| { |
| "schema_version": "acwmbench.ego.calibration.pinhole.v1", |
| "episode_index": 0, |
| "view_aliases": { |
| "top_head": "head_fisheye", |
| "hand_left": "head_fisheye_left", |
| "hand_right": "head_fisheye_right" |
| }, |
| "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.", |
| "cameras": { |
| "top_head": { |
| "source_camera": "head_fisheye", |
| "camera_mount": "head", |
| "projection_model": "pinhole", |
| "intrinsics": { |
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| "Fy": 320.00000000000006, |
| "Cx": 320.0, |
| "Cy": 240.0, |
| "width": 640, |
| "height": 480 |
| }, |
| "extrinsics": { |
| "extrinsic_head_fisheye_T_left": { |
| "rotation": { |
| "x": 0.0009442228132370642, |
| "y": 0.0002965523734030786, |
| "z": 2.7778272304765542e-05, |
| "w": 0.9999995098640481 |
| }, |
| "translation": { |
| "x": 0.03061258879177004, |
| "y": -0.00044053462609449333, |
| "z": 0.0010914965841121059 |
| } |
| }, |
| "extrinsic_head_fisheye_left_T_left": { |
| "rotation": { |
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| "y": -0.42865062258823455, |
| "z": -0.19933934578868262, |
| "w": 0.8811976106036848 |
| }, |
| "translation": { |
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| "y": 0.014694437626401657, |
| "z": -0.028958392523767598 |
| } |
| }, |
| "extrinsic_head_fisheye_right_T_left": { |
| "rotation": { |
| "x": 0.0003976459684297884, |
| "y": 0.42641808299703304, |
| "z": 0.20065156149051988, |
| "w": 0.8819900289925252 |
| }, |
| "translation": { |
| "x": 0.11023896172779998, |
| "y": 0.013827394575498546, |
| "z": -0.02812516971803584 |
| } |
| } |
| }, |
| "resolution": { |
| "width": 640, |
| "height": 480 |
| }, |
| "rectification": { |
| "source_projection_model": "opencv_fisheye", |
| "source_intrinsics": { |
| "Cx": 401.24334716796875, |
| "Cy": 299.5632019042969, |
| "Fx": 224.22935485839844, |
| "Fy": 224.09205627441406, |
| "height": 600, |
| "k1": 0.057993289083242416, |
| "k2": 0.01816844940185547, |
| "k3": -0.008063109591603279, |
| "k4": 0.0006919464212842286, |
| "width": 800 |
| }, |
| "source_to_virtual_rotation": [ |
| [ |
| 1.0, |
| 0.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.7880107536067219, |
| -0.6156614753256583 |
| ], |
| [ |
| 0.0, |
| 0.6156614753256583, |
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| ] |
| ], |
| "hfov_deg": 90.0, |
| "view_pitch_deg": 38.0, |
| "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image." |
| }, |
| "extrinsics_reference_frame": "source_fisheye_camera" |
| }, |
| "hand_left": { |
| "source_camera": "head_fisheye_left", |
| "camera_mount": "head", |
| "projection_model": "pinhole", |
| "intrinsics": { |
| "Fx": 320.00000000000006, |
| "Fy": 320.00000000000006, |
| "Cx": 320.0, |
| "Cy": 240.0, |
| "width": 640, |
| "height": 480 |
| }, |
| "extrinsics": { |
| "extrinsic_head_fisheye_left_T_left": { |
| "rotation": { |
| "x": 0.00363868679823883, |
| "y": -0.42865062258823455, |
| "z": -0.19933934578868262, |
| "w": 0.8811976106036848 |
| }, |
| "translation": { |
| "x": -0.05050148006484744, |
| "y": 0.014694437626401657, |
| "z": -0.028958392523767598 |
| } |
| } |
| }, |
| "resolution": { |
| "width": 640, |
| "height": 480 |
| }, |
| "rectification": { |
| "source_projection_model": "opencv_fisheye", |
| "source_intrinsics": { |
| "Cx": 479.4472961425781, |
| "Cy": 299.9506530761719, |
| "Fx": 223.04345703125, |
| "Fy": 223.11749267578125, |
| "height": 600, |
| "k1": 0.06008125841617584, |
| "k2": 0.015944620594382286, |
| "k3": -0.006167862098664045, |
| "k4": 0.00022500510385725647, |
| "width": 960 |
| }, |
| "source_to_virtual_rotation": [ |
| [ |
| 1.0, |
