909147 + max_mm: 73.59488391652751 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_032_215222074939/T_cam_world.yaml b/franka_data_new/view_032_215222074939/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4be7c02f7f618faadb5dc59d89b5299e37025822 --- /dev/null +++ b/franka_data_new/view_032_215222074939/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.4492571348342854 + - 0.8650381626356547 + - 0.2233316009534247 + - -0.4466910014246473 +- - 0.49324481207281085 + - -0.03173154671124258 + - -0.8693116036879813 + - 0.2587062481979228 +- - -0.7449010552843556 + - 0.5007015938932522 + - -0.4409312097243862 + - 1.432539979288893 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_032_215222074939/T_cb.yaml b/franka_data_new/view_032_215222074939/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9bd979bef9b6e52f389a3ad7c175250990813a84 --- /dev/null +++ b/franka_data_new/view_032_215222074939/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - 0.4492571348342854 + - 0.8650381626356547 + - 0.2233316009534247 + - -0.24389493991388442 +- - 0.49324481207281085 + - -0.03173154671124258 + - -0.8693116036879813 + - 0.15617653662047587 +- - -0.7449010552843556 + - 0.5007015938932522 + - -0.4409312097243862 + - 1.7487367782599903 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_032_215222074939/intrinsics.yaml b/franka_data_new/view_032_215222074939/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3661567d0b286fa1176e7daadc3ed021bebebc80 --- /dev/null +++ b/franka_data_new/view_032_215222074939/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 912.4526977539062 + - 0.0 + - 646.1953125 +- - 0.0 + - 911.779296875 + - 366.7369689941406 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_032_215222074939/pose_001/precision.yaml b/franka_data_new/view_032_215222074939/pose_001/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..933f85e58628758d548650eff845420a39934b7a --- /dev/null +++ b/franka_data_new/view_032_215222074939/pose_001/precision.yaml @@ -0,0 +1,29 @@ +view_id: 32 +pose_id: 1 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1617725 + robot_within_threshold: 7657 + robot_within_threshold_pct: 95.7125 + inliers: + mean_mm: 16.553539292298485 + median_mm: 12.584927489559956 + p75_mm: 26.37039523937975 + p90_mm: 37.187237474114184 + p95_mm: 42.756890630879276 + max_mm: 49.984207627762146 + all_robot_points: + mean_mm: 18.311194144526713 + median_mm: 13.599296651954528 + p75_mm: 28.481080251734944 + p90_mm: 41.413483237793066 + p95_mm: 48.68820148860246 + max_mm: 82.55955451005705 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_032_215222074939/pose_002/precision.yaml b/franka_data_new/view_032_215222074939/pose_002/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2686648dc5ba38b1c2a3098ab83c269d085d6543 --- /dev/null +++ b/franka_data_new/view_032_215222074939/pose_002/precision.yaml @@ -0,0 +1,29 @@ +view_id: 32 +pose_id: 2 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1620076 + robot_within_threshold: 7561 + robot_within_threshold_pct: 94.5125 + inliers: + mean_mm: 16.815742172662496 + median_mm: 12.511917870576399 + p75_mm: 26.12125565443763 + p90_mm: 37.52274993119765 + p95_mm: 43.045461450784394 + max_mm: 49.99271767373445 + all_robot_points: + mean_mm: 19.132545052141815 + median_mm: 13.836456025508244 + p75_mm: 29.048414960613947 + p90_mm: 43.1642560274201 + p95_mm: 51.12441920723793 + max_mm: 84.67193739624173 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_032_215222074939/pose_003/precision.yaml b/franka_data_new/view_032_215222074939/pose_003/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1bd6935a42337b86233311b4fe1b8767d5c8252 --- /dev/null +++ b/franka_data_new/view_032_215222074939/pose_003/precision.yaml @@ -0,0 +1,29 @@ +view_id: 32 +pose_id: 3 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1630480 + robot_within_threshold: 7653 + robot_within_threshold_pct: 95.6625 + inliers: + mean_mm: 16.918716554324554 + median_mm: 13.422765301870193 + p75_mm: 25.71097575986874 + p90_mm: 37.57851688332997 + p95_mm: 42.58431768644236 + max_mm: 49.971145877834175 + all_robot_points: + mean_mm: 18.655783446152192 + median_mm: 14.222298187776268 + p75_mm: 27.745229300089882 + p90_mm: 41.554198945393765 + p95_mm: 49.03361599669118 + max_mm: 82.04296847727115 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_032_215222074939/pose_004/precision.yaml b/franka_data_new/view_032_215222074939/pose_004/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ac0c475767cbfe3951d2ffbbc4c0cd3b8202914e --- /dev/null +++ b/franka_data_new/view_032_215222074939/pose_004/precision.yaml @@ -0,0 +1,29 @@ +view_id: 32 +pose_id: 4 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1598534 + robot_within_threshold: 7732 + robot_within_threshold_pct: 96.65 + inliers: + mean_mm: 16.545922991154374 + median_mm: 12.768681661677924 + p75_mm: 25.941992639044642 + p90_mm: 37.82388582717634 + p95_mm: 42.531167460839775 + max_mm: 49.952938619927416 + all_robot_points: + mean_mm: 17.913949811461986 + median_mm: 13.609152606774721 + p75_mm: 27.841318030284366 + p90_mm: 40.745569813788826 + p95_mm: 46.63965106925151 + max_mm: 81.52847441745308 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_032_215222074939/pose_005/precision.yaml b/franka_data_new/view_032_215222074939/pose_005/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d2c783677c5536c545b18aff941717a64cf309be --- /dev/null +++ b/franka_data_new/view_032_215222074939/pose_005/precision.yaml @@ -0,0 +1,29 @@ +view_id: 32 +pose_id: 5 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1609420 + robot_within_threshold: 7530 + robot_within_threshold_pct: 94.125 + inliers: + mean_mm: 16.456064482583 + median_mm: 12.106632635462898 + p75_mm: 26.227960741486886 + p90_mm: 38.47209684666042 + p95_mm: 43.732992867925354 + max_mm: 49.981554237772365 + all_robot_points: + mean_mm: 18.965516062960262 + median_mm: 13.75100170589613 + p75_mm: 29.948718636036734 + p90_mm: 44.420325925957854 + p95_mm: 51.29788533706963 + max_mm: 87.43426741904696 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_032_215222074939/pose_006/precision.yaml b/franka_data_new/view_032_215222074939/pose_006/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..29c1251b8a25fe9fb767ff80a954b862e3a1d3ab --- /dev/null +++ b/franka_data_new/view_032_215222074939/pose_006/precision.yaml @@ -0,0 +1,29 @@ +view_id: 32 +pose_id: 6 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1598382 + robot_within_threshold: 7731 + robot_within_threshold_pct: 96.6375 + inliers: + mean_mm: 15.917011967882832 + median_mm: 12.072299647998332 + p75_mm: 24.331001771559926 + p90_mm: 36.0700662507915 + p95_mm: 41.836080221707775 + max_mm: 49.97730013505395 + all_robot_points: + mean_mm: 17.310169259557828 + median_mm: 12.641198820629121 + p75_mm: 25.96004305506399 + p90_mm: 39.55377706686664 + p95_mm: 46.81422098918253 + max_mm: 81.92296164965494 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_035_408322072302/T_cam_world.yaml b/franka_data_new/view_035_408322072302/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..36fd9168aef0e44ffcc27a75cb839e1a7b51c8b7 --- /dev/null +++ b/franka_data_new/view_035_408322072302/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.06461587403525582 + - 0.9973168179769246 + - 0.034408623963208984 + - -0.3667407960167349 +- - 0.3297141141340286 + - 0.011207539181917137 + - -0.9440142975645542 + - 0.40595005228263414 +- - -0.9418669713730664 + - 0.0723433179075122 + - -0.3281052462102061 + - 1.4184301989233026 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_035_408322072302/T_cb.yaml b/franka_data_new/view_035_408322072302/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..934d39ee5d66ac9d1b1234fff027c3d8945fe66a --- /dev/null +++ b/franka_data_new/view_035_408322072302/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - 0.06461587403525582 + - 0.9973168179769246 + - 0.034408623963208984 + - -0.043417166915202254 +- - 0.3297141141340286 + - 0.011207539181917137 + - -0.9440142975645542 + - 0.35015281221862743 +- - -0.9418669713730664 + - 0.0723433179075122 + - -0.3281052462102061 + - 1.6281144827069332 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_035_408322072302/intrinsics.yaml b/franka_data_new/view_035_408322072302/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ce855e80a4dba3fa8b4c016110a01c74571f8e39 --- /dev/null +++ b/franka_data_new/view_035_408322072302/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 910.6677856445312 + - 0.0 + - 652.4881591796875 +- - 0.0 + - 910.5277099609375 + - 359.45245361328125 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_035_408322072302/pose_001/precision.yaml b/franka_data_new/view_035_408322072302/pose_001/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..35008f7a2d9f1532ae378638dbc35538ea4eb550 --- /dev/null +++ b/franka_data_new/view_035_408322072302/pose_001/precision.yaml @@ -0,0 +1,29 @@ +view_id: 35 +pose_id: 1 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1655726 + robot_within_threshold: 7737 + robot_within_threshold_pct: 96.7125 + inliers: + mean_mm: 15.449820237212142 + median_mm: 11.060746692005043 + p75_mm: 24.30645299330103 + p90_mm: 36.07612943995038 + p95_mm: 41.620535356711834 + max_mm: 49.933779779556 + all_robot_points: + mean_mm: 16.83624889706866 + median_mm: 11.701320307131155 + p75_mm: 26.117828962273354 + p90_mm: 39.26809051232736 + p95_mm: 46.1223412863155 + max_mm: 83.78000866441413 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_035_408322072302/pose_002/precision.yaml b/franka_data_new/view_035_408322072302/pose_002/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56932aad60b8a116ec50bc514897656d1205e193 --- /dev/null +++ b/franka_data_new/view_035_408322072302/pose_002/precision.yaml @@ -0,0 +1,29 @@ +view_id: 35 +pose_id: 2 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1653677 + robot_within_threshold: 7725 + robot_within_threshold_pct: 96.5625 + inliers: + mean_mm: 14.76223023811516 + median_mm: 10.366275275766379 + p75_mm: 22.721441551851424 + p90_mm: 33.97524078694817 + p95_mm: 40.45429492606182 + max_mm: 49.957450748174026 + all_robot_points: + mean_mm: 16.251605753667 + median_mm: 11.07677438506264 + p75_mm: 24.409053077212285 + p90_mm: 37.75576526598381 + p95_mm: 46.0832895056983 + max_mm: 82.6321277022955 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_035_408322072302/pose_003/precision.yaml b/franka_data_new/view_035_408322072302/pose_003/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..03b25fafde62f3da6dbb1c99d7bc2d197bc926c3 --- /dev/null +++ b/franka_data_new/view_035_408322072302/pose_003/precision.yaml @@ -0,0 +1,29 @@ +view_id: 35 +pose_id: 3 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1654069 + robot_within_threshold: 7372 + robot_within_threshold_pct: 92.15 + inliers: + mean_mm: 15.514107127773297 + median_mm: 11.359924787533831 + p75_mm: 24.25227888795071 + p90_mm: 37.126830097217905 + p95_mm: 42.56271296451988 + max_mm: 49.99442810742097 + all_robot_points: + mean_mm: 19.0617211978298 + median_mm: 13.155009135112394 + p75_mm: 29.43057980161612 + p90_mm: 46.13176520039018 + p95_mm: 56.30566119256845 + max_mm: 87.1579047539205 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_035_408322072302/pose_004/precision.yaml b/franka_data_new/view_035_408322072302/pose_004/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..075a22f2b19ea9a1f3efae5dec8ef912efa1e0ef --- /dev/null +++ b/franka_data_new/view_035_408322072302/pose_004/precision.yaml @@ -0,0 +1,29 @@ +view_id: 35 +pose_id: 4 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1664958 + robot_within_threshold: 7410 + robot_within_threshold_pct: 92.625 + inliers: + mean_mm: 16.742222509980035 + median_mm: 12.39491066024348 + p75_mm: 25.01298172451596 + p90_mm: 37.38663913443591 + p95_mm: 42.695727393276364 + max_mm: 49.99861169855335 + all_robot_points: + mean_mm: 20.05436085192842 + median_mm: 13.56123191693894 + p75_mm: 29.767709719419944 + p90_mm: 45.73465473111995 + p95_mm: 55.719337042689126 + max_mm: 92.81669746119468 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_035_408322072302/pose_005/precision.yaml b/franka_data_new/view_035_408322072302/pose_005/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1642050a8cf46b5d3ddbf71cd5039c1cce20098a --- /dev/null +++ b/franka_data_new/view_035_408322072302/pose_005/precision.yaml @@ -0,0 +1,29 @@ +view_id: 35 +pose_id: 5 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1692310 + robot_within_threshold: 7673 + robot_within_threshold_pct: 95.9125 + inliers: + mean_mm: 15.432046416154739 + median_mm: 11.185066473546957 + p75_mm: 24.067126657611215 + p90_mm: 35.79806937414352 + p95_mm: 41.504482085025 + max_mm: 49.96644841908625 + all_robot_points: + mean_mm: 17.12481946001273 + median_mm: 12.056458012707182 + p75_mm: 26.11053836175437 + p90_mm: 40.14408809535335 + p95_mm: 48.052767833857374 + max_mm: 82.77942913678189 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_035_408322072302/pose_006/precision.yaml b/franka_data_new/view_035_408322072302/pose_006/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8e858c98d39f902b3240ea832eb892de09ff707 --- /dev/null +++ b/franka_data_new/view_035_408322072302/pose_006/precision.yaml @@ -0,0 +1,29 @@ +view_id: 35 +pose_id: 6 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1663511 + robot_within_threshold: 7561 + robot_within_threshold_pct: 94.5125 + inliers: + mean_mm: 16.057025889354286 + median_mm: 12.703112717462684 + p75_mm: 24.39749311268329 + p90_mm: 37.07093721650807 + p95_mm: 42.70117034415234 + max_mm: 49.97537070584323 + all_robot_points: + mean_mm: 18.34793921330678 + median_mm: 13.960856094231822 + p75_mm: 27.286235530877523 + p90_mm: 42.90572764413087 + p95_mm: 50.98229076953906 + max_mm: 82.30459292471171 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_040_215222074939/T_cam_world.yaml b/franka_data_new/view_040_215222074939/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ddf69f5102bc82394aa3f87baac18f4a31d6686f --- /dev/null +++ b/franka_data_new/view_040_215222074939/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.5030661323412811 + - 0.8520880766938608 + - 0.1444658300337559 + - -0.3323862391426496 +- - 0.5685830535954177 + - -0.20041888108141215 + - -0.7978380683260139 + - 0.198783552766132 +- - -0.6508746251431954 + - 0.483506134048196 + - -0.5853067919326349 + - 1.3814511933157598 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_040_215222074939/T_cb.yaml b/franka_data_new/view_040_215222074939/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..423a44f6e5eea1cba22a2bb89ccac8818c8643d0 --- /dev/null +++ b/franka_data_new/view_040_215222074939/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - 0.5030661323412811 + - 0.8520880766938608 + - 0.1444658300337559 + - -0.14405278225353707 +- - 0.5685830535954177 + - -0.20041888108141215 + - -0.7978380683260139 + - 0.024357884732219698 +- - -0.6508746251431954 + - 0.483506134048196 + - -0.5853067919326349 + - 1.6742398463525883 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_040_215222074939/intrinsics.yaml b/franka_data_new/view_040_215222074939/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3661567d0b286fa1176e7daadc3ed021bebebc80 --- /dev/null +++ b/franka_data_new/view_040_215222074939/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 912.4526977539062 + - 0.0 + - 646.1953125 +- - 0.0 + - 911.779296875 + - 366.7369689941406 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_040_215222074939/pose_001/precision.yaml b/franka_data_new/view_040_215222074939/pose_001/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc261c745ca22a2286eb0e3a1f78fbeb04855069 --- /dev/null +++ b/franka_data_new/view_040_215222074939/pose_001/precision.yaml @@ -0,0 +1,29 @@ +view_id: 40 +pose_id: 1 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1768545 + robot_within_threshold: 7403 + robot_within_threshold_pct: 92.5375 + inliers: + mean_mm: 15.910981657779049 + median_mm: 11.737735298356842 + p75_mm: 25.04936765652099 + p90_mm: 37.07491618044617 + p95_mm: 42.53245589627111 + max_mm: 49.982461447215826 + all_robot_points: + mean_mm: 19.32645691419235 + median_mm: 13.335596586531617 + p75_mm: 29.39038719031105 + p90_mm: 45.54312422213832 + p95_mm: 55.68444655810491 + max_mm: 88.30667761299308 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_040_215222074939/pose_002/precision.yaml b/franka_data_new/view_040_215222074939/pose_002/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..07f24e747d80abdc065cab094c5930f069f159cd --- /dev/null +++ b/franka_data_new/view_040_215222074939/pose_002/precision.yaml @@ -0,0 +1,29 @@ +view_id: 40 +pose_id: 2 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1765464 + robot_within_threshold: 7639 + robot_within_threshold_pct: 95.4875 + inliers: + mean_mm: 16.400347019822576 + median_mm: 11.632166223964212 + p75_mm: 26.99229063045125 + p90_mm: 39.23794343841937 + p95_mm: 43.93943309304146 + max_mm: 49.998299774980865 + all_robot_points: + mean_mm: 18.240567803596736 + median_mm: 12.931486905246917 + p75_mm: 29.492597635762912 + p90_mm: 43.092264536882624 + p95_mm: 49.42024182186452 + max_mm: 80.63269762876094 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_040_215222074939/pose_003/precision.yaml b/franka_data_new/view_040_215222074939/pose_003/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ee0db88a8f3023733928914446ec5d9df7f2fbd8 --- /dev/null +++ b/franka_data_new/view_040_215222074939/pose_003/precision.yaml @@ -0,0 +1,29 @@ +view_id: 40 +pose_id: 3 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1766324 + robot_within_threshold: 7447 + robot_within_threshold_pct: 93.0875 + inliers: + mean_mm: 16.636340108731765 + median_mm: 12.385654730172995 + p75_mm: 26.56197392915566 + p90_mm: 39.41533063922231 + p95_mm: 44.32561133847165 + max_mm: 49.971124460421585 + all_robot_points: + mean_mm: 19.444879466295927 + median_mm: 13.951157313176324 + p75_mm: 31.266208870863565 + p90_mm: 46.009265248287285 + p95_mm: 52.778940333375566 + max_mm: 81.70975093200971 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_040_215222074939/pose_004/precision.yaml b/franka_data_new/view_040_215222074939/pose_004/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0ff7d27c038a4f625f5fdbcbbaf7b8a3d168c0ae --- /dev/null +++ b/franka_data_new/view_040_215222074939/pose_004/precision.yaml @@ -0,0 +1,29 @@ +view_id: 40 +pose_id: 4 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1781998 + robot_within_threshold: 7397 + robot_within_threshold_pct: 92.4625 + inliers: + mean_mm: 17.262833063087854 + median_mm: 13.24022064007418 + p75_mm: 27.1074921604392 + p90_mm: 38.61557189981706 + p95_mm: 43.70920822656728 + max_mm: 49.99206771669785 + all_robot_points: + mean_mm: 20.396116964374333 + median_mm: 15.160253594106592 + p75_mm: 31.017593504456563 + p90_mm: 46.545513335430655 + p95_mm: 54.6698407489434 + max_mm: 84.92868579880401 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_040_215222074939/pose_005/precision.yaml b/franka_data_new/view_040_215222074939/pose_005/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..22d64a02fc94b230874ec3ff0e5a8499912969aa --- /dev/null +++ b/franka_data_new/view_040_215222074939/pose_005/precision.yaml @@ -0,0 +1,29 @@ +view_id: 40 +pose_id: 5 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1779790 + robot_within_threshold: 7659 + robot_within_threshold_pct: 95.7375 + inliers: + mean_mm: 15.424236791035172 + median_mm: 10.216580481799408 + p75_mm: 24.453823749404357 + p90_mm: 37.09310681375446 + p95_mm: 42.46604240883254 + max_mm: 49.96344688950536 + all_robot_points: + mean_mm: 17.193965417886194 + median_mm: 11.079978729670842 + p75_mm: 26.959501162904356 + p90_mm: 41.21156457166744 + p95_mm: 48.60392516330059 + max_mm: 84.69662925812565 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_040_215222074939/pose_006/precision.yaml b/franka_data_new/view_040_215222074939/pose_006/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0fcaac2c44fc5d8f1db036c473bfe478aa445133 --- /dev/null +++ b/franka_data_new/view_040_215222074939/pose_006/precision.yaml @@ -0,0 +1,29 @@ +view_id: 40 +pose_id: 6 +T_world_base_source: /tmp/candidate_T_world_base.yaml +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1770241 + robot_within_threshold: 7505 + robot_within_threshold_pct: 93.8125 + inliers: + mean_mm: 17.310644204256526 + median_mm: 13.728945166481966 + p75_mm: 27.264968888098863 + p90_mm: 38.8108642329485 + p95_mm: 44.03963819293098 + max_mm: 49.983541168071234 + all_robot_points: + mean_mm: 19.781656808290354 + median_mm: 15.367036847818856 + p75_mm: 30.47054643323201 + p90_mm: 45.11463493207831 + p95_mm: 51.56332778282324 + max_mm: 83.47672329191657 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_043_408322072302/T_cam_world.yaml b/franka_data_new/view_043_408322072302/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3b51959ca74db7f07d846098ebace29bac305388 --- /dev/null +++ b/franka_data_new/view_043_408322072302/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.17719582039898035 + - 0.9715241006010523 + - -0.15729768969838365 + - -0.21391170499622222 +- - 0.6359630208529202 + - -0.23500630095685004 + - -0.7350667143995888 + - 0.2388331767282244 +- - -0.7511009767939066 + - 0.030215235592248868 + - -0.6594955361466402 + - 1.273326854908493 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_043_408322072302/T_cb.yaml b/franka_data_new/view_043_408322072302/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..03fede546fe06a19b7e94013b8d32aeab159ee12 --- /dev/null +++ b/franka_data_new/view_043_408322072302/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - 0.17719582039898035 + - 0.9715241006010523 + - -0.15729768969838365 + - 0.03410202007040988 +- - 0.6359630208529202 + - -0.23500630095685004 + - -0.7350667143995888 + - -0.024807682824275146 +- - -0.7511009767939066 + - 0.030215235592248868 + - -0.6594955361466402 + - 1.5080238709802622 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_043_408322072302/intrinsics.yaml b/franka_data_new/view_043_408322072302/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ce855e80a4dba3fa8b4c016110a01c74571f8e39 --- /dev/null +++ b/franka_data_new/view_043_408322072302/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 910.6677856445312 + - 0.0 + - 652.4881591796875 +- - 0.0 + - 910.5277099609375 + - 359.45245361328125 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_043_408322072302/pose_001/precision.yaml b/franka_data_new/view_043_408322072302/pose_001/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..10cc07b4d6ad377981fff5eb5b2dbb57cd1ef223 --- /dev/null +++ b/franka_data_new/view_043_408322072302/pose_001/precision.yaml @@ -0,0 +1,30 @@ +view_id: 43 +pose_id: 1 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1820562 + robot_within_threshold: 7489 + robot_within_threshold_pct: 93.6125 + inliers: + mean_mm: 17.267169458275355 + median_mm: 14.177441236857804 + p75_mm: 24.880347631312606 + p90_mm: 37.08202061376085 + p95_mm: 42.14104312245475 + max_mm: 49.996009422755996 + all_robot_points: + mean_mm: 20.035786023207468 + median_mm: 15.405961884552406 + p75_mm: 28.64203391787614 + p90_mm: 43.73418579101119 + p95_mm: 52.65469176463835 + max_mm: 88.98650476742266 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_043_408322072302/pose_002/precision.yaml b/franka_data_new/view_043_408322072302/pose_002/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0b784c2d07a0f78002dfc776bcac41848fc97ec9 --- /dev/null +++ b/franka_data_new/view_043_408322072302/pose_002/precision.yaml @@ -0,0 +1,30 @@ +view_id: 43 +pose_id: 2 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1813958 + robot_within_threshold: 6828 + robot_within_threshold_pct: 85.35 + inliers: + mean_mm: 19.396058581189347 + median_mm: 16.440684626939053 + p75_mm: 28.671684212177432 + p90_mm: 40.177367715491435 + p95_mm: 44.44860409574448 + max_mm: 49.99566182729926 + all_robot_points: + mean_mm: 25.660946522329425 + median_mm: 20.342665668479846 + p75_mm: 38.56633438245932 + p90_mm: 56.33914178121658 + p95_mm: 65.24916305248279 + max_mm: 87.70866844358768 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_043_408322072302/pose_003/precision.yaml b/franka_data_new/view_043_408322072302/pose_003/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..644400cecad9e37c476908b6774d4ce606b09a4a --- /dev/null +++ b/franka_data_new/view_043_408322072302/pose_003/precision.yaml @@ -0,0 +1,30 @@ +view_id: 43 +pose_id: 3 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1812758 + robot_within_threshold: 7783 + robot_within_threshold_pct: 97.2875 + inliers: + mean_mm: 16.782988538494102 + median_mm: 13.587076274825428 + p75_mm: 25.11826049133862 + p90_mm: 37.16118919643257 + p95_mm: 42.39970184463742 + max_mm: 49.963225964236216 + all_robot_points: + mean_mm: 17.84582721103064 + median_mm: 14.024237044901831 + p75_mm: 26.58586428425547 + p90_mm: 39.45031905237473 + p95_mm: 45.61005090090516 + max_mm: 76.82027889353722 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_043_408322072302/pose_004/precision.yaml b/franka_data_new/view_043_408322072302/pose_004/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d5c9a2b45ffe1f0eeeff203b13aab2fb99677c2a --- /dev/null +++ b/franka_data_new/view_043_408322072302/pose_004/precision.yaml @@ -0,0 +1,30 @@ +view_id: 43 +pose_id: 4 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1815278 + robot_within_threshold: 7728 + robot_within_threshold_pct: 96.6 + inliers: + mean_mm: 16.92930463378897 + median_mm: 14.827513987367897 + p75_mm: 23.403708315524568 + p90_mm: 35.72783263056651 + p95_mm: 41.60307200198137 + max_mm: 49.99565531593522 + all_robot_points: + mean_mm: 18.26168583067676 + median_mm: 15.417178118371432 + p75_mm: 25.14552448396312 + p90_mm: 39.30060134618967 + p95_mm: 46.76656081457869 + max_mm: 71.34863259451014 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_043_408322072302/pose_005/precision.yaml b/franka_data_new/view_043_408322072302/pose_005/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2292355fc7188557653e3f3d6fe79ac988b9b485 --- /dev/null +++ b/franka_data_new/view_043_408322072302/pose_005/precision.yaml @@ -0,0 +1,30 @@ +view_id: 43 +pose_id: 5 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1830118 + robot_within_threshold: 7457 + robot_within_threshold_pct: 93.2125 + inliers: + mean_mm: 19.14811630363127 + median_mm: 16.406503024994503 + p75_mm: 27.821437373209154 + p90_mm: 39.299789183834896 + p95_mm: 43.97747077497744 + max_mm: 49.983087299202154 + all_robot_points: + mean_mm: 21.867447337257214 + median_mm: 17.76428727187239 + p75_mm: 31.709862058306598 + p90_mm: 45.64371295329083 + p95_mm: 53.14609309026259 + max_mm: 82.86344126759558 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_043_408322072302/pose_006/precision.yaml b/franka_data_new/view_043_408322072302/pose_006/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8c8236e777724e9766aba339c726f5ee26229e85 --- /dev/null +++ b/franka_data_new/view_043_408322072302/pose_006/precision.yaml @@ -0,0 +1,30 @@ +view_id: 43 +pose_id: 6 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1812784 + robot_within_threshold: 7435 + robot_within_threshold_pct: 92.9375 + inliers: + mean_mm: 17.995562976930394 + median_mm: 15.518407619571539 + p75_mm: 25.692794206136682 + p90_mm: 36.161313712355664 + p95_mm: 42.46338497342169 + max_mm: 49.97609612185909 + all_robot_points: + mean_mm: 20.953999948557286 + median_mm: 16.879853106772927 + p75_mm: 28.863748202672213 + p90_mm: 44.74811967118831 + p95_mm: 53.80733498289825 + max_mm: 84.51279765854929 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_044_408322072302/T_cam_world.yaml b/franka_data_new/view_044_408322072302/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9b67e76daf3c106a5f4a765aedf058e422115040 --- /dev/null +++ b/franka_data_new/view_044_408322072302/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - -0.14260352934281106 + - 0.9896118139109755 + - 0.018239824198795496 + - -0.299032994065729 +- - 0.3794217447957817 + - 0.07167667369573139 + - -0.922443274149712 + - 0.3341336009445542 +- - -0.9141681316886401 + - -0.12462308059001198 + - -0.38570158774518526 + - 1.179505808060511 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_044_408322072302/T_cb.yaml b/franka_data_new/view_044_408322072302/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..026704ed1e9cac690a141f02a3d9f5a2b1f5cfdd --- /dev/null +++ b/franka_data_new/view_044_408322072302/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - -0.14260352934281106 + - 0.9896118139109755 + - 0.018239824198795496 + - 0.050527727049516746 +- - 0.3794217447957817 + - 0.07167667369573139 + - -0.922443274149712 + - 0.2425268463514964 +- - -0.9141681316886401 + - -0.12462308059001198 + - -0.38570158774518526 + - 1.4151230925841993 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_044_408322072302/intrinsics.yaml b/franka_data_new/view_044_408322072302/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ce855e80a4dba3fa8b4c016110a01c74571f8e39 --- /dev/null +++ b/franka_data_new/view_044_408322072302/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 910.6677856445312 + - 0.0 + - 652.4881591796875 +- - 0.0 + - 910.5277099609375 + - 359.45245361328125 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_044_408322072302/pose_001/precision.yaml b/franka_data_new/view_044_408322072302/pose_001/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7639136c6cf3d221bfa86025891c94f242cc5c97 --- /dev/null +++ b/franka_data_new/view_044_408322072302/pose_001/precision.yaml @@ -0,0 +1,30 @@ +view_id: 44 +pose_id: 1 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1760341 + robot_within_threshold: 7576 + robot_within_threshold_pct: 94.7 + inliers: + mean_mm: 14.830434372213329 + median_mm: 10.107893476299779 + p75_mm: 22.664884714706183 + p90_mm: 35.08120361558052 + p95_mm: 41.45857907078101 + max_mm: 49.99873214832662 + all_robot_points: + mean_mm: 17.17145836329958 + median_mm: 11.215228588213666 + p75_mm: 