Stage Human Hand validation inputs 3/4
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- inputs/human_hand/pourwater/ep000015/calibration.json +506 -0
- inputs/human_hand/pourwater/ep000015/calibration_fisheye.json +386 -0
- inputs/human_hand/pourwater/ep000015/controls/hand_camera_poses.npz +3 -0
- inputs/human_hand/pourwater/ep000015/metadata.json +44 -0
- inputs/human_hand/pourwater/ep000015/observations/fisheye/hand_left.png +3 -0
- inputs/human_hand/pourwater/ep000015/observations/fisheye/hand_right.png +3 -0
- inputs/human_hand/pourwater/ep000015/observations/fisheye/top_head.png +3 -0
- inputs/human_hand/pourwater/ep000015/observations/hand_left.png +3 -0
- inputs/human_hand/pourwater/ep000015/observations/hand_right.png +3 -0
- inputs/human_hand/pourwater/ep000015/observations/head_stereo_left.png +3 -0
- inputs/human_hand/pourwater/ep000015/observations/head_stereo_right.png +3 -0
- inputs/human_hand/pourwater/ep000015/observations/top_head.png +3 -0
- inputs/human_hand/pourwater/ep000016/calibration.json +506 -0
- inputs/human_hand/pourwater/ep000016/calibration_fisheye.json +386 -0
- inputs/human_hand/pourwater/ep000016/controls/hand_camera_poses.npz +3 -0
- inputs/human_hand/pourwater/ep000016/metadata.json +44 -0
- inputs/human_hand/pourwater/ep000016/observations/fisheye/hand_left.png +3 -0
- inputs/human_hand/pourwater/ep000016/observations/fisheye/hand_right.png +3 -0
- inputs/human_hand/pourwater/ep000016/observations/fisheye/top_head.png +3 -0
- inputs/human_hand/pourwater/ep000016/observations/hand_left.png +3 -0
- inputs/human_hand/pourwater/ep000016/observations/hand_right.png +3 -0
- inputs/human_hand/pourwater/ep000016/observations/head_stereo_left.png +3 -0
- inputs/human_hand/pourwater/ep000016/observations/head_stereo_right.png +3 -0
- inputs/human_hand/pourwater/ep000016/observations/top_head.png +3 -0
- inputs/human_hand/pourwater/ep000020/calibration.json +506 -0
- inputs/human_hand/pourwater/ep000020/calibration_fisheye.json +386 -0
- inputs/human_hand/pourwater/ep000020/controls/hand_camera_poses.npz +3 -0
- inputs/human_hand/pourwater/ep000020/metadata.json +44 -0
- inputs/human_hand/pourwater/ep000020/observations/fisheye/hand_left.png +3 -0
- inputs/human_hand/pourwater/ep000020/observations/fisheye/hand_right.png +3 -0
- inputs/human_hand/pourwater/ep000020/observations/fisheye/top_head.png +3 -0
- inputs/human_hand/pourwater/ep000020/observations/hand_left.png +3 -0
- inputs/human_hand/pourwater/ep000020/observations/hand_right.png +3 -0
- inputs/human_hand/pourwater/ep000020/observations/head_stereo_left.png +3 -0
- inputs/human_hand/pourwater/ep000020/observations/head_stereo_right.png +3 -0
- inputs/human_hand/pourwater/ep000020/observations/top_head.png +3 -0
- inputs/human_hand/pourwater/ep000021/calibration.json +506 -0
- inputs/human_hand/pourwater/ep000021/calibration_fisheye.json +386 -0
- inputs/human_hand/pourwater/ep000021/controls/hand_camera_poses.npz +3 -0
- inputs/human_hand/pourwater/ep000021/metadata.json +44 -0
- inputs/human_hand/pourwater/ep000021/observations/fisheye/hand_left.png +3 -0
- inputs/human_hand/pourwater/ep000021/observations/fisheye/hand_right.png +3 -0
- inputs/human_hand/pourwater/ep000021/observations/fisheye/top_head.png +3 -0
- inputs/human_hand/pourwater/ep000021/observations/hand_left.png +3 -0
- inputs/human_hand/pourwater/ep000021/observations/hand_right.png +3 -0
- inputs/human_hand/pourwater/ep000021/observations/head_stereo_left.png +3 -0
- inputs/human_hand/pourwater/ep000021/observations/head_stereo_right.png +3 -0
- inputs/human_hand/pourwater/ep000021/observations/top_head.png +3 -0
- inputs/human_hand/pourwater/ep000022/calibration.json +506 -0
- inputs/human_hand/pourwater/ep000022/calibration_fisheye.json +386 -0
inputs/human_hand/pourwater/ep000015/calibration.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"schema_version": "acwmbench.ego.calibration.pinhole.v1",
|
| 3 |
+
"episode_index": 15,
|
| 4 |
+
"view_aliases": {
|
| 5 |
+
"top_head": "head_fisheye",
|
| 6 |
+
"hand_left": "head_fisheye_left",
|
| 7 |
+
"hand_right": "head_fisheye_right"
|
| 8 |
+
},
|
| 9 |
+
"alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
|
| 10 |
+
"cameras": {
|
| 11 |
+
"top_head": {
|
| 12 |
+
"source_camera": "head_fisheye",
|
| 13 |
+
"camera_mount": "head",
|
| 14 |
+
"projection_model": "pinhole",
|
| 15 |
+
"intrinsics": {
|
| 16 |
+
"Fx": 320.00000000000006,
|
| 17 |
+
"Fy": 320.00000000000006,
|
| 18 |
+
"Cx": 320.0,
|
| 19 |
+
"Cy": 240.0,
|
| 20 |
+
"width": 640,
|
| 21 |
+
"height": 480
|
| 22 |
+
},
|
| 23 |
+
"extrinsics": {
|
| 24 |
+
"extrinsic_head_fisheye_T_left": {
|
| 25 |
+
"rotation": {
|
| 26 |
+
"x": 0.0009442228132370642,
|
| 27 |
+
"y": 0.0002965523734030786,
|
| 28 |
+
"z": 2.7778272304765542e-05,
|
| 29 |
+
"w": 0.9999995098640481
|
| 30 |
+
},
|
| 31 |
+
"translation": {
|
| 32 |
+
"x": 0.03061258879177004,
|
| 33 |
+
"y": -0.00044053462609449333,
|
| 34 |
+
"z": 0.0010914965841121059
|
| 35 |
+
}
|
| 36 |
+
},
|
| 37 |
+
"extrinsic_head_fisheye_left_T_left": {
|
| 38 |
+
"rotation": {
|
| 39 |
+
"x": 0.00363868679823883,
|
| 40 |
+
"y": -0.42865062258823455,
|
| 41 |
+
"z": -0.19933934578868262,
|
| 42 |
+
"w": 0.8811976106036848
|
| 43 |
+
},
|
| 44 |
+
"translation": {
|
| 45 |
+
"x": -0.05050148006484744,
|
| 46 |
+
"y": 0.014694437626401657,
|
| 47 |
+
"z": -0.028958392523767598
|
| 48 |
+
}
|
| 49 |
+
},
|
| 50 |
+
"extrinsic_head_fisheye_right_T_left": {
|
| 51 |
+
"rotation": {
|
| 52 |
+
"x": 0.0003976459684297884,
|
| 53 |
+
"y": 0.42641808299703304,
|
| 54 |
+
"z": 0.20065156149051988,
|
| 55 |
+
"w": 0.8819900289925252
|
| 56 |
+
},
|
| 57 |
+
"translation": {
|
| 58 |
+
"x": 0.11023896172779998,
|
| 59 |
+
"y": 0.013827394575498546,
|
| 60 |
+
"z": -0.02812516971803584
|
| 61 |
+
}
|
| 62 |
+
}
|
| 63 |
+
},
|
| 64 |
+
"resolution": {
|
| 65 |
+
"width": 640,
|
| 66 |
+
"height": 480
|
| 67 |
+
},
|
| 68 |
+
"rectification": {
|
| 69 |
+
"source_projection_model": "opencv_fisheye",
|
| 70 |
+
"source_intrinsics": {
|
| 71 |
+
"Cx": 401.24334716796875,
|
| 72 |
+
"Cy": 299.5632019042969,
|
| 73 |
+
"Fx": 224.22935485839844,
|
| 74 |
+
"Fy": 224.09205627441406,
|
| 75 |
+
"height": 600,
|
| 76 |
+
"k1": 0.057993289083242416,
|
| 77 |
+
"k2": 0.01816844940185547,
|
| 78 |
+
"k3": -0.008063109591603279,
|
| 79 |
+
"k4": 0.0006919464212842286,
|
| 80 |
+
"width": 800
|
| 81 |
+
},
|
| 82 |
+
"source_to_virtual_rotation": [
|
| 83 |
+
[
|
| 84 |
+
1.0,
|
| 85 |
+
0.0,
|
| 86 |
+
0.0
|
| 87 |
+
],
|
| 88 |
+
[
|
| 89 |
+
0.0,
|
| 90 |
+
0.7880107536067219,
|
| 91 |
+
-0.6156614753256583
|
| 92 |
+
],
|
| 93 |
+
[
|
| 94 |
+
0.0,
|
| 95 |
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0.6156614753256583,
