Download meta/info.json from unitreerobotics/G1_Dex1_Store_Camera: direct link, hf CLI and curl.
- Browser
- Download file 28.5 kB
-
https://huggingface.co/datasets/unitreerobotics/G1_Dex1_Store_Camera/resolve/main/meta/info.json
- Command line
-
hf download hf://datasets/unitreerobotics/G1_Dex1_Store_Camera/meta/info.json
-
curl -L -o info.json https://huggingface.co/datasets/unitreerobotics/G1_Dex1_Store_Camera/resolve/main/meta/info.json
28.5 kB
| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "unitree_g1", | |
| "total_episodes": 290, | |
| "total_frames": 178398, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:290" | |
| }, | |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", | |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", | |
| "features": { | |
| "observation.images.head_stereo_left": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.head_stereo_right": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.wrist_left": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.wrist_right": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.wrist_left_ir": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.wrist_right_ir": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.infrared_valid": { | |
| "dtype": "int8", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "infrared_valid" | |
| ] | |
| }, | |
| "observation.images.head_stereo_left_rec": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.head_stereo_right_rec": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 30, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.state.left_arm": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "shoulder_pitch", | |
| "shoulder_roll", | |
| "shoulder_yaw", | |
| "elbow", | |
| "wrist_yaw", | |
| "wrist_roll", | |
| "wrist_pitch" | |
| ] | |
| }, | |
| "observation.state.right_arm": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "shoulder_pitch", | |
| "shoulder_roll", | |
| "shoulder_yaw", | |
| "elbow", | |
| "wrist_yaw", | |
| "wrist_roll", | |
| "wrist_pitch" | |
| ] | |
| }, | |
| "observation.state.left_gripper": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "gripper_pos" | |
| ] | |
| }, | |
| "observation.state.right_gripper": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "gripper_pos" | |
| ] | |
| }, | |
| "observation.state.lower_body": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 15 | |
| ], | |
| "names": [ | |
| "left_hip_pitch", | |
| "left_hip_roll", | |
| "left_hip_yaw", | |
| "left_knee", | |
| "left_ankle_pitch", | |
| "left_ankle_roll", | |
| "right_hip_pitch", | |
| "right_hip_roll", | |
| "right_hip_yaw", | |
| "right_knee", | |
| "right_ankle_pitch", | |
| "right_ankle_roll", | |
| "waist_yaw", | |
| "waist_roll", | |
| "waist_pitch" | |
| ] | |
| }, | |
| "observation.state.left_leg": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "hip_pitch", | |
| "hip_roll", | |
| "hip_yaw", | |
| "knee", | |
| "ankle_pitch", | |
| "ankle_roll" | |
| ] | |
| }, | |
| "observation.state.right_leg": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "hip_pitch", | |
| "hip_roll", | |
| "hip_yaw", | |
| "knee", | |
| "ankle_pitch", | |
| "ankle_roll" | |
| ] | |
| }, | |
| "observation.state.left_ee_pose_gripper_base": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| }, | |
| "observation.state.right_ee_pose_gripper_base": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| }, | |
| "observation.state.state_torso": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| }, | |
| "observation.state.state_d435": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| }, | |
| "observation.state.left_ee_pose_gripper_torso": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| }, | |
| "observation.state.right_ee_pose_gripper_torso": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| }, | |
| "observation.state.waist_state_joint": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "names": [ | |
| "yaw", | |
| "roll", | |
| "pitch" | |
| ] | |
| }, | |
| "observation.state.recomputed_ee_valid": { | |
| "dtype": "int8", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "valid" | |
| ] | |
| }, | |
| "action.left_arm": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "shoulder_pitch", | |
| "shoulder_roll", | |
| "shoulder_yaw", | |
| "elbow", | |
| "wrist_yaw", | |
| "wrist_roll", | |
| "wrist_pitch" | |
| ] | |
| }, | |
| "action.right_arm": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "shoulder_pitch", | |