| 0.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.7880107536067219, |
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| ], |
| [ |
| 0.0, |
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| ] |
| ], |
| "hfov_deg": 90.0, |
| "view_pitch_deg": 38.0, |
| "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image." |
| }, |
| "extrinsics_reference_frame": "source_fisheye_camera" |
| }, |
| "hand_right": { |
| "source_camera": "head_fisheye_right", |
| "camera_mount": "head", |
| "projection_model": "pinhole", |
| "intrinsics": { |
| "Fx": 320.00000000000006, |
| "Fy": 320.00000000000006, |
| "Cx": 320.0, |
| "Cy": 240.0, |
| "width": 640, |
| "height": 480 |
| }, |
| "extrinsics": { |
| "extrinsic_head_fisheye_right_T_left": { |
| "rotation": { |
| "x": 0.0003976459684297884, |
| "y": 0.42641808299703304, |
| "z": 0.20065156149051988, |
| "w": 0.8819900289925252 |
| }, |
| "translation": { |
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| "y": 0.013827394575498546, |
| "z": -0.02812516971803584 |
| } |
| } |
| }, |
| "resolution": { |
| "width": 640, |
| "height": 480 |
| }, |
| "rectification": { |
| "source_projection_model": "opencv_fisheye", |
| "source_intrinsics": { |
| "Cx": 480.4215393066406, |
| "Cy": 299.4262390136719, |
| "Fx": 223.5740509033203, |
| "Fy": 223.46319580078125, |
| "height": 600, |
| "k1": 0.05835850164294243, |
| "k2": 0.017698010429739952, |
| "k3": -0.007227227091789246, |
| "k4": 0.0004160731041338295, |
| "width": 960 |
| }, |
| "source_to_virtual_rotation": [ |
| [ |
| 1.0, |
| 0.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.7880107536067219, |
| -0.6156614753256583 |
| ], |
| [ |
| 0.0, |
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| 0.7880107536067219 |
| ] |
| ], |
| "hfov_deg": 90.0, |
| "view_pitch_deg": 38.0, |
| "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image." |
| }, |
| "extrinsics_reference_frame": "source_fisheye_camera" |
| }, |
| "head_stereo_left": { |
| "source_camera": "head_stereo_left", |
| "camera_mount": "head", |
| "projection_model": "pinhole", |
| "intrinsics": { |
| "Cx": 481.39990234375, |
| "Cy": 298.59674072265625, |
| "Fx": 300.0994873046875, |
| "Fy": 300.0945129394531, |
| "height": 600, |
| "k1": 0.23313209414482117, |
| "k2": -0.013054169714450836, |
| "k3": -0.02656524069607258, |
| "k4": 0.008368264883756638, |
| "width": 960 |
| }, |
| "extrinsics": { |
| "extrinsic_head_stereo_left_T_imu": { |
| "rotation": { |
| "x": 0.999970395486808, |
| "y": -0.005711054071957077, |
| "z": -0.0016198635801491547, |
| "w": -0.004895717855982548 |
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| "translation": { |
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| "y": -0.0042354069095445705, |
| "z": -0.017029698432489374 |
| } |
| }, |
| "extrinsic_head_stereo_left_T_right": { |
| "rotation": { |
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| "y": 0.0010112171798395235, |
| "z": -0.0002191893102376494, |
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| "translation": { |
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| } |
| } |
| }, |
| "resolution": { |
| "width": 960, |
| "height": 600 |
| } |
| }, |
| "head_stereo_right": { |
| "source_camera": "head_stereo_right", |
| "camera_mount": "head", |
| "projection_model": "pinhole", |
| "intrinsics": { |
| "Cx": 480.90869140625, |
| "Cy": 300.6904602050781, |
| "Fx": 300.04974365234375, |
| "Fy": 299.9335632324219, |
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| "width": 960 |
| }, |
| "extrinsics": { |
| "extrinsic_head_stereo_right_T_imu": { |
| "rotation": { |