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"height": 600,
|
| 467 |
+
"k1": 0.23226110637187958,
|
| 468 |
+
"k2": -0.01877696067094803,
|
| 469 |
+
"k3": -0.019749220460653305,
|
| 470 |
+
"k4": 0.00620193500071764,
|
| 471 |
+
"width": 960
|
| 472 |
+
},
|
| 473 |
+
"suppiler_flag": {
|
| 474 |
+
"head_fisheye": "383100008901V01AA1VA069126071000489",
|
| 475 |
+
"head_fisheye_left": "382200016501V01AA1VA069126061402510",
|
| 476 |
+
"head_fisheye_right": "382200017101V01AA1VA069126061302311",
|
| 477 |
+
"head_stereo_left": "383100008901V01AA1VA069126071000489",
|
| 478 |
+
"head_stereo_right": "383100008901V01AA1VA069126071000489",
|
| 479 |
+
"suppiler": 0
|
| 480 |
+
}
|
| 481 |
+
},
|
| 482 |
+
"source_calibration_file": "calibration_fisheye.json",
|
| 483 |
+
"active_views": {
|
| 484 |
+
"top_head": {
|
| 485 |
+
"projection_model": "pinhole",
|
| 486 |
+
"width": 640,
|
| 487 |
+
"height": 480,
|
| 488 |
+
"hfov_deg": 90.0,
|
| 489 |
+
"view_pitch_deg": 38.0
|
| 490 |
+
},
|
| 491 |
+
"hand_left": {
|
| 492 |
+
"projection_model": "pinhole",
|
| 493 |
+
"width": 640,
|
| 494 |
+
"height": 480,
|
| 495 |
+
"hfov_deg": 90.0,
|
| 496 |
+
"view_pitch_deg": 38.0
|
| 497 |
+
},
|
| 498 |
+
"hand_right": {
|
| 499 |
+
"projection_model": "pinhole",
|
| 500 |
+
"width": 640,
|
| 501 |
+
"height": 480,
|
| 502 |
+
"hfov_deg": 90.0,
|
| 503 |
+
"view_pitch_deg": 38.0
|
| 504 |
+
}
|
| 505 |
+
}
|
| 506 |
+
}
|
inputs/human_hand/pourwater/ep000015/calibration_fisheye.json
ADDED
|
@@ -0,0 +1,386 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": "acwmbench.ego.calibration.v1",
|
| 3 |
+
"episode_index": 15,
|
| 4 |
+
"view_aliases": {
|
| 5 |
+
"top_head": "head_fisheye",
|
| 6 |
+
"hand_left": "head_fisheye_left",
|
| 7 |
+
"hand_right": "head_fisheye_right"
|
| 8 |
+
},
|
| 9 |
+
"alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
|
| 10 |
+
"cameras": {
|
| 11 |
+
"top_head": {
|
| 12 |
+
"source_camera": "head_fisheye",
|
| 13 |
+
"camera_mount": "head",
|
| 14 |
+
"projection_model": "opencv_fisheye",
|
| 15 |
+
"intrinsics": {
|
| 16 |
+
"Cx": 401.24334716796875,
|
| 17 |
+
"Cy": 299.5632019042969,
|
| 18 |
+
"Fx": 224.22935485839844,
|
| 19 |
+
"Fy": 224.09205627441406,
|
| 20 |
+
"height": 600,
|
| 21 |
+
"k1": 0.057993289083242416,
|
| 22 |
+
"k2": 0.01816844940185547,
|
| 23 |
+
"k3": -0.008063109591603279,
|
| 24 |
+
"k4": 0.0006919464212842286,
|
| 25 |
+
"width": 800
|
| 26 |
+
},
|
| 27 |
+
"extrinsics": {
|
| 28 |
+
"extrinsic_head_fisheye_T_left": {
|
| 29 |
+
"rotation": {
|
| 30 |
+
"x": 0.0009442228132370642,
|
| 31 |
+
"y": 0.0002965523734030786,
|
| 32 |
+
"z": 2.7778272304765542e-05,
|
| 33 |
+
"w": 0.9999995098640481
|
| 34 |
+
},
|
| 35 |
+
"translation": {
|
| 36 |
+
"x": 0.03061258879177004,
|
| 37 |
+
"y": -0.00044053462609449333,
|
| 38 |
+
"z": 0.0010914965841121059
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"extrinsic_head_fisheye_left_T_left": {
|
| 42 |
+
"rotation": {
|
| 43 |
+
"x": 0.00363868679823883,
|
| 44 |
+
"y": -0.42865062258823455,
|
| 45 |
+
"z": -0.19933934578868262,
|
| 46 |
+
"w": 0.8811976106036848
|
| 47 |
+
},
|
| 48 |
+
"translation": {
|
| 49 |
+
"x": -0.05050148006484744,
|
| 50 |
+
"y": 0.014694437626401657,
|
| 51 |
+
"z": -0.028958392523767598
|
| 52 |
+
}
|
| 53 |
+
},
|
| 54 |
+
"extrinsic_head_fisheye_right_T_left": {
|
| 55 |
+
"rotation": {
|
| 56 |
+
"x": 0.0003976459684297884,
|
| 57 |
+
"y": 0.42641808299703304,
|
| 58 |
+
"z": 0.20065156149051988,
|
| 59 |
+
"w": 0.8819900289925252
|
| 60 |
+
},
|
| 61 |
+
"translation": {
|
| 62 |
+
"x": 0.11023896172779998,
|
| 63 |
+
"y": 0.013827394575498546,
|
| 64 |
+
"z": -0.02812516971803584
|
| 65 |
+
}
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"resolution": {
|
| 69 |
+
"width": 800,
|
| 70 |
+
"height": 600
|
| 71 |
+
}
|
| 72 |
+
},
|
| 73 |
+
"hand_left": {
|
| 74 |
+
"source_camera": "head_fisheye_left",
|
| 75 |
+
"camera_mount": "head",
|
| 76 |
+
"projection_model": "opencv_fisheye",
|
| 77 |
+
"intrinsics": {
|
| 78 |
+
"Cx": 479.4472961425781,
|
| 79 |
+
"Cy": 299.9506530761719,
|
| 80 |
+
"Fx": 223.04345703125,
|
| 81 |
+
"Fy": 223.11749267578125,
|
| 82 |
+
"height": 600,
|
| 83 |
+
"k1": 0.06008125841617584,
|
| 84 |
+
"k2": 0.015944620594382286,
|
| 85 |
+
"k3": -0.006167862098664045,
|
| 86 |
+
"k4": 0.00022500510385725647,
|
| 87 |
+
"width": 960
|
| 88 |
+
},
|
| 89 |
+
"extrinsics": {
|
| 90 |
+
"extrinsic_head_fisheye_left_T_left": {
|
| 91 |
+
"rotation": {
|
| 92 |
+
"x": 0.00363868679823883,
|
| 93 |
+
"y": -0.42865062258823455,
|
| 94 |
+
"z": -0.19933934578868262,
|
| 95 |
+
"w": 0.8811976106036848
|
| 96 |
+
},
|
| 97 |
+
"translation": {
|
| 98 |
+
"x": -0.05050148006484744,
|
| 99 |
+
"y": 0.014694437626401657,
|
| 100 |
+
"z": -0.028958392523767598
|
| 101 |
+
}
|
| 102 |
+
}
|
| 103 |
+
},
|
| 104 |
+
"resolution": {
|
| 105 |
+
"width": 960,
|
| 106 |
+
"height": 600
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"hand_right": {
|
| 110 |
+
"source_camera": "head_fisheye_right",
|
| 111 |
+
"camera_mount": "head",
|
| 112 |
+
"projection_model": "opencv_fisheye",
|
| 113 |
+
"intrinsics": {
|
| 114 |
+
"Cx": 480.4215393066406,
|
| 115 |
+
"Cy": 299.4262390136719,
|
| 116 |
+
"Fx": 223.5740509033203,
|
| 117 |
+
"Fy": 223.46319580078125,
|
| 118 |
+
"height": 600,
|
| 119 |
+
"k1": 0.05835850164294243,
|
| 120 |
+
"k2": 0.017698010429739952,
|
| 121 |
+
"k3": -0.007227227091789246,
|
| 122 |
+
"k4": 0.0004160731041338295,
|
| 123 |
+
"width": 960
|
| 124 |
+
},
|
| 125 |
+
"extrinsics": {
|
| 126 |
+
"extrinsic_head_fisheye_right_T_left": {
|
| 127 |
+
"rotation": {
|
| 128 |
+
"x": 0.0003976459684297884,
|
| 129 |
+
"y": 0.42641808299703304,
|
| 130 |
+
"z": 0.20065156149051988,
|
| 131 |
+
"w": 0.8819900289925252
|
| 132 |
+
},
|
| 133 |
+
"translation": {
|
| 134 |
+
"x": 0.11023896172779998,
|
| 135 |
+
"y": 0.013827394575498546,
|
| 136 |
+
"z": -0.02812516971803584
|
| 137 |
+
}
|
| 138 |
+
}
|
| 139 |
+
},
|
| 140 |
+
"resolution": {
|
| 141 |
+
"width": 960,
|
| 142 |
+
"height": 600
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
"head_stereo_left": {
|
| 146 |
+
"source_camera": "head_stereo_left",
|
| 147 |
+
"camera_mount": "head",
|
| 148 |
+
"projection_model": "pinhole",
|
| 149 |
+
"intrinsics": {
|
| 150 |
+
"Cx": 481.39990234375,
|
| 151 |
+
"Cy": 298.59674072265625,
|
| 152 |
+
"Fx": 300.0994873046875,
|
| 153 |
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"Fy": 300.0945129394531,
|
| 154 |
+
"height": 600,
|
| 155 |
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"k1": 0.23313209414482117,
|
| 156 |
+
"k2": -0.013054169714450836,
|
| 157 |
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"k3": -0.02656524069607258,
