diff --git a/inputs/human_hand/pickfruit/ep000006/calibration.json b/inputs/human_hand/pickfruit/ep000006/calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..867b045d09e472eaba71b1b350510d1b2a6cfc6d --- /dev/null +++ b/inputs/human_hand/pickfruit/ep000006/calibration.json @@ -0,0 +1,506 @@ +{ + "schema_version": "acwmbench.ego.calibration.pinhole.v1", + "episode_index": 6, + "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": { + "Fx": 320.00000000000006, + "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": { + "x": 0.00363868679823883, + "y": -0.42865062258823455, + "z": -0.19933934578868262, + "w": 0.8811976106036848 + }, + "translation": { + "x": -0.05050148006484744, + "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, + 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" + }, + "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, + -0.6156614753256583 + ], + [ + 0.0, + 0.6156614753256583, + 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" + }, + "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": { + "x": 0.11023896172779998, + "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, + 0.6156614753256583, + 0.7880107536067219 + ] + ], + "hfov_deg": 90.0, + "view_pitch_deg": 38.0, + "note": "Physical extrinsics remain expressed in the source fisheye camera frame. 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they are not wrist cameras.", + "cameras": { + "top_head": { + "source_camera": "head_fisheye", + "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_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": { + "x": 0.00363868679823883, + "y": -0.42865062258823455, + "z": -0.19933934578868262, + "w": 0.8811976106036848 + }, + "translation": { + "x": -0.05050148006484744, + "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, + 0.7880107536067219 + ] + ], + "hfov_deg": 90.0, + "view_pitch_deg": 38.0, + "note": "Physical extrinsics remain expressed in the source fisheye camera frame. 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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": { + "x": 0.11023896172779998, + "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, + 0.6156614753256583, + 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 + }, + "translation": { + "x": 0.004417393018733836, + "y": -0.0042354069095445705, + "z": -0.017029698432489374 + } + }, + "extrinsic_head_stereo_left_T_right": { + "rotation": { + "x": -0.0014040695076892229, + "y": 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they are not wrist cameras.", + "cameras": { + "top_head": { + "source_camera": "head_fisheye", + "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_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": { + "x": 0.00363868679823883, + "y": -0.42865062258823455, + "z": -0.19933934578868262, + "w": 0.8811976106036848 + }, + "translation": { + "x": -0.05050148006484744, + "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, + 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" + }, + "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, + -0.6156614753256583 + ], + [ + 0.0, + 0.6156614753256583, + 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" + }, + "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": { + "x": 0.11023896172779998, + "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, + 0.6156614753256583, + 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 + }, + "translation": { + "x": 0.004417393018733836, + "y": -0.0042354069095445705, + "z": -0.017029698432489374 + } + }, + "extrinsic_head_stereo_left_T_right": { + "rotation": { + "x": -0.0014040695076892229, + "y": 0.0010112171798395235, + "z": -0.0002191893102376494, + "w": 0.9999984789911828 + }, + "translation": { + "x": -0.06050456252912958, + "y": -0.00012716207060800203, + "z": -0.00025589655066818193 + } + } + }, + "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, + "height": 600, + "k1": 0.23226110637187958, + "k2": -0.01877696067094803, + "k3": -0.019749220460653305, + "k4": 0.00620193500071764, + "width": 960 + }, + "extrinsics": { + "extrinsic_head_stereo_right_T_imu": { + "rotation": { + "x": 0.9999591107589757, + "y": -0.0059275519736941866, + "z": -0.002624102731710321, + "w": -0.006305158409659226 + }, + "translation": { + "x": 0.06491403504737772, + "y": -0.005074571574618962, + "z": -0.01760922065052973 + } + } + }, + "resolution": { + "width": 960, + "height": 600 + } + } + }, + "source_calibration": { + "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": { + "x": 0.00363868679823883, + "y": -0.42865062258823455, + "z": -0.19933934578868262, + "w": 0.8811976106036848 + }, + "translation": { + "x": -0.05050148006484744, + "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 + } + }, + "extrinsic_head_stereo_left_T_imu": { + 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"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 + } + } +} diff --git a/inputs/human_hand/pickfruit/ep000032/calibration_fisheye.json b/inputs/human_hand/pickfruit/ep000032/calibration_fisheye.json new file mode 100644 index 0000000000000000000000000000000000000000..298ec061b7b52972df873c02508a0c47b1cfed2f --- /dev/null +++ b/inputs/human_hand/pickfruit/ep000032/calibration_fisheye.json @@ -0,0 +1,386 @@ +{ + "schema_version": "acwmbench.ego.calibration.v1", + "episode_index": 32, + "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": "opencv_fisheye", + "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 + }, + "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": { + "x": 0.00363868679823883, + "y": 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"right_positions_camera": "[T, 21, 3] float, right-hand joints in camera coordinates", + "left_quaternions_camera_xyzw": "[T, 21, 4] float, XYZW quaternions", + "right_quaternions_camera_xyzw": "[T, 21, 4] float, XYZW quaternions", + "left_valid": "[T] boolean validity mask", + "right_valid": "[T] boolean validity mask", + "camera_position_world": "[T, 3] float camera-reference position", + "camera_quaternion_world_xyzw": "[T, 4] float XYZW camera-reference orientation", + "camera_valid": "[T] boolean validity mask" + } + }, + "task": "pickfruit" +}