25.779384178621644 + p90_mm: 41.476577610288075 + p95_mm: 50.84861516192682 + max_mm: 81.90088590904335 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_044_408322072302/pose_002/precision.yaml b/franka_data_new/view_044_408322072302/pose_002/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4fd0340e8649fc8db28ef0bd14fc357e61254df1 --- /dev/null +++ b/franka_data_new/view_044_408322072302/pose_002/precision.yaml @@ -0,0 +1,30 @@ +view_id: 44 +pose_id: 2 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1759923 + robot_within_threshold: 7631 + robot_within_threshold_pct: 95.3875 + inliers: + mean_mm: 15.526376464529246 + median_mm: 10.526731872062141 + p75_mm: 25.42538868712301 + p90_mm: 38.39046402745061 + p95_mm: 43.744151795438285 + max_mm: 49.99027218411012 + all_robot_points: + mean_mm: 17.532956424557568 + median_mm: 11.508444325665627 + p75_mm: 28.125315082979952 + p90_mm: 43.018466712287754 + p95_mm: 49.34277990751459 + max_mm: 89.21062154226198 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_044_408322072302/pose_003/precision.yaml b/franka_data_new/view_044_408322072302/pose_003/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1c7c10522a1c452a9bbcae1a9bd591b337bc8936 --- /dev/null +++ b/franka_data_new/view_044_408322072302/pose_003/precision.yaml @@ -0,0 +1,30 @@ +view_id: 44 +pose_id: 3 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1774574 + robot_within_threshold: 7688 + robot_within_threshold_pct: 96.1 + inliers: + mean_mm: 14.959176736101506 + median_mm: 11.6195688342625 + p75_mm: 22.04210674073938 + p90_mm: 33.500813694311205 + p95_mm: 39.68877924834768 + max_mm: 49.91600960990313 + all_robot_points: + mean_mm: 16.705278970765285 + median_mm: 12.282036225466076 + p75_mm: 24.118953781353717 + p90_mm: 37.602215999069884 + p95_mm: 46.86595749094777 + max_mm: 83.24371069311306 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_044_408322072302/pose_004/precision.yaml b/franka_data_new/view_044_408322072302/pose_004/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aaa5e284c2aba3973d14ffa762a282e4282c93a6 --- /dev/null +++ b/franka_data_new/view_044_408322072302/pose_004/precision.yaml @@ -0,0 +1,30 @@ +view_id: 44 +pose_id: 4 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1774921 + robot_within_threshold: 7644 + robot_within_threshold_pct: 95.55 + inliers: + mean_mm: 15.731687790208943 + median_mm: 12.066993883992769 + p75_mm: 23.66757105778045 + p90_mm: 36.16384283403364 + p95_mm: 42.06073555253005 + max_mm: 49.989002800037035 + all_robot_points: + mean_mm: 17.62340196075671 + median_mm: 13.047200676043165 + p75_mm: 25.93562611179783 + p90_mm: 41.080402355671296 + p95_mm: 49.06797530625917 + max_mm: 83.35015626494837 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_044_408322072302/pose_005/precision.yaml b/franka_data_new/view_044_408322072302/pose_005/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..020a4549bab9170370a4bc22e298407388302c71 --- /dev/null +++ b/franka_data_new/view_044_408322072302/pose_005/precision.yaml @@ -0,0 +1,30 @@ +view_id: 44 +pose_id: 5 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1776549 + robot_within_threshold: 7601 + robot_within_threshold_pct: 95.0125 + inliers: + mean_mm: 16.17634562234311 + median_mm: 13.113299264050715 + p75_mm: 23.84073028849702 + p90_mm: 36.289210224697364 + p95_mm: 41.95886592099751 + max_mm: 49.977803878886135 + all_robot_points: + mean_mm: 18.35186787347619 + median_mm: 14.129704086646205 + p75_mm: 26.4484314712368 + p90_mm: 41.59832333821106 + p95_mm: 49.976517555478615 + max_mm: 88.1887076490716 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_044_408322072302/pose_006/precision.yaml b/franka_data_new/view_044_408322072302/pose_006/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e643b1bc39c86cda9cfc893be70bf62d98d64849 --- /dev/null +++ b/franka_data_new/view_044_408322072302/pose_006/precision.yaml @@ -0,0 +1,30 @@ +view_id: 44 +pose_id: 6 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1758054 + robot_within_threshold: 7867 + robot_within_threshold_pct: 98.3375 + inliers: + mean_mm: 14.969663884055022 + median_mm: 10.547491720378316 + p75_mm: 23.562754467592754 + p90_mm: 34.68385134963304 + p95_mm: 40.91843597073088 + max_mm: 49.9881441789209 + all_robot_points: + mean_mm: 15.69904319453795 + median_mm: 10.88767892650996 + p75_mm: 24.33297435173407 + p90_mm: 36.48243445805188 + p95_mm: 43.45853861668978 + max_mm: 82.71459572745508 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_054_215222074939/T_cam_world.yaml b/franka_data_new/view_054_215222074939/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d0ee6b48151b8abe3f4ddce6f409508efda8d392 --- /dev/null +++ b/franka_data_new/view_054_215222074939/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.646780306632257 + - 0.7564162388016217 + - 0.09751773495058197 + - -0.35663585923656277 +- - 0.3977590380645709 + - -0.22545049563353375 + - -0.8893592196950237 + - 0.2900906977732885 +- - -0.6507403342275866 + - 0.6140085892687512 + - -0.446688336218405 + - 1.229246270809333 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_054_215222074939/T_cb.yaml b/franka_data_new/view_054_215222074939/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8a165a96a10416b86aab231fb9d1b3177a3389a6 --- /dev/null +++ b/franka_data_new/view_054_215222074939/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - 0.646780306632257 + - 0.7564162388016217 + - 0.09751773495058197 + - -0.31618091719773717 +- - 0.3977590380645709 + - -0.22545049563353375 + - -0.8893592196950237 + - 0.10087333270752177 +- - -0.6507403342275866 + - 0.6140085892687512 + - -0.446688336218405 + - 1.6148110337509218 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_054_215222074939/intrinsics.yaml b/franka_data_new/view_054_215222074939/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3661567d0b286fa1176e7daadc3ed021bebebc80 --- /dev/null +++ b/franka_data_new/view_054_215222074939/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 912.4526977539062 + - 0.0 + - 646.1953125 +- - 0.0 + - 911.779296875 + - 366.7369689941406 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_054_215222074939/pose_001/precision.yaml b/franka_data_new/view_054_215222074939/pose_001/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db696f3be374dd0fa9b37579ee8449feae8d35ac --- /dev/null +++ b/franka_data_new/view_054_215222074939/pose_001/precision.yaml @@ -0,0 +1,30 @@ +view_id: 54 +pose_id: 1 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1751396 + robot_within_threshold: 7635 + robot_within_threshold_pct: 95.4375 + inliers: + mean_mm: 16.539839522288087 + median_mm: 12.339071637943357 + p75_mm: 25.936453349844854 + p90_mm: 37.333000781165616 + p95_mm: 42.53548642965188 + max_mm: 49.95272562391653 + all_robot_points: + mean_mm: 18.392893914887622 + median_mm: 13.274141028222214 + p75_mm: 28.319970885789438 + p90_mm: 41.76126119989075 + p95_mm: 49.24676860183262 + max_mm: 83.13266709920345 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_054_215222074939/pose_002/precision.yaml b/franka_data_new/view_054_215222074939/pose_002/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..79015f6a7b7bf7e1a4927c237ea6a27e78341a3d --- /dev/null +++ b/franka_data_new/view_054_215222074939/pose_002/precision.yaml @@ -0,0 +1,30 @@ +view_id: 54 +pose_id: 2 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1752408 + robot_within_threshold: 7425 + robot_within_threshold_pct: 92.8125 + inliers: + mean_mm: 17.070414884736234 + median_mm: 12.873715463636929 + p75_mm: 27.734269223628523 + p90_mm: 39.537722784815074 + p95_mm: 44.15206789985722 + max_mm: 49.99821734745791 + all_robot_points: + mean_mm: 20.00133968262814 + median_mm: 14.825719012886896 + p75_mm: 32.25920138743172 + p90_mm: 46.12520139344916 + p95_mm: 53.47275875534639 + max_mm: 85.72126726946969 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_054_215222074939/pose_003/precision.yaml b/franka_data_new/view_054_215222074939/pose_003/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f9615af0086c473951e2ddc2e5cf0ca2223926a6 --- /dev/null +++ b/franka_data_new/view_054_215222074939/pose_003/precision.yaml @@ -0,0 +1,30 @@ +view_id: 54 +pose_id: 3 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1746612 + robot_within_threshold: 7483 + robot_within_threshold_pct: 93.5375 + inliers: + mean_mm: 16.96346160126767 + median_mm: 13.172549592457504 + p75_mm: 26.491210545603998 + p90_mm: 38.310548007082794 + p95_mm: 43.08751568885049 + max_mm: 49.97892920344184 + all_robot_points: + mean_mm: 19.64089851641021 + median_mm: 14.72992322042509 + p75_mm: 29.999500541922572 + p90_mm: 44.99562205238375 + p95_mm: 52.5826220446147 + max_mm: 85.69581099310352 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_054_215222074939/pose_004/precision.yaml b/franka_data_new/view_054_215222074939/pose_004/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d8d1c75022a1e35956a4250eb46481d8df831410 --- /dev/null +++ b/franka_data_new/view_054_215222074939/pose_004/precision.yaml @@ -0,0 +1,30 @@ +view_id: 54 +pose_id: 4 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1733978 + robot_within_threshold: 7541 + robot_within_threshold_pct: 94.2625 + inliers: + mean_mm: 15.337331015018645 + median_mm: 10.900527164554994 + p75_mm: 24.288034738606665 + p90_mm: 36.81009794738909 + p95_mm: 42.25321667481144 + max_mm: 49.99857741940181 + all_robot_points: + mean_mm: 17.78757497602363 + median_mm: 12.157719525411784 + p75_mm: 27.433955131907403 + p90_mm: 42.93793617460479 + p95_mm: 51.51152917647269 + max_mm: 84.90852016938834 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_054_215222074939/pose_005/precision.yaml b/franka_data_new/view_054_215222074939/pose_005/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a72c1c71581e60af52435f5ae01241b8154cf1fd --- /dev/null +++ b/franka_data_new/view_054_215222074939/pose_005/precision.yaml @@ -0,0 +1,30 @@ +view_id: 54 +pose_id: 5 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1733082 + robot_within_threshold: 