|
| 158 |
+
"k4": 0.008368264883756638,
|
| 159 |
+
"width": 960
|
| 160 |
+
},
|
| 161 |
+
"extrinsics": {
|
| 162 |
+
"extrinsic_head_stereo_left_T_imu": {
|
| 163 |
+
"rotation": {
|
| 164 |
+
"x": 0.999970395486808,
|
| 165 |
+
"y": -0.005711054071957077,
|
| 166 |
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"z": -0.0016198635801491547,
|
| 167 |
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"w": -0.004895717855982548
|
| 168 |
+
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inputs/human_hand/pourwater/ep000015/metadata.json
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{
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}
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"alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.",
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inputs/human_hand/pourwater/ep000015/observations/fisheye/hand_left.png
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inputs/human_hand/pourwater/ep000015/observations/fisheye/hand_right.png
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inputs/human_hand/pourwater/ep000015/observations/fisheye/top_head.png
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inputs/human_hand/pourwater/ep000015/observations/head_stereo_left.png
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inputs/human_hand/pourwater/ep000015/observations/head_stereo_right.png
ADDED
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inputs/human_hand/pourwater/ep000015/observations/top_head.png
ADDED
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inputs/human_hand/pourwater/ep000016/calibration.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": "acwmbench.ego.calibration.pinhole.v1",
|
| 3 |
+
"episode_index": 16,
|
| 4 |
+
"view_aliases": {
|
| 5 |
+
"top_head": "head_fisheye",
|
| 6 |
+
"hand_left": "head_fisheye_left",
|
| 7 |
+
"hand_right": "head_fisheye_right"
|
| 8 |
+
},
|
| 9 |
+
"alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
|
| 10 |
+
"cameras": {
|
| 11 |
+
"top_head": {
|
| 12 |
+
"source_camera": "head_fisheye",
|
| 13 |
+
"camera_mount": "head",
|
| 14 |
+
"projection_model": "pinhole",
|
| 15 |
+
"intrinsics": {
|
| 16 |
+
"Fx": 320.00000000000006,
|
| 17 |
+
"Fy": 320.00000000000006,
|
| 18 |
+
"Cx": 320.0,
|
| 19 |
+
"Cy": 240.0,
|
| 20 |
+
"width": 640,
|
| 21 |
+
"height": 480
|
| 22 |
+
},
|
| 23 |
+
"extrinsics": {
|
| 24 |
+
"extrinsic_head_fisheye_T_left": {
|
| 25 |
+
"rotation": {
|
| 26 |
+
"x": 0.0009442228132370642,
|
| 27 |
+
"y": 0.0002965523734030786,
|
| 28 |
+
"z": 2.7778272304765542e-05,
|
| 29 |
+
"w": 0.9999995098640481
|
| 30 |
+
},
|
| 31 |
+
"translation": {
|
| 32 |
+
"x": 0.03061258879177004,
|
| 33 |
+
"y": -0.00044053462609449333,
|
| 34 |
+
"z": 0.0010914965841121059
|
| 35 |
+
}
|
| 36 |
+
},
|
| 37 |
+
"extrinsic_head_fisheye_left_T_left": {
|
| 38 |
+
"rotation": {
|
| 39 |
+
"x": 0.00363868679823883,
|
| 40 |
+
"y": -0.42865062258823455,
|
| 41 |
+
"z": -0.19933934578868262,
|
| 42 |
+
"w": 0.8811976106036848
|
| 43 |
+
},
|
| 44 |
+
"translation": {
|
| 45 |
+
"x": -0.05050148006484744,
|
| 46 |
+
"y": 0.014694437626401657,
|
| 47 |
+
"z": -0.028958392523767598
|
| 48 |
+
}
|
| 49 |
+
},
|
| 50 |
+
"extrinsic_head_fisheye_right_T_left": {
|
| 51 |
+
"rotation": {
|
| 52 |
+
"x": 0.0003976459684297884,
|
| 53 |
+
"y": 0.42641808299703304,
|
| 54 |
+
"z": 0.20065156149051988,
|
| 55 |
+
"w": 0.8819900289925252
|
| 56 |
+
},
|
| 57 |
+
"translation": {
|
| 58 |
+
"x": 0.11023896172779998,
|
| 59 |
+
"y": 0.013827394575498546,
|
| 60 |
+
"z": -0.02812516971803584
|
| 61 |
+
}
|
| 62 |
+
}
|
| 63 |
+
},
|
| 64 |
+
"resolution": {
|
| 65 |
+
"width": 640,
|
| 66 |
+
"height": 480
|
| 67 |
+
},
|
| 68 |
+
"rectification": {
|
| 69 |
+
"source_projection_model": "opencv_fisheye",
|
| 70 |
+
"source_intrinsics": {
|
| 71 |
+
"Cx": 401.24334716796875,
|
| 72 |
+
"Cy": 299.5632019042969,
|
| 73 |
+
"Fx": 224.22935485839844,
|
| 74 |
+
"Fy": 224.09205627441406,
|
| 75 |
+
"height": 600,
|
| 76 |
+
"k1": 0.057993289083242416,
|
| 77 |
+
"k2": 0.01816844940185547,
|
| 78 |
+
"k3": -0.008063109591603279,
|
| 79 |
+
"k4": 0.0006919464212842286,
|
| 80 |
+
"width": 800
|
| 81 |
+
},
|
| 82 |
+
"source_to_virtual_rotation": [
|
| 83 |
+
[
|
| 84 |
+
1.0,
|
| 85 |
+
0.0,
|
| 86 |
+
0.0
|
| 87 |
+
],
|
| 88 |
+
[
|
| 89 |
+
0.0,
|
| 90 |
+
0.7880107536067219,
|
| 91 |
+
-0.6156614753256583
|
| 92 |
+
],
|
| 93 |
+
[
|
| 94 |
+
0.0,
|
| 95 |
+
0.6156614753256583,
|
| 96 |
+
0.7880107536067219
|
| 97 |
+
]
|
| 98 |
+
],
|
| 99 |
+
"hfov_deg": 90.0,
|
| 100 |
+
"view_pitch_deg": 38.0,
|
| 101 |
+
"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."
|
| 102 |
+
},
|
| 103 |
+
"extrinsics_reference_frame": "source_fisheye_camera"
|
| 104 |
+
},
|
| 105 |
+
"hand_left": {
|
| 106 |
+
"source_camera": "head_fisheye_left",
|
| 107 |
+
"camera_mount": "head",
|
| 108 |
+
"projection_model": "pinhole",
|
| 109 |
+
"intrinsics": {
|
| 110 |
+
"Fx": 320.00000000000006,
|
| 111 |
+
"Fy": 320.00000000000006,
|
| 112 |
+
"Cx": 320.0,
|
| 113 |
+
"Cy": 240.0,
|
| 114 |
+
"width": 640,
|
| 115 |
+
"height": 480
|
| 116 |
+
},
|
| 117 |
+
"extrinsics": {
|
| 118 |
+
"extrinsic_head_fisheye_left_T_left": {
|
| 119 |
+
"rotation": {
|
| 120 |
+
"x": 0.00363868679823883,
|
| 121 |
+
"y": -0.42865062258823455,
|
| 122 |
+
"z": -0.19933934578868262,
|
| 123 |
+
"w": 0.8811976106036848
|
| 124 |
+
},
|
| 125 |
+
"translation": {
|
| 126 |
+
"x": -0.05050148006484744,
|
| 127 |
+
"y": 0.014694437626401657,
|
| 128 |
+
"z": -0.028958392523767598
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
},
|
| 132 |
+
"resolution": {
|
| 133 |
+
"width": 640,
|
| 134 |
+
"height": 480
|
| 135 |
+
},
|
| 136 |
+
"rectification": {
|
| 137 |
+
"source_projection_model": "opencv_fisheye",
|
| 138 |
+
"source_intrinsics": {
|
| 139 |
+
"Cx": 479.4472961425781,
|
| 140 |
+
"Cy": 299.9506530761719,
|
| 141 |
+
"Fx": 223.04345703125,
|
| 142 |
+
"Fy": 223.11749267578125,
|
| 143 |
+
"height": 600,
|
| 144 |
+
"k1": 0.06008125841617584,
|
| 145 |
+
"k2": 0.015944620594382286,
|
| 146 |
+
"k3": -0.006167862098664045,
|
| 147 |
+
"k4": 0.00022500510385725647,
|
| 148 |
+
"width": 960
|
| 149 |
+
},
|
| 150 |
+
"source_to_virtual_rotation": [
|
| 151 |
+
[
|
| 152 |
+
1.0,
|
| 153 |
+
0.0,
|
| 154 |
+
0.0
|
| 155 |
+
],
|
| 156 |
+
[
|
| 157 |
+
0.0,
|
| 158 |
+
0.7880107536067219,
|
| 159 |
+
-0.6156614753256583
|
| 160 |
+
],
|
| 161 |
+
[
|
| 162 |
+
0.0,
|
| 163 |
+
0.6156614753256583,
|
| 164 |
+
0.7880107536067219
|
| 165 |
+
]
|
| 166 |
+
],
|
| 167 |
+
"hfov_deg": 90.0,
|
| 168 |
+
"view_pitch_deg": 38.0,
|
| 169 |
+
"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."