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| "y": -0.0059275519736941866, |
| "z": -0.002624102731710321, |
| "w": -0.006305158409659226 |
| }, |
| "translation": { |
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| } |
| } |
| }, |
| "resolution": { |
| "width": 960, |
| "height": 600 |
| } |
| } |
| }, |
| "source_calibration": { |
| "extrinsic_head_fisheye_T_left": { |
| "rotation": { |
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| "y": 0.0002965523734030786, |
| "z": 2.7778272304765542e-05, |
| "w": 0.9999995098640481 |
| }, |
| "translation": { |
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| "y": -0.00044053462609449333, |
| "z": 0.0010914965841121059 |
| } |
| }, |
| "extrinsic_head_fisheye_left_T_left": { |
| "rotation": { |
| "x": 0.00363868679823883, |
| "y": -0.42865062258823455, |
| "z": -0.19933934578868262, |
| "w": 0.8811976106036848 |
| }, |
| "translation": { |
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| "y": 0.014694437626401657, |
| "z": -0.028958392523767598 |
| } |
| }, |
| "extrinsic_head_fisheye_right_T_left": { |
| "rotation": { |
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| } |
| }, |
| "extrinsic_head_stereo_left_T_imu": { |
| "rotation": { |
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| "translation": { |
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| } |
| }, |
| "extrinsic_head_stereo_left_T_right": { |
| "rotation": { |
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| } |
| }, |
| "extrinsic_head_stereo_right_T_imu": { |
| "rotation": { |
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| } |
| }, |
| "intrinsic_head_fisheye": { |
| "Cx": 401.24334716796875, |
| "Cy": 299.5632019042969, |
| "Fx": 224.22935485839844, |
| "Fy": 224.09205627441406, |
| "height": 600, |
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| "width": 800 |
| }, |
| "intrinsic_head_fisheye_left": { |
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| "height": 600, |
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| "width": 960 |
| }, |
| "intrinsic_head_fisheye_right": { |
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| }, |
| "intrinsic_head_imu": { |
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| "acc_w": 2.9547641343712726e-05, |
| "gyro_n": 0.0008512645105958214, |
| "gyro_w": 8.042016530226203e-06, |
| "timeshift_fisheye_cam_imu": 0.0032943932938084845 |
| }, |
| "intrinsic_head_stereo_left": { |
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| "Cy": 298.59674072265625, |
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| "Fy": 300.0945129394531, |
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| }, |
| "intrinsic_head_stereo_right": { |
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| }, |
| "suppiler_flag": { |
| "head_fisheye": "383100008901V01AA1VA069126071000489", |
| "head_fisheye_left": "382200016501V01AA1VA069126061402510", |
| "head_fisheye_right": "382200017101V01AA1VA069126061302311", |
| "head_stereo_left": "383100008901V01AA1VA069126071000489", |
| "head_stereo_right": "383100008901V01AA1VA069126071000489", |
| "suppiler": 0 |
| } |
| }, |
| "source_calibration_file": "calibration_fisheye.json", |
| "active_views": { |
| "top_head": { |
| "projection_model": "pinhole", |
| "width": 640, |
| "height": 480, |
| "hfov_deg": 90.0, |
| "view_pitch_deg": 38.0 |
| }, |
| "hand_left": { |
| "projection_model": "pinhole", |
| "width": 640, |
| "height": 480, |
| "hfov_deg": 90.0, |
| "view_pitch_deg": 38.0 |
| }, |
| "hand_right": { |
| "projection_model": "pinhole", |
| "width": 640, |
| "height": 480, |
| "hfov_deg": 90.0, |
| "view_pitch_deg": 38.0 |
| } |
| } |
| } |
|
|