7195 + robot_within_threshold_pct: 89.9375 + inliers: + mean_mm: 16.95105557667346 + median_mm: 12.98314850875621 + p75_mm: 27.39635376220398 + p90_mm: 39.04867895683313 + p95_mm: 44.29431930744507 + max_mm: 49.98501354526561 + all_robot_points: + mean_mm: 21.847601824736973 + median_mm: 15.97238060360113 + p75_mm: 33.92424830114084 + p90_mm: 50.09165485583681 + p95_mm: 62.66498867630318 + max_mm: 101.46504052276568 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_054_215222074939/pose_006/precision.yaml b/franka_data_new/view_054_215222074939/pose_006/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ebdc5ad48fe51c044a34c34ea96494253e763632 --- /dev/null +++ b/franka_data_new/view_054_215222074939/pose_006/precision.yaml @@ -0,0 +1,30 @@ +view_id: 54 +pose_id: 6 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1734385 + robot_within_threshold: 7620 + robot_within_threshold_pct: 95.25 + inliers: + mean_mm: 15.787907170792307 + median_mm: 11.462800843809749 + p75_mm: 24.696939651275237 + p90_mm: 37.06053476767854 + p95_mm: 42.627117017959975 + max_mm: 49.93820990070565 + all_robot_points: + mean_mm: 17.888450058088456 + median_mm: 12.647101913117574 + p75_mm: 27.388147908862916 + p90_mm: 41.938889832710395 + p95_mm: 49.40305367181183 + max_mm: 94.26080588151125 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_055_215222074939/pose_001/precision.yaml b/franka_data_new/view_055_215222074939/pose_001/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d1f1bf4d6a73af900e7396ebf50de789823c069f --- /dev/null +++ b/franka_data_new/view_055_215222074939/pose_001/precision.yaml @@ -0,0 +1,30 @@ +view_id: 55 +pose_id: 1 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1787272 + robot_within_threshold: 6971 + robot_within_threshold_pct: 87.1375 + inliers: + mean_mm: 16.301101060866305 + median_mm: 11.697543634186838 + p75_mm: 25.716366475960037 + p90_mm: 38.568796711110146 + p95_mm: 44.037954037583575 + max_mm: 49.99571805951928 + all_robot_points: + mean_mm: 23.856839545014765 + median_mm: 15.102114844005918 + p75_mm: 34.71300047535167 + p90_mm: 55.65742565366802 + p95_mm: 74.42138102555718 + max_mm: 144.0498480346549 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_055_215222074939/pose_002/precision.yaml b/franka_data_new/view_055_215222074939/pose_002/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..85c1257de4abeec461968399f04528f53677825d --- /dev/null +++ b/franka_data_new/view_055_215222074939/pose_002/precision.yaml @@ -0,0 +1,30 @@ +view_id: 55 +pose_id: 2 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1785891 + robot_within_threshold: 7438 + robot_within_threshold_pct: 92.975 + inliers: + mean_mm: 16.06632730459278 + median_mm: 11.456022167243354 + p75_mm: 25.64389637190451 + p90_mm: 38.69856544056664 + p95_mm: 43.95560885539088 + max_mm: 49.99158427509021 + all_robot_points: + mean_mm: 19.18824581203109 + median_mm: 12.957441482871534 + p75_mm: 30.067795841708197 + p90_mm: 46.02198250141212 + p95_mm: 53.650113571350424 + max_mm: 92.56029958413671 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_055_215222074939/pose_003/precision.yaml b/franka_data_new/view_055_215222074939/pose_003/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8b92ab095bc71ec9c79190b88a7437746e548c85 --- /dev/null +++ b/franka_data_new/view_055_215222074939/pose_003/precision.yaml @@ -0,0 +1,30 @@ +view_id: 55 +pose_id: 3 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1798174 + robot_within_threshold: 6712 + robot_within_threshold_pct: 83.9 + inliers: + mean_mm: 17.53285959227749 + median_mm: 13.640265117768806 + p75_mm: 26.562950269178884 + p90_mm: 38.582543912444144 + p95_mm: 43.59146456345261 + max_mm: 49.98582427575209 + all_robot_points: + mean_mm: 26.186289810694888 + median_mm: 18.17856433715751 + p75_mm: 37.944583077885845 + p90_mm: 60.72797206902992 + p95_mm: 79.02799206587264 + max_mm: 117.73234539037867 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_055_215222074939/pose_006/precision.yaml b/franka_data_new/view_055_215222074939/pose_006/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aea7abd04f5839b9bd312600180ff26f090f131b --- /dev/null +++ b/franka_data_new/view_055_215222074939/pose_006/precision.yaml @@ -0,0 +1,30 @@ +view_id: 55 +pose_id: 6 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1798133 + robot_within_threshold: 7607 + robot_within_threshold_pct: 95.0875 + inliers: + mean_mm: 16.02066208374315 + median_mm: 12.052185833986647 + p75_mm: 23.433904331154395 + p90_mm: 36.12191149492601 + p95_mm: 42.21402453771322 + max_mm: 49.99670569167049 + all_robot_points: + mean_mm: 18.05077558608102 + median_mm: 12.838997795894809 + p75_mm: 25.874296430495903 + p90_mm: 41.83904668194796 + p95_mm: 49.890545187399724 + max_mm: 83.74070751843165 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_055_408322072302/T_cam_world.yaml b/franka_data_new/view_055_408322072302/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..134c11effb1519ef1cf93baa7b9f856371688406 --- /dev/null +++ b/franka_data_new/view_055_408322072302/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.2280235956404412 + - 0.9732550516089745 + - -0.027925693345327185 + - -0.39965283653765177 +- - 0.5827696882518879 + - -0.15940101592331277 + - -0.7968505547324501 + - 0.15691981396853702 +- - -0.7799902116603787 + - 0.1654264810730992 + - -0.6035307358153102 + - 1.2032346778591692 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_055_408322072302/T_cb.yaml b/franka_data_new/view_055_408322072302/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c18a08375d8168c5a33f82e5263e283452202f0a --- /dev/null +++ b/franka_data_new/view_055_408322072302/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - 0.2280235956404412 + - 0.9732550516089745 + - -0.027925693345327185 + - -0.16635084923100202 +- - 0.5827696882518879 + - -0.15940101592331277 + - -0.7968505547324501 + - -0.0673254074432563 +- - -0.7799902116603787 + - 0.1654264810730992 + - -0.6035307358153102 + - 1.4885139504899434 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_055_408322072302/intrinsics.yaml b/franka_data_new/view_055_408322072302/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ce855e80a4dba3fa8b4c016110a01c74571f8e39 --- /dev/null +++ b/franka_data_new/view_055_408322072302/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 910.6677856445312 + - 0.0 + - 652.4881591796875 +- - 0.0 + - 910.5277099609375 + - 359.45245361328125 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_055_408322072302/pose_001/precision.yaml b/franka_data_new/view_055_408322072302/pose_001/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d1f1bf4d6a73af900e7396ebf50de789823c069f --- /dev/null +++ b/franka_data_new/view_055_408322072302/pose_001/precision.yaml @@ -0,0 +1,30 @@ +view_id: 55 +pose_id: 1 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1787272 + robot_within_threshold: 6971 + robot_within_threshold_pct: 87.1375 + inliers: + mean_mm: 16.301101060866305 + median_mm: 11.697543634186838 + p75_mm: 25.716366475960037 + p90_mm: 38.568796711110146 + p95_mm: 44.037954037583575 + max_mm: 49.99571805951928 + all_robot_points: + mean_mm: 23.856839545014765 + median_mm: 15.102114844005918 + p75_mm: 34.71300047535167 + p90_mm: 55.65742565366802 + p95_mm: 74.42138102555718 + max_mm: 144.0498480346549 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_055_408322072302/pose_002/precision.yaml b/franka_data_new/view_055_408322072302/pose_002/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..85c1257de4abeec461968399f04528f53677825d --- /dev/null +++ b/franka_data_new/view_055_408322072302/pose_002/precision.yaml @@ -0,0 +1,30 @@ +view_id: 55 +pose_id: 2 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1785891 + robot_within_threshold: 7438 + robot_within_threshold_pct: 92.975 + inliers: + mean_mm: 16.06632730459278 + median_mm: 11.456022167243354 + p75_mm: 25.64389637190451 + p90_mm: 38.69856544056664 + p95_mm: 43.95560885539088 + max_mm: 49.99158427509021 + all_robot_points: + mean_mm: 19.18824581203109 + median_mm: 12.957441482871534 + p75_mm: 30.067795841708197 + p90_mm: 46.02198250141212 + p95_mm: 53.650113571350424 + max_mm: 92.56029958413671 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_055_408322072302/pose_003/precision.yaml b/franka_data_new/view_055_408322072302/pose_003/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8b92ab095bc71ec9c79190b88a7437746e548c85 --- /dev/null +++ b/franka_data_new/view_055_408322072302/pose_003/precision.yaml @@ -0,0 +1,30 @@ +view_id: 55 +pose_id: 3 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1798174 + robot_within_threshold: 6712 + robot_within_threshold_pct: 83.9 + inliers: + mean_mm: 17.53285959227749 + median_mm: 13.640265117768806 + p75_mm: 26.562950269178884 + p90_mm: 38.582543912444144 + p95_mm: 43.59146456345261 + max_mm: 49.98582427575209 + all_robot_points: + mean_mm: 26.186289810694888 + median_mm: 18.17856433715751 + p75_mm: 37.944583077885845 + p90_mm: 60.72797206902992 + p95_mm: 79.02799206587264 + max_mm: 117.73234539037867 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_055_408322072302/pose_004/precision.yaml b/franka_data_new/view_055_408322072302/pose_004/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ca30179681ba046c6610a999129f04040ee34942 --- /dev/null +++ b/franka_data_new/view_055_408322072302/pose_004/precision.yaml @@ -0,0 +1,30 @@ +view_id: 55 +pose_id: 4 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1803009 + robot_within_threshold: 7501 + robot_within_threshold_pct: 93.7625 + inliers: + mean_mm: 15.784972483645658 + median_mm: 11.035371833441568 + p75_mm: 24.61907641349938 + p90_mm: 37.55189453529519 + p95_mm: 42.475345373815024 + max_mm: 49.9754640503413 + all_robot_points: + mean_mm: 18.562458500634026 + median_mm: 12.455376513090506 + p75_mm: 28.098489012996815 + p90_mm: 43.828910211284445 + p95_mm: 52.79710972141862 + max_mm: 87.94637286597337 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_055_408322072302/pose_005/precision.yaml