|
| 170 |
+
},
|
| 171 |
+
"extrinsics_reference_frame": "source_fisheye_camera"
|
| 172 |
+
},
|
| 173 |
+
"hand_right": {
|
| 174 |
+
"source_camera": "head_fisheye_right",
|
| 175 |
+
"camera_mount": "head",
|
| 176 |
+
"projection_model": "pinhole",
|
| 177 |
+
"intrinsics": {
|
| 178 |
+
"Fx": 320.00000000000006,
|
| 179 |
+
"Fy": 320.00000000000006,
|
| 180 |
+
"Cx": 320.0,
|
| 181 |
+
"Cy": 240.0,
|
| 182 |
+
"width": 640,
|
| 183 |
+
"height": 480
|
| 184 |
+
},
|
| 185 |
+
"extrinsics": {
|
| 186 |
+
"extrinsic_head_fisheye_right_T_left": {
|
| 187 |
+
"rotation": {
|
| 188 |
+
"x": 0.0003976459684297884,
|
| 189 |
+
"y": 0.42641808299703304,
|
| 190 |
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"z": 0.20065156149051988,
|
| 191 |
+
"w": 0.8819900289925252
|
| 192 |
+
},
|
| 193 |
+
"translation": {
|
| 194 |
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"x": 0.11023896172779998,
|
| 195 |
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"y": 0.013827394575498546,
|
| 196 |
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"z": -0.02812516971803584
|
| 197 |
+
}
|
| 198 |
+
}
|
| 199 |
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},
|
| 200 |
+
"resolution": {
|
| 201 |
+
"width": 640,
|
| 202 |
+
"height": 480
|
| 203 |
+
},
|
| 204 |
+
"rectification": {
|
| 205 |
+
"source_projection_model": "opencv_fisheye",
|
| 206 |
+
"source_intrinsics": {
|
| 207 |
+
"Cx": 480.4215393066406,
|
| 208 |
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"Cy": 299.4262390136719,
|
| 209 |
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"Fx": 223.5740509033203,
|
| 210 |
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"Fy": 223.46319580078125,
|
| 211 |
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"height": 600,
|
| 212 |
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"k1": 0.05835850164294243,
|
| 213 |
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"k2": 0.017698010429739952,
|
| 214 |
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"k3": -0.007227227091789246,
|
| 215 |
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"k4": 0.0004160731041338295,
|
| 216 |
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"width": 960
|
| 217 |
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},
|
| 218 |
+
"source_to_virtual_rotation": [
|
| 219 |
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[
|
| 220 |
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1.0,
|
| 221 |
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0.0,
|
| 222 |
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0.0
|
| 223 |
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],
|
| 224 |
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[
|
| 225 |
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0.0,
|
| 226 |
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0.7880107536067219,
|
| 227 |
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[
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| 235 |
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|
| 236 |
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|
| 237 |
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"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."
|
| 238 |
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},
|
| 239 |
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"extrinsics_reference_frame": "source_fisheye_camera"
|
| 240 |
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|
| 241 |
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|
| 242 |
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| 243 |
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| 244 |
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| 245 |
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| 292 |
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| 293 |
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| 322 |
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| 324 |
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| 327 |
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| 328 |
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|
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},
|
| 473 |
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"suppiler_flag": {
|
| 474 |
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|
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|
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"head_fisheye_right": "382200017101V01AA1VA069126061302311",
|
| 477 |
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|
| 479 |
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"suppiler": 0
|
| 480 |
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}
|
| 481 |
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},
|
| 482 |
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"source_calibration_file": "calibration_fisheye.json",
|
| 483 |
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"active_views": {
|
| 484 |
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|
| 485 |
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|
| 486 |
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"width": 640,
|
| 487 |
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|
| 488 |
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|
| 489 |
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|
| 490 |
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},
|
| 491 |
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"hand_left": {
|
| 492 |
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"projection_model": "pinhole",
|
| 493 |
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"width": 640,
|
| 494 |
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"height": 480,
|
| 495 |
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"hfov_deg": 90.0,
|
| 496 |
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"view_pitch_deg": 38.0
|
| 497 |
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},
|
| 498 |
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"hand_right": {
|
| 499 |
+
"projection_model": "pinhole",
|
| 500 |
+
"width": 640,
|
| 501 |
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"height": 480,
|
| 502 |
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"hfov_deg": 90.0,
|
| 503 |
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"view_pitch_deg": 38.0
|
| 504 |
+
}
|
| 505 |
+
}
|
| 506 |
+
}
|
inputs/human_hand/pourwater/ep000016/calibration_fisheye.json
ADDED
|
@@ -0,0 +1,386 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": "acwmbench.ego.calibration.v1",
|
| 3 |
+
"episode_index": 16,
|
| 4 |
+
"view_aliases": {
|
| 5 |
+
"top_head": "head_fisheye",
|
| 6 |
+
"hand_left": "head_fisheye_left",
|
| 7 |
+
"hand_right": "head_fisheye_right"
|
| 8 |
+
},
|
| 9 |
+
"alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
|
| 10 |
+
"cameras": {
|
| 11 |
+
"top_head": {
|
| 12 |
+
"source_camera": "head_fisheye",
|
| 13 |
+
"camera_mount": "head",
|
| 14 |
+
"projection_model": "opencv_fisheye",
|
| 15 |
+
"intrinsics": {
|
| 16 |
+
"Cx": 401.24334716796875,
|
| 17 |
+
"Cy": 299.5632019042969,
|
| 18 |
+
"Fx": 224.22935485839844,
|
| 19 |
+
"Fy": 224.09205627441406,
|
| 20 |
+
"height": 600,
|
| 21 |
+
"k1": 0.057993289083242416,
|
| 22 |
+
"k2": 0.01816844940185547,
|
| 23 |
+
"k3": -0.008063109591603279,
|
| 24 |
+
"k4": 0.0006919464212842286,
|
| 25 |
+
"width": 800
|
| 26 |
+
},
|
| 27 |
+
"extrinsics": {
|
| 28 |
+
"extrinsic_head_fisheye_T_left": {
|
| 29 |
+
"rotation": {
|
| 30 |
+
"x": 0.0009442228132370642,
|
| 31 |
+
"y": 0.0002965523734030786,
|
| 32 |
+
"z": 2.7778272304765542e-05,
|
| 33 |
+
"w": 0.9999995098640481
|
| 34 |
+
},
|
| 35 |
+
"translation": {
|
| 36 |
+
"x": 0.03061258879177004,
|
| 37 |
+
"y": -0.00044053462609449333,
|
| 38 |
+
"z": 0.0010914965841121059
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"extrinsic_head_fisheye_left_T_left": {
|
| 42 |
+
"rotation": {
|
| 43 |
+
"x": 0.00363868679823883,
|
| 44 |
+
"y": -0.42865062258823455,
|
| 45 |
+
"z": -0.19933934578868262,
|
| 46 |
+
"w": 0.8811976106036848
|
| 47 |
+
},
|
| 48 |
+
"translation": {
|
| 49 |
+
"x": -0.05050148006484744,
|
| 50 |
+
"y": 0.014694437626401657,
|
| 51 |
+
"z": -0.028958392523767598
|
| 52 |
+
}
|
| 53 |
+
},
|
| 54 |
+
"extrinsic_head_fisheye_right_T_left": {
|
| 55 |
+
"rotation": {
|
| 56 |
+
"x": 0.0003976459684297884,
|
| 57 |
+
"y": 0.42641808299703304,
|
| 58 |
+
"z": 0.20065156149051988,
|
| 59 |
+
"w": 0.8819900289925252
|
| 60 |
+
},
|
| 61 |
+
"translation": {
|
| 62 |
+
"x": 0.11023896172779998,
|
| 63 |
+
"y": 0.013827394575498546,
|
| 64 |
+
"z": -0.02812516971803584
|
| 65 |
+
}
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"resolution": {
|
| 69 |
+
"width": 800,
|
| 70 |
+
"height": 600
|
| 71 |
+
}
|
| 72 |
+
},
|
| 73 |
+
"hand_left": {
|
| 74 |
+
"source_camera": "head_fisheye_left",
|
| 75 |
+
"camera_mount": "head",
|
| 76 |
+
"projection_model": "opencv_fisheye",
|
| 77 |
+
"intrinsics": {
|
| 78 |
+
"Cx": 479.4472961425781,
|
| 79 |
+
"Cy": 299.9506530761719,
|
| 80 |
+
"Fx": 223.04345703125,
|
| 81 |
+
"Fy": 223.11749267578125,
|
| 82 |
+
"height": 600,
|
| 83 |
+
"k1": 0.06008125841617584,
|
| 84 |
+
"k2": 0.015944620594382286,
|
| 85 |
+
"k3": -0.006167862098664045,
|
| 86 |
+
"k4": 0.00022500510385725647,
|
| 87 |
+
"width": 960
|
| 88 |
+
},
|
| 89 |
+
"extrinsics": {
|
| 90 |
+
"extrinsic_head_fisheye_left_T_left": {
|
| 91 |
+
"rotation": {
|
| 92 |
+
"x": 0.00363868679823883,
|
| 93 |
+
"y": -0.42865062258823455,
|
| 94 |
+
"z": -0.19933934578868262,
|
| 95 |
+
"w": 0.8811976106036848
|
| 96 |
+
},
|
| 97 |
+
"translation": {
|
| 98 |
+
"x": -0.05050148006484744,
|
| 99 |
+
"y": 0.014694437626401657,
|
| 100 |
+
"z": -0.028958392523767598
|
| 101 |
+
}
|
| 102 |
+
}
|
| 103 |
+
},
|
| 104 |
+
"resolution": {
|
| 105 |
+
"width": 960,
|
| 106 |
+
"height": 600
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"hand_right": {
|
| 110 |
+
"source_camera": "head_fisheye_right",
|
| 111 |
+
"camera_mount": "head",
|
| 112 |
+
"projection_model": "opencv_fisheye",
|
| 113 |
+
"intrinsics": {
|
| 114 |
+
"Cx": 480.4215393066406,
|
| 115 |
+
"Cy": 299.4262390136719,
|
| 116 |
+
"Fx": 223.5740509033203,
|
| 117 |
+
"Fy": 223.46319580078125,
|
| 118 |
+
"height": 600,
|
| 119 |
+
"k1": 0.05835850164294243,
|
| 120 |
+
"k2": 0.017698010429739952,
|
| 121 |
+
"k3": -0.007227227091789246,