| "shoulder_roll", | |
| "shoulder_yaw", | |
| "elbow", | |
| "wrist_yaw", | |
| "wrist_roll", | |
| "wrist_pitch" | |
| ] | |
| }, | |
| "action.left_gripper": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "gripper_pos" | |
| ] | |
| }, | |
| "action.right_gripper": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": [ | |
| "gripper_pos" | |
| ] | |
| }, | |
| "action.lower_body": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 15 | |
| ], | |
| "names": [ | |
| "left_hip_pitch", | |
| "left_hip_roll", | |
| "left_hip_yaw", | |
| "left_knee", | |
| "left_ankle_pitch", | |
| "left_ankle_roll", | |
| "right_hip_pitch", | |
| "right_hip_roll", | |
| "right_hip_yaw", | |
| "right_knee", | |
| "right_ankle_pitch", | |
| "right_ankle_roll", | |
| "waist_yaw", | |
| "waist_roll", | |
| "waist_pitch" | |
| ] | |
| }, | |
| "action.pivot": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 7 | |
| ], | |
| "names": [ | |
| "vx", | |
| "vy", | |
| "angle_z", | |
| "pivot_3", | |
| "pivot_4", | |
| "pivot_5", | |
| "height" | |
| ] | |
| }, | |
| "action.gripper_controls": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 4 | |
| ], | |
| "names": [ | |
| "left_trigger", | |
| "left_squeeze", | |
| "right_trigger", | |
| "right_squeeze" | |
| ] | |
| }, | |
| "action.left_leg": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "hip_pitch", | |
| "hip_roll", | |
| "hip_yaw", | |
| "knee", | |
| "ankle_pitch", | |
| "ankle_roll" | |
| ] | |
| }, | |
| "action.right_leg": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "hip_pitch", | |
| "hip_roll", | |
| "hip_yaw", | |
| "knee", | |
| "ankle_pitch", | |
| "ankle_roll" | |
| ] | |
| }, | |
| "action.base_command": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 4 | |
| ], | |
| "names": [ | |
| "vx", | |
| "vy", | |
| "angle_z", | |
| "height" | |
| ] | |
| }, | |
| "action.left_ee_pose_gripper_base": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| }, | |
| "action.right_ee_pose_gripper_base": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| }, | |
| "action.action_torso": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| }, | |
| "action.action_d435": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| }, | |
| "action.left_ee_pose_gripper_torso": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| }, | |
| "action.right_ee_pose_gripper_torso": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw" | |
| ] | |
| }, | |
| "action.waist_action_joint": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 3 | |
| ], | |
| "names": [ | |
| "yaw", | |
| "roll", | |
| "pitch" | |
| ] | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| } | |
| }, | |
| "task_id": "store_camera_8343_20260516_episode_0330", | |
| "camera_params": { | |
| "head_stereo": { | |
| "camera_matrix_left": [ | |
| [ | |
| 186.02548688009486, | |
| 0.0, | |
| 361.87371408166166 | |
| ], | |
| [ | |
| 0.0, | |
| 186.50151281181945, | |
| 232.9184184847101 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "camera_matrix_right": [ | |
| [ | |
| 185.81620769165832, | |
| 0.0, | |
| 375.00595273589215 | |
| ], | |
| [ | |
| 0.0, | |
| 185.62207297096398, | |
| 229.0838544480616 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "dist_coeffs_left": [ | |
| 0.03848266153765867, | |
| -0.055527641274326654, | |
| -0.009074199850627268, | |
| -0.00017678620927170078, | |
| 0.011804303591621282 | |
| ], | |
| "dist_coeffs_right": [ | |
| 0.050750788812328, | |
| -0.07750527387467548, | |
| -0.014013144971239691, | |
| -0.002962762038987012, | |
| 0.018505209430448828 | |
| ], | |
| "R": [ | |
| [ | |
| 0.9999946327831465, | |
| -0.000621414518154029, | |
| 0.0032168694248491444 | |
| ], | |
| [ | |
| 0.0006093664824905227, | |
| 0.9999928021966235, | |
| 0.0037448935144686916 | |
| ], | |
| [ | |
| -0.0032191734016543743, | |
| -0.0037429131624070492, | |
| 0.9999878136875813 | |
| ] | |
| ], | |
| "T": [ | |
| -54.840818583884186, | |
| -1.3061102489992982, | |
| 1.6889401838002212 | |
| ], | |
| "rectified": true | |
| }, | |
| "wrist_left": { | |
| "color": { | |
| "camera_matrix": [ | |
| [ | |
| 434.0075378417969, | |
| 0.0, | |
| 321.1601257324219 | |
| ], | |
| [ | |
| 0.0, | |
| 432.8462829589844, | |
| 238.69046020507812 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "dist_coeffs": [ | |
| -0.05290508270263672, | |
| 0.05990612506866455, | |
| -0.00014540919801220298, | |