b/franka_data_new/view_055_408322072302/pose_005/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20381d2735aaa22b2226a019ce0ef6262f3a6fe2 --- /dev/null +++ b/franka_data_new/view_055_408322072302/pose_005/precision.yaml @@ -0,0 +1,30 @@ +view_id: 55 +pose_id: 5 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1795306 + robot_within_threshold: 7526 + robot_within_threshold_pct: 94.075 + inliers: + mean_mm: 17.148780236963447 + median_mm: 12.795881052301514 + p75_mm: 26.2964146683773 + p90_mm: 38.81811216269414 + p95_mm: 43.17028206122212 + max_mm: 49.992158376416455 + all_robot_points: + mean_mm: 19.546461125074387 + median_mm: 14.114404342145612 + p75_mm: 29.938146865871676 + p90_mm: 43.99975132835119 + p95_mm: 51.6051663523204 + max_mm: 82.65495355431302 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_055_408322072302/pose_006/precision.yaml b/franka_data_new/view_055_408322072302/pose_006/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aea7abd04f5839b9bd312600180ff26f090f131b --- /dev/null +++ b/franka_data_new/view_055_408322072302/pose_006/precision.yaml @@ -0,0 +1,30 @@ +view_id: 55 +pose_id: 6 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1798133 + robot_within_threshold: 7607 + robot_within_threshold_pct: 95.0875 + inliers: + mean_mm: 16.02066208374315 + median_mm: 12.052185833986647 + p75_mm: 23.433904331154395 + p90_mm: 36.12191149492601 + p95_mm: 42.21402453771322 + max_mm: 49.99670569167049 + all_robot_points: + mean_mm: 18.05077558608102 + median_mm: 12.838997795894809 + p75_mm: 25.874296430495903 + p90_mm: 41.83904668194796 + p95_mm: 49.890545187399724 + max_mm: 83.74070751843165 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_056_408322072302/T_cam_world.yaml b/franka_data_new/view_056_408322072302/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f98b4c609d4e4d33420b6c849a18f08157e5e91e --- /dev/null +++ b/franka_data_new/view_056_408322072302/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.11468953002228813 + - 0.9792672681627674 + - 0.16697882862296481 + - -0.5034354250674742 +- - 0.6723290924358838 + - 0.04722467852179055 + - -0.7387444897952571 + - 0.11820243029551844 +- - -0.7313138198937634 + - 0.19699098264525788 + - -0.6529736974709229 + - 1.310145127391944 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_056_408322072302/T_cb.yaml b/franka_data_new/view_056_408322072302/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..67a5335727b4925948d736f13d38c33f8bc21fb1 --- /dev/null +++ b/franka_data_new/view_056_408322072302/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - 0.11468953002228813 + - 0.9792672681627674 + - 0.16697882862296481 + - -0.23426943094370273 +- - 0.6723290924358838 + - 0.04722467852179055 + - -0.7387444897952571 + - -0.06885664709349162 +- - -0.7313138198937634 + - 0.19699098264525788 + - -0.6529736974709229 + - 1.590606477980103 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_056_408322072302/intrinsics.yaml b/franka_data_new/view_056_408322072302/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ce855e80a4dba3fa8b4c016110a01c74571f8e39 --- /dev/null +++ b/franka_data_new/view_056_408322072302/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 910.6677856445312 + - 0.0 + - 652.4881591796875 +- - 0.0 + - 910.5277099609375 + - 359.45245361328125 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_056_408322072302/pose_001/precision.yaml b/franka_data_new/view_056_408322072302/pose_001/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d0d7212cb4bb158091cd65e862ce75537b42337e --- /dev/null +++ b/franka_data_new/view_056_408322072302/pose_001/precision.yaml @@ -0,0 +1,30 @@ +view_id: 56 +pose_id: 1 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1781881 + robot_within_threshold: 7701 + robot_within_threshold_pct: 96.2625 + inliers: + mean_mm: 15.435018312961027 + median_mm: 10.968712282258474 + p75_mm: 23.117258065291313 + p90_mm: 36.31422007997439 + p95_mm: 42.53724243115529 + max_mm: 49.92872251359049 + all_robot_points: + mean_mm: 16.991219074988887 + median_mm: 11.517562185452697 + p75_mm: 25.01617494370733 + p90_mm: 40.203656117174646 + p95_mm: 47.71353750728629 + max_mm: 84.32935340153793 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_056_408322072302/pose_002/precision.yaml b/franka_data_new/view_056_408322072302/pose_002/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..290632a0a39f77ff14b9123dc7a59c1445948f1f --- /dev/null +++ b/franka_data_new/view_056_408322072302/pose_002/precision.yaml @@ -0,0 +1,30 @@ +view_id: 56 +pose_id: 2 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1770986 + robot_within_threshold: 7512 + robot_within_threshold_pct: 93.9 + inliers: + mean_mm: 16.994627593213192 + median_mm: 12.53454676101492 + p75_mm: 26.048908937017714 + p90_mm: 38.806034959818895 + p95_mm: 43.64386027948161 + max_mm: 49.994119877994976 + all_robot_points: + mean_mm: 19.48862547780705 + median_mm: 14.017574783167838 + p75_mm: 29.96830873328947 + p90_mm: 44.73269447054998 + p95_mm: 51.61626245407489 + max_mm: 85.27785926530751 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_056_408322072302/pose_003/precision.yaml b/franka_data_new/view_056_408322072302/pose_003/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bee602489fe85724528b4bd574528a5ad05abb02 --- /dev/null +++ b/franka_data_new/view_056_408322072302/pose_003/precision.yaml @@ -0,0 +1,30 @@ +view_id: 56 +pose_id: 3 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1776827 + robot_within_threshold: 7510 + robot_within_threshold_pct: 93.875 + inliers: + mean_mm: 16.218028677681882 + median_mm: 11.843976248724735 + p75_mm: 25.95107364693601 + p90_mm: 37.50155728813903 + p95_mm: 42.76976437362369 + max_mm: 49.99716714144282 + all_robot_points: + mean_mm: 18.885833330473623 + median_mm: 13.345526293996446 + p75_mm: 29.55405155240848 + p90_mm: 43.985310704388795 + p95_mm: 52.51561968404748 + max_mm: 86.83392041050433 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_056_408322072302/pose_004/precision.yaml b/franka_data_new/view_056_408322072302/pose_004/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..da9b0ebe56c429a4d82c8812952e155a6a089940 --- /dev/null +++ b/franka_data_new/view_056_408322072302/pose_004/precision.yaml @@ -0,0 +1,30 @@ +view_id: 56 +pose_id: 4 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1761720 + robot_within_threshold: 7331 + robot_within_threshold_pct: 91.6375 + inliers: + mean_mm: 15.666523148274942 + median_mm: 11.020692920158856 + p75_mm: 24.210672674481078 + p90_mm: 36.776139198360895 + p95_mm: 43.035632354250424 + max_mm: 49.97903790905658 + all_robot_points: + mean_mm: 19.547009565492786 + median_mm: 12.933242051889522 + p75_mm: 29.20719380996286 + p90_mm: 47.319328017157545 + p95_mm: 57.4446362179011 + max_mm: 97.52540205447166 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_056_408322072302/pose_005/precision.yaml b/franka_data_new/view_056_408322072302/pose_005/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..62152e5f2956a898d669328f536f4fa695e5542d --- /dev/null +++ b/franka_data_new/view_056_408322072302/pose_005/precision.yaml @@ -0,0 +1,30 @@ +view_id: 56 +pose_id: 5 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1761363 + robot_within_threshold: 7479 + robot_within_threshold_pct: 93.4875 + inliers: + mean_mm: 16.41530669785737 + median_mm: 11.66444957449889 + p75_mm: 26.688273172698988 + p90_mm: 39.079367082808744 + p95_mm: 44.21052921263128 + max_mm: 49.99882222174477 + all_robot_points: + mean_mm: 19.257152127106256 + median_mm: 13.244533550308326 + p75_mm: 30.53247889597896 + p90_mm: 45.55454597430583 + p95_mm: 52.53035298442215 + max_mm: 91.29993133473222 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_056_408322072302/pose_006/precision.yaml b/franka_data_new/view_056_408322072302/pose_006/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b9c6262f0942a058addf33efa13f6901309e0fb9 --- /dev/null +++ b/franka_data_new/view_056_408322072302/pose_006/precision.yaml @@ -0,0 +1,30 @@ +view_id: 56 +pose_id: 6 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1762121 + robot_within_threshold: 7178 + robot_within_threshold_pct: 89.725 + inliers: + mean_mm: 17.131127499716168 + median_mm: 13.169138993228154 + p75_mm: 27.24438423415333 + p90_mm: 39.37218870928195 + p95_mm: 44.4511089247582 + max_mm: 49.99651217135473 + all_robot_points: + mean_mm: 22.290875754173182 + median_mm: 16.008014948132836 + p75_mm: 34.1064688354097 + p90_mm: 50.417804772269626 + p95_mm: 64.37252383984898 + max_mm: 108.15103694189482 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_061_215222074939/T_cam_world.yaml b/franka_data_new/view_061_215222074939/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..22f33b27ddd0d94ba17bcabdad2de826fcc8ee5a --- /dev/null +++ b/franka_data_new/view_061_215222074939/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.6954059933745125 + - 0.7142032191780257 + - 0.07952525444506531 + - -0.39681699210316007 +- - 0.3187856194161509 + - -0.2074146086462525 + - -0.92485399332737 + - 0.2943560235395828 +- - -0.644038999775843 + - 0.6685005174537016 + - -0.37191507758070885 + - 1.286413079894644 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_061_215222074939/T_cb.yaml b/franka_data_new/view_061_215222074939/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95dbbbb758b57563c397ea33d52a753b88211bb8 --- /dev/null +++ b/franka_data_new/view_061_215222074939/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - 0.6954059933745125 + - 0.7142032191780257 + - 0.07952525444506531 + - -0.38403579217032585 +- - 0.3187856194161509 + - -0.2074146086462525 + - -0.92485399332737 + - 0.13442180903439924 +- - -0.644038999775843 + - 0.6685005174537016 + - -0.37191507758070885 + - 1.6868599402380444 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_061_215222074939/intrinsics.yaml b/franka_data_new/view_061_215222074939/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3661567d0b286fa1176e7daadc3ed021bebebc80 --- /dev/null +++ b/franka_data_new/view_061_215222074939/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 912.4526977539062 + - 0.0 + - 646.1953125 +- - 0.0 + - 911.779296875 + - 366.7369689941406 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_061_215222074939/pose_001/precision.yaml b/franka_data_new/view_061_215222074939/pose_001/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..12c2b52ed67739be3266e23f80f3d5b94919a113 --- /dev/null +++ b/franka_data_new/view_061_215222074939/pose_001/precision.yaml @@ -0,0 +1,30 @@ +view_id: 61 +pose_id: 1 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1582691 + robot_within_threshold: 7854 + robot_within_threshold_pct: 98.175 + inliers: + mean_mm: 15.30222356304765 + median_mm: 11.41391455730615 + p75_mm: 22.90229797521282 + p90_mm: 33.98966627007098 + p95_mm: 39.95226831281811 + max_mm: 49.98630388042812 + all_robot_points: + mean_mm: 16.07837400345089 + median_mm: 11.664506667017935 + p75_mm: 23.794979359140346 + p90_mm: 35.69167721346315 + p95_mm: 42.675812914748406 + max_mm: 79.50199498127864 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_061_215222074939/pose_002/precision.yaml b/franka_data_new/view_061_215222074939/pose_002/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a57bd3a26f25ae25e607e28af834b911673a65ac --- /dev/null +++ b/franka_data_new/view_061_215222074939/pose_002/precision.yaml @@ -0,0 +1,30 @@ +view_id: 61 +pose_id: 2 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1585898 + robot_within_threshold: 7683 + robot_within_threshold_pct: 96.0375 + inliers: + mean_mm: 15.71548717228229 + median_mm: 11.145997514808325 + p75_mm: 24.87836111142601 + p90_mm: 36.933034154984895 + p95_mm: 41.73454136169433 + max_mm: 49.95603636835173 + all_robot_points: + mean_mm: 17.338678215240435 + median_mm: 11.882604848195623 + p75_mm: 27.051320509553427 + p90_mm: 40.48479062290374 + p95_mm: 47.96413386356233 + max_mm: 79.82616797439567 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_061_215222074939/pose_003/precision.yaml b/franka_data_new/view_061_215222074939/pose_003/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e151ff954f832d4ce0c47bfc9e4e9bd3d33731dd --- /dev/null +++ b/franka_data_new/view_061_215222074939/pose_003/precision.yaml @@ -0,0 +1,30 @@ +view_id: 61 +pose_id: 3 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1584214 + robot_within_threshold: 7487 + robot_within_threshold_pct: 93.5875 + inliers: + mean_mm: 15.8540683403803 + median_mm: 11.395425126471446 + p75_mm: 25.12309041428181 + p90_mm: 36.387353157226634 + p95_mm: 42.219039291451104 + max_mm: 49.974204787971786 + all_robot_points: + mean_mm: 18.597106290753814 + median_mm: 12.725154437714231 + p75_mm: 28.698966768147844 + p90_mm: 44.052853591288724 + p95_mm: 52.675453352845395 + max_mm: 84.9659819979706 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_061_215222074939/pose_004/precision.yaml b/franka_data_new/view_061_215222074939/pose_004/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2a4a55b4395f559052571101745177da67d09c85 --- /dev/null +++ b/franka_data_new/view_061_215222074939/pose_004/precision.yaml @@ -0,0 +1,30 @@ +view_id: 61 +pose_id: 4 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1600414 + robot_within_threshold: 7780 + robot_within_threshold_pct: 97.25 + inliers: + mean_mm: 15.212590216323717 + median_mm: 11.079179443583715 + p75_mm: 22.97280421592673 + p90_mm: 34.40141676860705 + p95_mm: 40.56253478232285 + max_mm: 49.990978969187246 + all_robot_points: + mean_mm: 16.36031629518393 + median_mm: 11.491462579734364 + p75_mm: 24.44573647951151 + p90_mm: 37.36376209294232 + p95_mm: 44.657845778206884 + max_mm: 76.01247749355996 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_061_215222074939/pose_005/precision.yaml b/franka_data_new/view_061_215222074939/pose_005/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2fe1134419924e8cd0846fb0a89cc25e1fb98dea --- /dev/null +++ b/franka_data_new/view_061_215222074939/pose_005/precision.yaml @@ -0,0 +1,30 @@ +view_id: 61 +pose_id: 5 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1603093 + robot_within_threshold: 7419 + robot_within_threshold_pct: 92.7375 + inliers: + mean_mm: 16.108192069553176 + median_mm: 12.181483229037502 + p75_mm: 24.171927483697523 + p90_mm: 35.63637376853549 + p95_mm: 41.444760403321645 + max_mm: 49.935462363729826 + all_robot_points: + mean_mm: 19.33075007521823 + median_mm: 13.536576400800378 + p75_mm: 27.720275833252195 + p90_mm: 44.475079654477966 + p95_mm: 54.78794924104068 + max_mm: 84.77921479053329 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_061_215222074939/pose_006/precision.yaml b/franka_data_new/view_061_215222074939/pose_006/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9a5030692960a9b58661fc5a83f343d1e80dbc9c --- /dev/null +++ b/franka_data_new/view_061_215222074939/pose_006/precision.yaml @@ -0,0 +1,30 @@ +view_id: 61 +pose_id: 6 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1588261 + robot_within_threshold: 7717 + robot_within_threshold_pct: 96.4625 + inliers: + mean_mm: 16.011194537911283 + median_mm: 11.992465757251392 + p75_mm: 24.163439332830357 + p90_mm: 36.300616045811225 + p95_mm: 42.12007857854377 + max_mm: 49.99613613320869 + all_robot_points: + mean_mm: 17.494320157039443 + median_mm: 12.61232965377571 + p75_mm: 26.13691651014435 + p90_mm: 39.880601354678255 + p95_mm: 47.17983629786056 + max_mm: 77.31623816799727 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_064_215222074939/T_cam_world.yaml b/franka_data_new/view_064_215222074939/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..216c9ae2aefeab13dc6b983f1b1d8837435a9a9d --- /dev/null +++ b/franka_data_new/view_064_215222074939/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.6339135006627785 + - 0.7692567542098263 + - -0.0799857473555391 + - -0.21610172994493043 +- - 0.19356519244623338 + - -0.25793217415730146 + - -0.9465746192497135 + - 0.16700590886633174 +- - -0.7487898169384476 + - 0.5845639739472919 + - -0.31240801912280636 + - 1.2201722544985538 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_064_215222074939/T_cb.yaml b/franka_data_new/view_064_215222074939/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56750d2d6369ffcd77faab90b0ffdb22f4045d84 --- /dev/null +++ b/franka_data_new/view_064_215222074939/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - 0.6339135006627785 + - 0.7692567542098263 + - -0.0799857473555391 + - -0.16780618633871783 +- - 0.19356519244623338 + - -0.25793217415730146 + - -0.9465746192497135 + - 0.028977377143698274 +- - -0.7487898169384476 + - 0.5845639739472919 + - -0.31240801912280636 + - 1.6260240315037486 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_064_215222074939/intrinsics.yaml b/franka_data_new/view_064_215222074939/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3661567d0b286fa1176e7daadc3ed021bebebc80 --- /dev/null +++ b/franka_data_new/view_064_215222074939/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 912.4526977539062 + - 0.0 + - 646.1953125 +- - 0.0 + - 911.779296875 + - 366.7369689941406 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_064_215222074939/pose_001/precision.yaml b/franka_data_new/view_064_215222074939/pose_001/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b092998acf4f8a4601044c149b354259d1e6be6c --- /dev/null +++ b/franka_data_new/view_064_215222074939/pose_001/precision.yaml @@ -0,0 +1,30 @@ +view_id: 64 +pose_id: 1 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1735046 + robot_within_threshold: 7776 + robot_within_threshold_pct: 97.2 + inliers: + mean_mm: 15.328882318601583 + median_mm: 11.443176590165127 + p75_mm: 23.567317132785195 + p90_mm: 35.6935334084222 + p95_mm: 41.2363810194216 + max_mm: 49.98113105759495 + all_robot_points: + mean_mm: 16.475317887985288 + median_mm: 11.957345528494088 + p75_mm: 24.845393759129433 + p90_mm: 38.31660793747459 + p95_mm: 45.82108795691122 + max_mm: 75.90611420438736 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_064_215222074939/pose_002/precision.yaml b/franka_data_new/view_064_215222074939/pose_002/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1f512c39d2cbb0a38fbad141954925085725ccda --- /dev/null +++ b/franka_data_new/view_064_215222074939/pose_002/precision.yaml @@ -0,0 +1,30 @@ +view_id: 64 +pose_id: 2 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1733742 + robot_within_threshold: 7473 + robot_within_threshold_pct: 93.4125 + inliers: + mean_mm: 14.967118469132936 + median_mm: 11.248163487205058 + p75_mm: 22.8131505610338 + p90_mm: 35.665606327041495 + p95_mm: 41.79896747760624 + max_mm: 49.954178474017645 + all_robot_points: + mean_mm: 18.153734128488527 + median_mm: 12.41626272800184 + p75_mm: 26.093415433939143 + p90_mm: 43.65884439100156 + p95_mm: 53.87499421488348 + max_mm: 103.61815736339864 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_064_215222074939/pose_003/precision.yaml b/franka_data_new/view_064_215222074939/pose_003/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2e94ade40299372c82ae903e01ecc4fb37d55d65 --- /dev/null +++ b/franka_data_new/view_064_215222074939/pose_003/precision.yaml @@ -0,0 +1,30 @@ +view_id: 64 +pose_id: 3 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1718324 + robot_within_threshold: 7287 + robot_within_threshold_pct: 91.0875 + inliers: + mean_mm: 15.549975903465224 + median_mm: 11.529400779742641 + p75_mm: 23.96686694081459 + p90_mm: 36.85758362329291 + p95_mm: 42.38527156454647 + max_mm: 49.978404293130914 + all_robot_points: + mean_mm: 19.770377234921877 + median_mm: 13.464561692793037 + p75_mm: 29.44880854503074 + p90_mm: 47.60637947941596 + p95_mm: 58.972963333468066 + max_mm: 97.74240185726187 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_064_215222074939/pose_004/precision.yaml b/franka_data_new/view_064_215222074939/pose_004/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..11c2a856876a3477af88886898b1c17e0af85057 --- /dev/null +++ b/franka_data_new/view_064_215222074939/pose_004/precision.yaml @@ -0,0 +1,30 @@ +view_id: 64 +pose_id: 4 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1714714 + robot_within_threshold: 7726 + robot_within_threshold_pct: 96.575 + inliers: + mean_mm: 15.114822655164359 + median_mm: 10.23871961243298 + p75_mm: 24.52829783548438 + p90_mm: 36.001454693956916 + p95_mm: 41.65107876219213 + max_mm: 49.98193096267147 + all_robot_points: + mean_mm: 16.566704660691926 + median_mm: 11.016140737269874 + p75_mm: 26.374006191782293 + p90_mm: 39.49634024612357 + p95_mm: 46.34615029611084 + max_mm: 79.89812910160241 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_064_215222074939/pose_005/precision.yaml b/franka_data_new/view_064_215222074939/pose_005/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d1ba766abc6dcb155ece9af22762001849b1c715 --- /dev/null +++ b/franka_data_new/view_064_215222074939/pose_005/precision.yaml @@ -0,0 +1,30 @@ +view_id: 64 +pose_id: 5 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1711872 + robot_within_threshold: 7562 + robot_within_threshold_pct: 94.525 + inliers: + mean_mm: 15.153562870949344 + median_mm: 11.21559971051827 + p75_mm: 23.441579402302917 + p90_mm: 35.93650669995241 + p95_mm: 42.15990550711982 + max_mm: 49.99939525319216 + all_robot_points: + mean_mm: 17.689356719910386 + median_mm: 12.277764056143502 + p75_mm: 25.957808148921952 + p90_mm: 42.72210954265632 + p95_mm: 51.09002549602453 + max_mm: 92.22956706790468 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_064_215222074939/pose_006/precision.yaml b/franka_data_new/view_064_215222074939/pose_006/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5dd98bb5c79a287eda942e87e5c7405212e29e32 --- /dev/null +++ b/franka_data_new/view_064_215222074939/pose_006/precision.yaml @@ -0,0 +1,30 @@ +view_id: 64 +pose_id: 6 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1710806 + robot_within_threshold: 7811 + robot_within_threshold_pct: 97.6375 + inliers: + mean_mm: 15.465453356549263 + median_mm: 11.155293743464574 + p75_mm: 24.183908515927154 + p90_mm: 35.84700466387517 + p95_mm: 41.240349454462404 + max_mm: 49.96777994650686 + all_robot_points: + mean_mm: 16.44407489250297 + median_mm: 11.58865737509251 + p75_mm: 25.527971102398343 + p90_mm: 38.03243787623894 + p95_mm: 44.78834033564417 + max_mm: 76.56119345996773 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_067_215222074939/T_cam_world.yaml b/franka_data_new/view_067_215222074939/T_cam_world.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4d159328251b4bc0243621ba7dfb10671f53a6b8 --- /dev/null +++ b/franka_data_new/view_067_215222074939/T_cam_world.yaml @@ -0,0 +1,22 @@ +matrix: +- - 0.64621986399262 + - 0.7391539090456221 + - 0.1898720256486871 + - -0.26065058300931115 +- - 0.352677087288509 + - -0.0686100000612569 + - -0.9332264141103634 + - 0.24672734454036252 +- - -0.6767708323229162 + - 0.6700329593640677 + - -0.3050197926082446 + - 1.3457888069229906 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/.yaml.' diff --git a/franka_data_new/view_067_215222074939/T_cb.yaml b/franka_data_new/view_067_215222074939/T_cb.yaml new file mode 100644 index 0000000000000000000000000000000000000000..57db56752f83d1e83737d204f2c4b69345728dd4 --- /dev/null +++ b/franka_data_new/view_067_215222074939/T_cb.yaml @@ -0,0 +1,23 @@ +matrix: +- - 0.64621986399262 + - 0.7391539090456221 + - 0.1898720256486871 + - -0.2253788304029543 +- - 0.352677087288509 + - -0.0686100000612569 + - -0.9332264141103634 + - 0.11965511833482018 +- - -0.6767708323229162 + - 0.6700329593640677 + - -0.3050197926082446 + - 1.7565302740227264 +- - 0.0 + - 0.0 + - 0.0 + - 1.0 +shape: +- 4 +- 4 +dtype: float64 +description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed + by recompute_handeye_tcb.py.' diff --git a/franka_data_new/view_067_215222074939/intrinsics.yaml b/franka_data_new/view_067_215222074939/intrinsics.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3661567d0b286fa1176e7daadc3ed021bebebc80 --- /dev/null +++ b/franka_data_new/view_067_215222074939/intrinsics.yaml @@ -0,0 +1,21 @@ +K: +- - 912.4526977539062 + - 0.0 + - 646.1953125 +- - 0.0 + - 911.779296875 + - 366.7369689941406 +- - 0.0 + - 0.0 + - 1.0 +dist_coeffs: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +image_hw: +- 720 +- 1280 +description: Color-frame intrinsics. FoundationStereo depth is already warped to this + frame. diff --git a/franka_data_new/view_067_215222074939/pose_001/precision.yaml b/franka_data_new/view_067_215222074939/pose_001/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..176533fe0a55d8da54b97f6cf897e711c33b55e9 --- /dev/null +++ b/franka_data_new/view_067_215222074939/pose_001/precision.yaml @@ -0,0 +1,30 @@ +view_id: 67 +pose_id: 1 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1529591 + robot_within_threshold: 7748 + robot_within_threshold_pct: 96.85 + inliers: + mean_mm: 14.70806562604817 + median_mm: 10.073957444293132 + p75_mm: 22.925301341371416 + p90_mm: 34.96912508008271 + p95_mm: 40.611227116855986 + max_mm: 49.99776266039635 + all_robot_points: + mean_mm: 16.0756826648537 + median_mm: 10.771477178937175 + p75_mm: 24.691037423050357 + p90_mm: 37.945493905774626 + p95_mm: 45.85313739609052 + max_mm: 85.11190540023698 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_067_215222074939/pose_002/precision.yaml b/franka_data_new/view_067_215222074939/pose_002/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe86a6edcf199c0e5cef9271a6c4d7e2da7040ed --- /dev/null +++ b/franka_data_new/view_067_215222074939/pose_002/precision.yaml @@ -0,0 +1,30 @@ +view_id: 67 +pose_id: 2 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1525087 + robot_within_threshold: 7470 + robot_within_threshold_pct: 93.375 + inliers: + mean_mm: 15.273689936514161 + median_mm: 10.248891840600841 + p75_mm: 24.468260335988465 + p90_mm: 37.980307093064695 + p95_mm: 43.45108107477359 + max_mm: 49.99458284139567 + all_robot_points: + mean_mm: 18.11595918800269 + median_mm: 11.828952741264132 + p75_mm: 28.86617056717678 + p90_mm: 45.12846243419667 + p95_mm: 52.854603847264144 + max_mm: 85.71234198361509 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_067_215222074939/pose_003/precision.yaml b/franka_data_new/view_067_215222074939/pose_003/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..36785148c1b55170ea4211be3572e2deecac7218 --- /dev/null +++ b/franka_data_new/view_067_215222074939/pose_003/precision.yaml @@ -0,0 +1,30 @@ +view_id: 67 +pose_id: 3 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1565509 + robot_within_threshold: 7714 + robot_within_threshold_pct: 96.425 + inliers: + mean_mm: 14.440592054202206 + median_mm: 10.47319577523863 + p75_mm: 21.784767764577154 + p90_mm: 33.49864734576498 + p95_mm: 40.45077013762899 + max_mm: 49.971284144987564 + all_robot_points: + mean_mm: 16.112171594392102 + median_mm: 11.13590663534569 + p75_mm: 23.56398845586678 + p90_mm: 37.705926485759 + p95_mm: 46.78420194994539 + max_mm: 89.08327667064685 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_067_215222074939/pose_004/precision.yaml b/franka_data_new/view_067_215222074939/pose_004/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..eb01a5bbf3e2e72cecf0a0d0f8e78e30ef4be326 --- /dev/null +++ b/franka_data_new/view_067_215222074939/pose_004/precision.yaml @@ -0,0 +1,30 @@ +view_id: 67 +pose_id: 4 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1543104 + robot_within_threshold: 7530 + robot_within_threshold_pct: 94.125 + inliers: + mean_mm: 15.588980971410242 + median_mm: 11.476950393068744 + p75_mm: 24.440475950488146 + p90_mm: 35.79826232320411 + p95_mm: 41.56308808358279 + max_mm: 49.97987125174948 + all_robot_points: + mean_mm: 18.376961217898987 + median_mm: 12.586894391004673 + p75_mm: 27.508876333140755 + p90_mm: 42.18749558629975 + p95_mm: 52.07301688200609 + max_mm: 94.13585832543404 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_067_215222074939/pose_005/precision.yaml b/franka_data_new/view_067_215222074939/pose_005/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..77723a22eb4f33ae7264136a505019fae1459bbb --- /dev/null +++ b/franka_data_new/view_067_215222074939/pose_005/precision.yaml @@ -0,0 +1,30 @@ +view_id: 67 +pose_id: 5 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1549366 + robot_within_threshold: 7698 + robot_within_threshold_pct: 96.225 + inliers: + mean_mm: 15.157247659315367 + median_mm: 10.669998421796361 + p75_mm: 23.901804762057054 + p90_mm: 35.24786738478179 + p95_mm: 40.432138748792276 + max_mm: 49.85392657465575 + all_robot_points: + mean_mm: 16.726846149748727 + median_mm: 11.508289873678219 + p75_mm: 25.97372413051661 + p90_mm: 38.84560006343246 + p95_mm: 47.2878303920175 + max_mm: 86.93896423421785 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm." diff --git a/franka_data_new/view_067_215222074939/pose_006/precision.yaml b/franka_data_new/view_067_215222074939/pose_006/precision.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c0b71e555e834f094e39f752cf53834a2095eab8 --- /dev/null +++ b/franka_data_new/view_067_215222074939/pose_006/precision.yaml @@ -0,0 +1,30 @@ +view_id: 67 +pose_id: 6 +T_world_base_source: canonical robot_extrinsics yaml (derived from view's saved T_cb + + T_cam_world) +metrics: + inlier_threshold_mm: 50.0 + robot_points: 8000 + scene_points: 1537914 + robot_within_threshold: 7601 + robot_within_threshold_pct: 95.0125 + inliers: + mean_mm: 15.285971504748872 + median_mm: 10.914089027525776 + p75_mm: 24.14880461369352 + p90_mm: 35.818042038525526 + p95_mm: 42.03002366036834 + max_mm: 49.9901767536678 + all_robot_points: + mean_mm: 17.425206165601725 + median_mm: 12.034726354468432 + p75_mm: 26.75032686770016 + p90_mm: 41.644252171151216 + p95_mm: 49.952264263610495 + max_mm: 86.35792410384875 +metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\ + \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\ + \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\ + \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\ + \ number for calibration precision; well-calibrated rigs typically read 5\u2013\ + 15 mm."