|
| 122 |
+
"k4": 0.0004160731041338295,
|
| 123 |
+
"width": 960
|
| 124 |
+
},
|
| 125 |
+
"extrinsics": {
|
| 126 |
+
"extrinsic_head_fisheye_right_T_left": {
|
| 127 |
+
"rotation": {
|
| 128 |
+
"x": 0.0003976459684297884,
|
| 129 |
+
"y": 0.42641808299703304,
|
| 130 |
+
"z": 0.20065156149051988,
|
| 131 |
+
"w": 0.8819900289925252
|
| 132 |
+
},
|
| 133 |
+
"translation": {
|
| 134 |
+
"x": 0.11023896172779998,
|
| 135 |
+
"y": 0.013827394575498546,
|
| 136 |
+
"z": -0.02812516971803584
|
| 137 |
+
}
|
| 138 |
+
}
|
| 139 |
+
},
|
| 140 |
+
"resolution": {
|
| 141 |
+
"width": 960,
|
| 142 |
+
"height": 600
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
"head_stereo_left": {
|
| 146 |
+
"source_camera": "head_stereo_left",
|
| 147 |
+
"camera_mount": "head",
|
| 148 |
+
"projection_model": "pinhole",
|
| 149 |
+
"intrinsics": {
|
| 150 |
+
"Cx": 481.39990234375,
|
| 151 |
+
"Cy": 298.59674072265625,
|
| 152 |
+
"Fx": 300.0994873046875,
|
| 153 |
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"Fy": 300.0945129394531,
|
| 154 |
+
"height": 600,
|
| 155 |
+
"k1": 0.23313209414482117,
|
| 156 |
+
"k2": -0.013054169714450836,
|
| 157 |
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"k3": -0.02656524069607258,
|
| 158 |
+
"k4": 0.008368264883756638,
|
| 159 |
+
"width": 960
|
| 160 |
+
},
|
| 161 |
+
"extrinsics": {
|
| 162 |
+
"extrinsic_head_stereo_left_T_imu": {
|
| 163 |
+
"rotation": {
|
| 164 |
+
"x": 0.999970395486808,
|
| 165 |
+
"y": -0.005711054071957077,
|
| 166 |
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"z": -0.0016198635801491547,
|
| 167 |
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"w": -0.004895717855982548
|
| 168 |
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},
|
| 169 |
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"translation": {
|
| 170 |
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"x": 0.004417393018733836,
|
| 171 |
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"y": -0.0042354069095445705,
|
| 172 |
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"z": -0.017029698432489374
|
| 173 |
+
}
|
| 174 |
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},
|
| 175 |
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"extrinsic_head_stereo_left_T_right": {
|
| 176 |
+
"rotation": {
|
| 177 |
+
"x": -0.0014040695076892229,
|
| 178 |
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"y": 0.0010112171798395235,
|
| 179 |
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"z": -0.0002191893102376494,
|
| 180 |
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"w": 0.9999984789911828
|
| 181 |
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},
|
| 182 |
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"translation": {
|
| 183 |
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"x": -0.06050456252912958,
|
| 184 |
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|
| 185 |
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"z": -0.00025589655066818193
|
| 186 |
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}
|
| 187 |
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}
|
| 188 |
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},
|
| 189 |
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"resolution": {
|
| 190 |
+
"width": 960,
|
| 191 |
+
"height": 600
|
| 192 |
+
}
|
| 193 |
+
},
|
| 194 |
+
"head_stereo_right": {
|
| 195 |
+
"source_camera": "head_stereo_right",
|
| 196 |
+
"camera_mount": "head",
|
| 197 |
+
"projection_model": "pinhole",
|
| 198 |
+
"intrinsics": {
|
| 199 |
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"Cx": 480.90869140625,
|
| 200 |
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"Cy": 300.6904602050781,
|
| 201 |
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"Fx": 300.04974365234375,
|
| 202 |
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|
| 203 |
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"height": 600,
|
| 204 |
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"k1": 0.23226110637187958,
|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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"width": 960
|
| 209 |
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},
|
| 210 |
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"extrinsics": {
|
| 211 |
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"extrinsic_head_stereo_right_T_imu": {
|
| 212 |
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"rotation": {
|
| 213 |
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"x": 0.9999591107589757,
|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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},
|
| 218 |
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|
| 219 |
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|
| 220 |
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| 222 |
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|
| 223 |
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|
| 224 |
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},
|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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}
|
| 229 |
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}
|
| 230 |
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},
|
| 231 |
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"source_calibration": {
|
| 232 |
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|
| 233 |
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"rotation": {
|
| 234 |
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|
| 235 |
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|
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|
| 237 |
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|
| 238 |
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},
|
| 239 |
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|
| 240 |
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|
| 241 |
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|
| 242 |
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"z": 0.0010914965841121059
|
| 243 |
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}
|
| 244 |
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},
|
| 245 |
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"extrinsic_head_fisheye_left_T_left": {
|
| 246 |
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"rotation": {
|
| 247 |
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|
| 248 |
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|
| 249 |
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|
| 250 |
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|
| 251 |
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},
|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
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|
| 256 |
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}
|
| 257 |
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},
|
| 258 |
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"extrinsic_head_fisheye_right_T_left": {
|
| 259 |
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"rotation": {
|
| 260 |
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|
| 261 |
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|
| 262 |
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|
| 263 |
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"w": 0.8819900289925252
|
| 264 |
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},
|
| 265 |
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|
| 266 |
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|
| 267 |
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"y": 0.013827394575498546,
|
| 268 |
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"z": -0.02812516971803584
|
| 269 |
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}
|
| 270 |
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},
|
| 271 |
+
"extrinsic_head_stereo_left_T_imu": {
|
| 272 |
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"rotation": {
|
| 273 |
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"x": 0.999970395486808,
|
| 274 |
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"y": -0.005711054071957077,
|
| 275 |
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"z": -0.0016198635801491547,
|
| 276 |
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"w": -0.004895717855982548
|
| 277 |
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},
|
| 278 |
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"translation": {
|
| 279 |
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|
| 280 |
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|
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|
| 282 |
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}
|
| 283 |
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},
|
| 284 |
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"extrinsic_head_stereo_left_T_right": {
|
| 285 |
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"rotation": {
|
| 286 |
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"x": -0.0014040695076892229,
|
| 287 |
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|
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|
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},
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|
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| 295 |
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}
|
| 296 |
+
},
|
| 297 |
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|
| 298 |
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| 299 |
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| 300 |
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| 301 |
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| 302 |
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|
| 303 |
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},
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| 305 |
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|
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|
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|
| 311 |
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"height": 600,
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"height": 600,
|
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"width": 960
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| 335 |