| 0.0006168291438370943, | |
| -0.01975332200527191 | |
| ], | |
| "width": 640, | |
| "height": 480, | |
| "model": "distortion.inverse_brown_conrady" | |
| }, | |
| "ir1": { | |
| "camera_matrix": [ | |
| [ | |
| 386.1162109375, | |
| 0.0, | |
| 324.0278625488281 | |
| ], | |
| [ | |
| 0.0, | |
| 386.1162109375, | |
| 237.8682861328125 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "dist_coeffs": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "width": 640, | |
| "height": 480, | |
| "model": "distortion.brown_conrady", | |
| "extrinsics_to_color": { | |
| "rotation": [ | |
| 0.9999826550483704, | |
| 0.0024157725274562836, | |
| -0.005375828593969345, | |
| -0.0024108383804559708, | |
| 0.9999966621398926, | |
| 0.0009241300285793841, | |
| 0.005378042813390493, | |
| -0.0009111537365242839, | |
| 0.9999850988388062 | |
| ], | |
| "translation": [ | |
| 1.0000000656873453e-05, | |
| 9.999999747378752e-06, | |
| 6.119342288002372e-06 | |
| ] | |
| } | |
| }, | |
| "ir2": { | |
| "camera_matrix": [ | |
| [ | |
| 386.1162109375, | |
| 0.0, | |
| 324.0278625488281 | |
| ], | |
| [ | |
| 0.0, | |
| 386.1162109375, | |
| 237.8682861328125 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "dist_coeffs": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "width": 640, | |
| "height": 480, | |
| "model": "distortion.brown_conrady", | |
| "extrinsics_to_color": { | |
| "rotation": [ | |
| 0.9999826550483704, | |
| 0.0024157725274562836, | |
| -0.005375828593969345, | |
| -0.0024108383804559708, | |
| 0.9999966621398926, | |
| 0.0009241300285793841, | |
| 0.005378042813390493, | |
| -0.0009111537365242839, | |
| 0.9999850988388062 | |
| ], | |
| "translation": [ | |
| 0.018102869391441345, | |
| 5.3709012718172744e-05, | |
| -9.114650310948491e-05 | |
| ] | |
| }, | |
| "extrinsics_to_ir1": { | |
| "rotation": [ | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ], | |
| "translation": [ | |
| 0.018093181774020195, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| } | |
| }, | |
| "wrist_right": { | |
| "color": { | |
| "camera_matrix": [ | |
| [ | |
| 436.0645751953125, | |
| 0.0, | |
| 321.3451843261719 | |
| ], | |
| [ | |
| 0.0, | |
| 435.6025085449219, | |
| 242.51589965820312 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "dist_coeffs": [ | |
| -0.055401865392923355, | |
| 0.05923536792397499, | |
| -0.0007110995939001441, | |
| 0.000997434020973742, | |
| -0.019842663779854774 | |
| ], | |
| "width": 640, | |
| "height": 480, | |
| "model": "distortion.inverse_brown_conrady" | |
| }, | |
| "ir1": { | |
| "camera_matrix": [ | |
| [ | |
| 386.5292053222656, | |
| 0.0, | |
| 323.0304870605469 | |
| ], | |
| [ | |
| 0.0, | |
| 386.5292053222656, | |
| 241.76202392578125 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "dist_coeffs": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "width": 640, | |
| "height": 480, | |
| "model": "distortion.brown_conrady", | |
| "extrinsics_to_color": { | |
| "rotation": [ | |
| 0.9999929666519165, | |
| -0.0032505381386727095, | |
| -0.0018669050186872482, | |
| 0.003252550261095166, | |
| 0.999994158744812, | |
| 0.0010758723365142941, | |
| 0.0018633968429639935, | |
| -0.0010819369927048683, | |
| 0.9999976754188538 | |
| ], | |
| "translation": [ | |
| -3.54917356162332e-05, | |
| -1.390902980347164e-06, | |
| 5.775820682174526e-05 | |
| ] | |
| } | |
| }, | |
| "ir2": { | |
| "camera_matrix": [ | |
| [ | |
| 386.5292053222656, | |
| 0.0, | |
| 323.0304870605469 | |
| ], | |
| [ | |
| 0.0, | |
| 386.5292053222656, | |
| 241.76202392578125 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "dist_coeffs": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "width": 640, | |
| "height": 480, | |
| "model": "distortion.brown_conrady", | |
| "extrinsics_to_color": { | |
| "rotation": [ | |
| 0.9999929666519165, | |
| -0.0032505381386727095, | |
| -0.0018669050186872482, | |
| 0.003252550261095166, | |
| 0.999994158744812, | |
| 0.0010758723365142941, | |
| 0.0018633968429639935, | |
| -0.0010819369927048683, | |
| 0.9999976754188538 | |
| ], | |
| "translation": [ | |
| 0.017917228862643242, | |
| -5.9747311752289534e-05, | |
| 2.4241948267444968e-05 | |
| ] | |
| }, | |
| "extrinsics_to_ir1": { | |
| "rotation": [ | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ], | |
| "translation": [ | |
| 0.017952846363186836, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| } | |
| } | |
| } | |
| } |