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| 347 |
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},
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| 361 |
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| 363 |
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|
| 364 |
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| 366 |
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|
| 367 |
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| 368 |
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"Fx": 300.04974365234375,
|
| 369 |
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|
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|
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"width": 960
|
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| 377 |
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"suppiler_flag": {
|
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"head_fisheye": "383100008901V01AA1VA069126071000489",
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"head_fisheye_right": "382200017101V01AA1VA069126061302311",
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"head_stereo_left": "383100008901V01AA1VA069126071000489",
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"head_stereo_right": "383100008901V01AA1VA069126071000489",
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| 383 |
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"suppiler": 0
|
| 384 |
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}
|
| 385 |
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}
|
| 386 |
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}
|
inputs/human_hand/pourwater/ep000016/controls/hand_camera_poses.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:45fbb72488f150cc5eb3a7ed5065c63542cf964d1e6b96eb8a5aa106ce09c455
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| 3 |
+
size 1834147
|
inputs/human_hand/pourwater/ep000016/metadata.json
ADDED
|
@@ -0,0 +1,44 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": "worldoracle.human_hand.validation_input.v2",
|
| 3 |
+
"task_name": "pourwater",
|
| 4 |
+
"episode_index": 16,
|
| 5 |
+
"episode_name": "ep000016",
|
| 6 |
+
"fps": 15.0,
|
| 7 |
+
"num_frames": 1909,
|
| 8 |
+
"seed_local_index": 0,
|
| 9 |
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"embodiment": "ego_human_bimanual",
|
| 10 |
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"files": {
|
| 11 |
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"calibration": "calibration.json",
|
| 12 |
+
"observations": {
|
| 13 |
+
"top_head": "observations/top_head.png",
|
| 14 |
+
"hand_left": "observations/hand_left.png",
|
| 15 |
+
"hand_right": "observations/hand_right.png",
|
| 16 |
+
"head_stereo_left": "observations/head_stereo_left.png",
|
| 17 |
+
"head_stereo_right": "observations/head_stereo_right.png"
|
| 18 |
+
},
|
| 19 |
+
"controls": {
|
| 20 |
+
"hand_camera_poses": "controls/hand_camera_poses.npz"
|
| 21 |
+
},
|
| 22 |
+
"fisheye_calibration": "calibration_fisheye.json",
|
| 23 |
+
"fisheye_observations": {
|
| 24 |
+
"top_head": "observations/fisheye/top_head.png",
|
| 25 |
+
"hand_left": "observations/fisheye/hand_left.png",
|
| 26 |
+
"hand_right": "observations/fisheye/hand_right.png"
|
| 27 |
+
}
|
| 28 |
+
},
|
| 29 |
+
"active_projection": {
|
| 30 |
+
"views": [
|
| 31 |
+
"top_head",
|
| 32 |
+
"hand_left",
|
| 33 |
+
"hand_right"
|
| 34 |
+
],
|
| 35 |
+
"model": "pinhole",
|
| 36 |
+
"width": 640,
|
| 37 |
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"height": 480,
|
| 38 |
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"hfov_deg": 90.0,
|
| 39 |
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"view_pitch_deg": 38.0
|
| 40 |
+
},
|
| 41 |
+
"alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.",
|
| 42 |
+
"pose_representation": "absolute_per_frame",
|
| 43 |
+
"contains_delta_action": false
|
| 44 |
+
}
|
inputs/human_hand/pourwater/ep000016/observations/fisheye/hand_left.png
ADDED
|
Git LFS Details
|
inputs/human_hand/pourwater/ep000016/observations/fisheye/hand_right.png
ADDED
|
Git LFS Details
|
inputs/human_hand/pourwater/ep000016/observations/fisheye/top_head.png
ADDED
|
Git LFS Details
|
inputs/human_hand/pourwater/ep000016/observations/hand_left.png
ADDED
|
Git LFS Details
|
inputs/human_hand/pourwater/ep000016/observations/hand_right.png
ADDED
|
Git LFS Details
|
inputs/human_hand/pourwater/ep000016/observations/head_stereo_left.png
ADDED
|
Git LFS Details
|
inputs/human_hand/pourwater/ep000016/observations/head_stereo_right.png
ADDED
|
Git LFS Details
|
inputs/human_hand/pourwater/ep000016/observations/top_head.png
ADDED
|
Git LFS Details
|
inputs/human_hand/pourwater/ep000020/calibration.json
ADDED
|
@@ -0,0 +1,506 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": "acwmbench.ego.calibration.pinhole.v1",
|
| 3 |
+
"episode_index": 20,
|
| 4 |
+
"view_aliases": {
|
| 5 |
+
"top_head": "head_fisheye",
|
| 6 |
+
"hand_left": "head_fisheye_left",
|
| 7 |
+
"hand_right": "head_fisheye_right"
|
| 8 |
+
},
|
| 9 |
+
"alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
|
| 10 |
+
"cameras": {
|
| 11 |
+
"top_head": {
|
| 12 |
+
"source_camera": "head_fisheye",
|
| 13 |
+
"camera_mount": "head",
|
| 14 |
+
"projection_model": "pinhole",
|
| 15 |
+
"intrinsics": {
|
| 16 |
+
"Fx": 320.00000000000006,
|
| 17 |
+
"Fy": 320.00000000000006,
|
| 18 |
+
"Cx": 320.0,
|
| 19 |
+
"Cy": 240.0,
|
| 20 |
+
"width": 640,
|
| 21 |
+
"height": 480
|
| 22 |
+
},
|
| 23 |
+
"extrinsics": {
|
| 24 |
+
"extrinsic_head_fisheye_T_left": {
|
| 25 |
+
"rotation": {
|
| 26 |
+
"x": 0.0009442228132370642,
|
| 27 |
+
"y": 0.0002965523734030786,
|
| 28 |
+
"z": 2.7778272304765542e-05,
|
| 29 |
+
"w": 0.9999995098640481
|
| 30 |
+
},
|
| 31 |
+
"translation": {
|
| 32 |
+
"x": 0.03061258879177004,
|
| 33 |
+
"y": -0.00044053462609449333,
|
| 34 |
+
"z": 0.0010914965841121059
|
| 35 |
+
}
|
| 36 |
+
},
|
| 37 |
+
"extrinsic_head_fisheye_left_T_left": {
|
| 38 |
+
"rotation": {
|
| 39 |
+
"x": 0.00363868679823883,
|
| 40 |
+
"y": -0.42865062258823455,
|
| 41 |
+
"z": -0.19933934578868262,
|
| 42 |
+
"w": 0.8811976106036848
|
| 43 |
+
},
|
| 44 |
+
"translation": {
|
| 45 |
+
"x": -0.05050148006484744,
|
| 46 |
+
"y": 0.014694437626401657,
|
| 47 |
+
"z": -0.028958392523767598
|
| 48 |
+
}
|
| 49 |
+
},
|
| 50 |
+
"extrinsic_head_fisheye_right_T_left": {
|
| 51 |
+
"rotation": {
|
| 52 |
+
"x": 0.0003976459684297884,
|
| 53 |
+
"y": 0.42641808299703304,
|
| 54 |
+
"z": 0.20065156149051988,
|
| 55 |
+
"w": 0.8819900289925252
|
| 56 |
+
},
|
| 57 |
+
"translation": {
|
| 58 |
+
"x": 0.11023896172779998,
|
| 59 |
+
"y": 0.013827394575498546,
|
| 60 |
+
"z": -0.02812516971803584
|
| 61 |
+
}
|
| 62 |
+
}
|
| 63 |
+
},
|
| 64 |
+
"resolution": {
|
| 65 |
+
"width": 640,
|
| 66 |
+
"height": 480
|
| 67 |
+
},
|
| 68 |
+
"rectification": {
|
| 69 |
+
"source_projection_model": "opencv_fisheye",
|
| 70 |
+
"source_intrinsics": {
|
| 71 |
+
"Cx": 401.24334716796875,
|
| 72 |
+
"Cy": 299.5632019042969,
|
| 73 |
+
"Fx": 224.22935485839844,
|
| 74 |
+
"Fy": 224.09205627441406,
|
| 75 |
+
"height": 600,
|
| 76 |
+
"k1": 0.057993289083242416,
|
| 77 |
+
"k2": 0.01816844940185547,
|
| 78 |
+
"k3": -0.008063109591603279,
|
| 79 |
+
"k4": 0.0006919464212842286,
|
| 80 |
+
"width": 800
|
| 81 |
+
},
|
| 82 |
+
"source_to_virtual_rotation": [
|
| 83 |
+
[
|
| 84 |
+
1.0,
|
| 85 |
+
0.0,
|
| 86 |
+
0.0
|
| 87 |
+
],
|
| 88 |
+
[
|
| 89 |
+
0.0,
|
| 90 |
+
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|
| 91 |
+
-0.6156614753256583
|
| 92 |
+
],
|
| 93 |
+
[
|
| 94 |
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0.0,
|
| 95 |
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|
| 96 |
+
0.7880107536067219
|
| 97 |
+
]
|
| 98 |
+
],
|
| 99 |
+
"hfov_deg": 90.0,
|
| 100 |
+
"view_pitch_deg": 38.0,
|
| 101 |
+
"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."
|
| 102 |
+
},
|
| 103 |
+
"extrinsics_reference_frame": "source_fisheye_camera"
|
| 104 |
+
},
|
| 105 |
+
"hand_left": {
|
| 106 |
+
"source_camera": "head_fisheye_left",
|
| 107 |
+
"camera_mount": "head",
|
| 108 |
+
"projection_model": "pinhole",
|
| 109 |
+
"intrinsics": {
|
| 110 |
+
"Fx": 320.00000000000006,
|
| 111 |
+
"Fy": 320.00000000000006,
|
| 112 |
+
"Cx": 320.0,
|
| 113 |
+
"Cy": 240.0,
|
| 114 |
+
"width": 640,
|
| 115 |
+
"height": 480
|
| 116 |
+
},
|
| 117 |
+
"extrinsics": {
|
| 118 |
+
"extrinsic_head_fisheye_left_T_left": {
|
| 119 |
+
"rotation": {
|
| 120 |
+
"x": 0.00363868679823883,
|
| 121 |
+
"y": -0.42865062258823455,
|
| 122 |
+
"z": -0.19933934578868262,
|
| 123 |
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"w": 0.8811976106036848
|
| 124 |
+
},
|
| 125 |
+
"translation": {
|
| 126 |
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"x": -0.05050148006484744,
|
| 127 |
+
"y": 0.014694437626401657,
|
| 128 |
+
"z": -0.028958392523767598
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
},
|
| 132 |
+
"resolution": {
|
| 133 |
+
"width": 640,
|
| 134 |
+
"height": 480
|
| 135 |
+
},
|
| 136 |
+
"rectification": {
|
| 137 |
+
"source_projection_model": "opencv_fisheye",
|
| 138 |
+
"source_intrinsics": {
|
| 139 |
+
"Cx": 479.4472961425781,
|
| 140 |
+
"Cy": 299.9506530761719,
|
| 141 |
+
"Fx": 223.04345703125,
|
| 142 |
+
"Fy": 223.11749267578125,
|
| 143 |
+
"height": 600,
|
| 144 |
+
"k1": 0.06008125841617584,
|
| 145 |
+
"k2": 0.015944620594382286,
|
| 146 |
+
"k3": -0.006167862098664045,
|
| 147 |
+
"k4": 0.00022500510385725647,
|
| 148 |
+
"width": 960
|
| 149 |
+
},
|
| 150 |
+
"source_to_virtual_rotation": [
|
| 151 |
+
[
|
| 152 |
+
1.0,
|
| 153 |
+
0.0,
|
| 154 |
+
0.0
|
| 155 |
+
],
|
| 156 |
+
[
|
| 157 |
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0.0,
|
| 158 |
+
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|
| 159 |
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-0.6156614753256583
|
| 160 |
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],
|
| 161 |
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[
|
| 162 |
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0.0,
|
| 163 |
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|
| 164 |
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|
| 165 |
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]
|
| 166 |
+
],
|
| 167 |
+
"hfov_deg": 90.0,
|
| 168 |
+
"view_pitch_deg": 38.0,
|
| 169 |
+
"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."
|
| 170 |
+
},
|
| 171 |
+
"extrinsics_reference_frame": "source_fisheye_camera"
|
| 172 |
+
},
|
| 173 |
+
"hand_right": {
|
| 174 |
+
"source_camera": "head_fisheye_right",
|
| 175 |
+
"camera_mount": "head",
|
| 176 |
+
"projection_model": "pinhole",
|
| 177 |
+
"intrinsics": {
|
| 178 |
+
"Fx": 320.00000000000006,
|
| 179 |
+
"Fy": 320.00000000000006,
|
| 180 |
+
"Cx": 320.0,
|
| 181 |
+
"Cy": 240.0,
|
| 182 |
+
"width": 640,
|
| 183 |
+
"height": 480
|
| 184 |
+
},
|
| 185 |
+
"extrinsics": {
|
| 186 |
+
"extrinsic_head_fisheye_right_T_left": {
|
| 187 |
+
"rotation": {
|
| 188 |
+
"x": 0.0003976459684297884,
|
| 189 |
+
"y": 0.42641808299703304,
|
| 190 |
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"z": 0.20065156149051988,
|
| 191 |
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"w": 0.8819900289925252
|
| 192 |
+
},
|
| 193 |
+
"translation": {
|
| 194 |
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"x": 0.11023896172779998,
|
| 195 |
+
"y": 0.013827394575498546,
|
| 196 |
+
"z": -0.02812516971803584
|
| 197 |
+
}
|
| 198 |
+
}
|
| 199 |
+
},
|
| 200 |
+
"resolution": {
|
| 201 |
+
"width": 640,
|
| 202 |
+
"height": 480
|
| 203 |
+
},
|
| 204 |
+
"rectification": {
|
| 205 |
+
"source_projection_model": "opencv_fisheye",
|
| 206 |
+
"source_intrinsics": {
|
| 207 |
+
"Cx": 480.4215393066406,
|
| 208 |
+
"Cy": 299.4262390136719,
|
| 209 |
+
"Fx": 223.5740509033203,
|
| 210 |
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"Fy": 223.46319580078125,
|
| 211 |
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"height": 600,
|
| 212 |
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"k1": 0.05835850164294243,
|
| 213 |
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"k2": 0.017698010429739952,
|
| 214 |
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"k3": -0.007227227091789246,
|
| 215 |
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"k4": 0.0004160731041338295,
|
| 216 |
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"width": 960
|
| 217 |
+
},
|
| 218 |
+
"source_to_virtual_rotation": [
|
| 219 |
+
[
|
| 220 |
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1.0,
|
| 221 |
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0.0,
|
| 222 |
+
0.0
|
| 223 |
+
],
|
| 224 |
+
[
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| 225 |
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0.0,
|
| 226 |
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|
| 227 |
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-0.6156614753256583
|
| 228 |
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],
|
| 229 |
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[
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| 230 |
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0.0,
|
| 231 |
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|
| 232 |
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0.7880107536067219
|
| 233 |
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]
|
| 234 |
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],
|
| 235 |
+
"hfov_deg": 90.0,
|
| 236 |
+
"view_pitch_deg": 38.0,
|
| 237 |
+
"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."
|
| 238 |
+
},
|
| 239 |
+
"extrinsics_reference_frame": "source_fisheye_camera"
|
| 240 |
+
},
|
| 241 |
+
"head_stereo_left": {
|
| 242 |
+
"source_camera": "head_stereo_left",
|
| 243 |
+
"camera_mount": "head",
|
| 244 |
+
"projection_model": "pinhole",
|
| 245 |
+
"intrinsics": {
|
| 246 |
+
"Cx": 481.39990234375,
|
| 247 |
+
"Cy": 298.59674072265625,
|
| 248 |
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"Fx": 300.0994873046875,
|
| 249 |
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"Fy": 300.0945129394531,
|
| 250 |
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"height": 600,
|
| 251 |
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"k1": 0.23313209414482117,
|
| 252 |
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"k2": -0.013054169714450836,
|
| 253 |
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"k3": -0.02656524069607258,
|
| 254 |
+
"k4": 0.008368264883756638,
|
| 255 |
+
"width": 960
|
| 256 |
+
},
|
| 257 |
+
"extrinsics": {
|
| 258 |
+
"extrinsic_head_stereo_left_T_imu": {
|
| 259 |
+
"rotation": {
|
| 260 |
+
"x": 0.999970395486808,
|
| 261 |
+
"y": -0.005711054071957077,
|
| 262 |
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"z": -0.0016198635801491547,
|
| 263 |
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"w": -0.004895717855982548
|
| 264 |
+
},
|
| 265 |
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"translation": {
|
| 266 |
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"x": 0.004417393018733836,
|
| 267 |
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"y": -0.0042354069095445705,
|
| 268 |
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"z": -0.017029698432489374
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"extrinsic_head_stereo_left_T_right": {
|
| 272 |
+
"rotation": {
|
| 273 |
+
"x": -0.0014040695076892229,
|
| 274 |
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"y": 0.0010112171798395235,
|
| 275 |
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"z": -0.0002191893102376494,
|
| 276 |
+
"w": 0.9999984789911828
|
| 277 |
+
},
|
| 278 |
+
"translation": {
|
| 279 |
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"x": -0.06050456252912958,
|
| 280 |
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"y": -0.00012716207060800203,
|
| 281 |
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"z": -0.00025589655066818193
|
| 282 |
+
}
|
| 283 |
+
}
|
| 284 |
+
},
|
| 285 |
+
"resolution": {
|
| 286 |
+
"width": 960,
|
| 287 |
+
"height": 600
|
| 288 |
+
}
|
| 289 |
+
},
|
| 290 |
+
"head_stereo_right": {
|
| 291 |
+
"source_camera": "head_stereo_right",
|
| 292 |
+
"camera_mount": "head",
|
| 293 |
+
"projection_model": "pinhole",
|
| 294 |
+
"intrinsics": {
|
| 295 |
+
"Cx": 480.90869140625,
|
| 296 |
+
"Cy": 300.6904602050781,
|
| 297 |
+
"Fx": 300.04974365234375,
|
| 298 |
+
"Fy": 299.9335632324219,
|
| 299 |
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"height": 600,
|
| 300 |
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"k1": 0.23226110637187958,
|
| 301 |
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"k2": -0.01877696067094803,
|
| 302 |
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"k3": -0.019749220460653305,
|
| 303 |
+
"k4": 0.00620193500071764,
|
| 304 |
+
"width": 960
|
| 305 |
+
},
|
| 306 |
+
"extrinsics": {
|
| 307 |
+
"extrinsic_head_stereo_right_T_imu": {
|
| 308 |
+
"rotation": {
|
| 309 |
+
"x": 0.9999591107589757,
|
| 310 |
+
"y": -0.0059275519736941866,
|
| 311 |
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"z": -0.002624102731710321,
|
| 312 |
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"w": -0.006305158409659226
|
| 313 |
+
},
|
| 314 |
+
"translation": {
|
| 315 |
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"x": 0.06491403504737772,
|
| 316 |
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"y": -0.005074571574618962,
|
| 317 |
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"z": -0.01760922065052973
|
| 318 |
+
}
|
| 319 |
+
}
|
| 320 |
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},
|
| 321 |
+
"resolution": {
|
| 322 |
+
"width": 960,
|
| 323 |
+
"height": 600
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
},
|
| 327 |
+
"source_calibration": {
|
| 328 |
+
"extrinsic_head_fisheye_T_left": {
|
| 329 |
+
"rotation": {
|
| 330 |
+
"x": 0.0009442228132370642,
|
| 331 |
+
"y": 0.0002965523734030786,
|
| 332 |
+
"z": 2.7778272304765542e-05,
|
| 333 |
+
"w": 0.9999995098640481
|
| 334 |
+
},
|
| 335 |
+
"translation": {
|
| 336 |
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"x": 0.03061258879177004,
|
| 337 |
+
"y": -0.00044053462609449333,
|
| 338 |
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"z": 0.0010914965841121059
|
| 339 |
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}
|
| 340 |
+
},
|
| 341 |
+
"extrinsic_head_fisheye_left_T_left": {
|
| 342 |
+
"rotation": {
|
| 343 |
+
"x": 0.00363868679823883,
|
| 344 |
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"y": -0.42865062258823455,
|
| 345 |
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"z": -0.19933934578868262,
|
| 346 |
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"w": 0.8811976106036848
|
| 347 |
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},
|
| 348 |
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"translation": {
|
| 349 |
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"x": -0.05050148006484744,
|
| 350 |
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"y": 0.014694437626401657,
|
| 351 |
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"z": -0.028958392523767598
|
| 352 |
+
}
|
| 353 |
+
},
|
| 354 |
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|
| 355 |
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|
| 356 |
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| 357 |
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| 358 |
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| 359 |
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| 360 |
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| 361 |
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| 362 |
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| 363 |
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| 364 |
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| 365 |
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|
| 366 |
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| 367 |
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"extrinsic_head_stereo_left_T_imu": {
|
| 368 |
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"rotation": {
|
| 369 |
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|
| 370 |
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| 371 |
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| 372 |
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| 373 |
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| 374 |
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| 375 |
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| 376 |
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| 377 |
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|
| 378 |
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|
| 379 |
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| 380 |
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|
| 381 |
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|
| 382 |
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|
| 383 |
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| 384 |
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| 385 |
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| 386 |
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| 387 |
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| 388 |
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| 389 |
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| 390 |
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| 391 |
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|
| 392 |
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|
| 393 |
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"extrinsic_head_stereo_right_T_imu": {
|
| 394 |
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"rotation": {
|
| 395 |
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|
| 396 |
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| 397 |
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| 398 |
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| 399 |
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| 400 |
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| 401 |
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| 402 |
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| 403 |
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|
| 404 |
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|
| 405 |
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|
| 406 |
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"intrinsic_head_fisheye": {
|
| 407 |
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|
| 408 |
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|
| 409 |
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| 411 |
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|
| 412 |
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| 413 |
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| 414 |
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| 415 |
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|
| 416 |
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|
| 417 |
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|
| 418 |
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"intrinsic_head_fisheye_left": {
|
| 419 |
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"Cx": 479.4472961425781,
|
| 420 |
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|
| 421 |
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| 422 |
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| 423 |
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|
| 424 |
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|
| 425 |
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| 426 |
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| 427 |
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| 428 |
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"width": 960
|
| 429 |
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| 430 |
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"intrinsic_head_fisheye_right": {
|
| 431 |
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| 432 |
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| 433 |
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| 436 |
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| 437 |
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|
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| 442 |
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|
| 443 |
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|
| 444 |
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| 445 |
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| 446 |
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|
| 447 |
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| 448 |
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| 449 |
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|
| 450 |
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|
| 451 |
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|
| 452 |
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| 453 |
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| 454 |
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| 455 |
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| 456 |
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| 457 |
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| 458 |
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|
| 459 |
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|
| 460 |
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|
| 461 |
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"intrinsic_head_stereo_right": {
|
| 462 |
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|
| 463 |
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|
| 464 |
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"Fx": 300.04974365234375,
|
| 465 |
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|
| 466 |
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|
| 467 |
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|
| 468 |
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|
| 469 |
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|
| 470 |
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|
| 471 |
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"width": 960
|
| 472 |
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},
|
| 473 |
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"suppiler_flag": {
|
| 474 |
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"head_fisheye": "383100008901V01AA1VA069126071000489",
|
| 475 |
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"head_fisheye_left": "382200016501V01AA1VA069126061402510",
|
| 476 |
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"head_fisheye_right": "382200017101V01AA1VA069126061302311",
|
| 477 |
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"head_stereo_left": "383100008901V01AA1VA069126071000489",
|
| 478 |
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"head_stereo_right": "383100008901V01AA1VA069126071000489",
|
| 479 |
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"suppiler": 0
|
| 480 |
+
}
|
| 481 |
+
},
|
| 482 |
+
"source_calibration_file": "calibration_fisheye.json",
|
| 483 |
+
"active_views": {
|
| 484 |
+
"top_head": {
|
| 485 |
+
"projection_model": "pinhole",
|
| 486 |
+
"width": 640,
|
| 487 |
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"height": 480,
|
| 488 |
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"hfov_deg": 90.0,
|
| 489 |
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"view_pitch_deg": 38.0
|
| 490 |
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},
|
| 491 |
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"hand_left": {
|
| 492 |
+
"projection_model": "pinhole",
|
| 493 |
+
"width": 640,
|
| 494 |
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"height": 480,
|
| 495 |
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"hfov_deg": 90.0,
|
| 496 |
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"view_pitch_deg": 38.0
|
| 497 |
+
},
|
| 498 |
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"hand_right": {
|
| 499 |
+
"projection_model": "pinhole",
|
| 500 |
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"width": 640,
|
| 501 |
+
"height": 480,
|
| 502 |
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"hfov_deg": 90.0,
|
| 503 |
+
"view_pitch_deg": 38.0
|
| 504 |
+
}
|
| 505 |
+
}
|
| 506 |
+
}
|
inputs/human_hand/pourwater/ep000020/calibration_fisheye.json
ADDED
|
@@ -0,0 +1,386 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": "acwmbench.ego.calibration.v1",
|
| 3 |
+
"episode_index": 20,
|
| 4 |
+
"view_aliases": {
|
| 5 |
+
"top_head": "head_fisheye",
|
| 6 |
+
"hand_left": "head_fisheye_left",
|
| 7 |
+
"hand_right": "head_fisheye_right"
|
| 8 |
+
},
|
| 9 |
+
"alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
|
| 10 |
+
"cameras": {
|
| 11 |
+
"top_head": {
|
| 12 |
+
"source_camera": "head_fisheye",
|
| 13 |
+
"camera_mount": "head",
|
| 14 |
+
"projection_model": "opencv_fisheye",
|
| 15 |
+
"intrinsics": {
|
| 16 |
+
"Cx": 401.24334716796875,
|
| 17 |
+
"Cy": 299.5632019042969,
|
| 18 |
+
"Fx": 224.22935485839844,
|
| 19 |
+
"Fy": 224.09205627441406,
|
| 20 |
+
"height": 600,
|
| 21 |
+
"k1": 0.057993289083242416,
|
| 22 |
+
"k2": 0.01816844940185547,
|
| 23 |
+
"k3": -0.008063109591603279,
|
| 24 |
+
"k4": 0.0006919464212842286,
|
| 25 |
+
"width": 800
|
| 26 |
+
},
|
| 27 |
+
"extrinsics": {
|
| 28 |
+
"extrinsic_head_fisheye_T_left": {
|
| 29 |
+
"rotation": {
|
| 30 |
+
"x": 0.0009442228132370642,
|
| 31 |
+
"y": 0.0002965523734030786,
|
| 32 |
+
"z": 2.7778272304765542e-05,
|
| 33 |
+
"w": 0.9999995098640481
|
| 34 |
+
},
|
| 35 |
+
"translation": {
|
| 36 |
+
"x": 0.03061258879177004,
|
| 37 |
+
"y": -0.00044053462609449333,
|
| 38 |
+
"z": 0.0010914965841121059
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"extrinsic_head_fisheye_left_T_left": {
|
| 42 |
+
"rotation": {
|
| 43 |
+
"x": 0.00363868679823883,
|
| 44 |
+
"y": -0.42865062258823455,
|
| 45 |
+
"z": -0.19933934578868262,
|
| 46 |
+
"w": 0.8811976106036848
|
| 47 |
+
},
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|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "worldoracle.human_hand.validation_input.v2",
|
| 3 |
+
"task_name": "pourwater",
|
| 4 |
+
"episode_index": 20,
|
| 5 |
+
"episode_name": "ep000020",
|
| 6 |
+
"fps": 15.0,
|
| 7 |
+
"num_frames": 1883,
|
| 8 |
+
"seed_local_index": 0,
|
| 9 |
+
"embodiment": "ego_human_bimanual",
|
| 10 |
+
"files": {
|
| 11 |
+
"calibration": "calibration.json",
|
| 12 |
+
"observations": {
|
| 13 |
+
"top_head": "observations/top_head.png",
|
| 14 |
+
"hand_left": "observations/hand_left.png",
|
| 15 |
+
"hand_right": "observations/hand_right.png",
|
| 16 |
+
"head_stereo_left": "observations/head_stereo_left.png",
|
| 17 |
+
"head_stereo_right": "observations/head_stereo_right.png"
|
| 18 |
+
},
|
| 19 |
+
"controls": {
|
| 20 |
+
"hand_camera_poses": "controls/hand_camera_poses.npz"
|
| 21 |
+
},
|
| 22 |
+
"fisheye_calibration": "calibration_fisheye.json",
|
| 23 |
+
"fisheye_observations": {
|
| 24 |
+
"top_head": "observations/fisheye/top_head.png",
|
| 25 |
+
"hand_left": "observations/fisheye/hand_left.png",
|
| 26 |
+
"hand_right": "observations/fisheye/hand_right.png"
|
| 27 |
+
}
|
| 28 |
+
},
|
| 29 |
+
"active_projection": {
|
| 30 |
+
"views": [
|
| 31 |
+
"top_head",
|
| 32 |
+
"hand_left",
|
| 33 |
+
"hand_right"
|
| 34 |
+
],
|
| 35 |
+
"model": "pinhole",
|
| 36 |
+
"width": 640,
|
| 37 |
+
"height": 480,
|
| 38 |
+
"hfov_deg": 90.0,
|
| 39 |
+
"view_pitch_deg": 38.0
|
| 40 |
+
},
|
| 41 |
+
"alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.",
|
| 42 |
+
"pose_representation": "absolute_per_frame",
|
| 43 |
+
"contains_delta_action": false
|
| 44 |
+
}
|
inputs/human_hand/pourwater/ep000020/observations/fisheye/hand_left.png
ADDED
|
Git LFS Details
|
inputs/human_hand/pourwater/ep000020/observations/fisheye/hand_right.png
ADDED
|
Git LFS Details
|
inputs/human_hand/pourwater/ep000020/observations/fisheye/top_head.png
ADDED
|
Git LFS Details
|
inputs/human_hand/pourwater/ep000020/observations/hand_left.png
ADDED
|
Git LFS Details
|
inputs/human_hand/pourwater/ep000020/observations/hand_right.png
ADDED
|
Git LFS Details
|
inputs/human_hand/pourwater/ep000020/observations/head_stereo_left.png
ADDED
|
Git LFS Details
|
inputs/human_hand/pourwater/ep000020/observations/head_stereo_right.png
ADDED
|
Git LFS Details
|
inputs/human_hand/pourwater/ep000020/observations/top_head.png
ADDED
|
Git LFS Details
|
inputs/human_hand/pourwater/ep000021/calibration.json
ADDED
|
@@ -0,0 +1,506 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "acwmbench.ego.calibration.pinhole.v1",
|
| 3 |
+
"episode_index": 21,
|
| 4 |
+
"view_aliases": {
|
| 5 |
+
"top_head": "head_fisheye",
|
| 6 |
+
"hand_left": "head_fisheye_left",
|
| 7 |
+
"hand_right": "head_fisheye_right"
|
| 8 |
+
},
|
| 9 |
+
"alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
|
| 10 |
+
"cameras": {
|
| 11 |
+
"top_head": {
|
| 12 |
+
"source_camera": "head_fisheye",
|
| 13 |
+
"camera_mount": "head",
|
| 14 |
+
"projection_model": "pinhole",
|
| 15 |
+
"intrinsics": {
|
| 16 |
+
"Fx": 320.00000000000006,
|
| 17 |
+
"Fy": 320.00000000000006,
|
| 18 |
+
"Cx": 320.0,
|
| 19 |
+
"Cy": 240.0,
|
| 20 |
+
"width": 640,
|
| 21 |
+
"height": 480
|
| 22 |
+
},
|
| 23 |
+
"extrinsics": {
|
| 24 |
+
"extrinsic_head_fisheye_T_left": {
|
| 25 |
+
"rotation": {
|
| 26 |
+
"x": 0.0009442228132370642,
|
| 27 |
+
"y": 0.0002965523734030786,
|
| 28 |
+
"z": 2.7778272304765542e-05,
|
| 29 |
+
"w": 0.9999995098640481
|
| 30 |
+
},
|
| 31 |
+
"translation": {
|
| 32 |
+
"x": 0.03061258879177004,
|
| 33 |
+
"y": -0.00044053462609449333,
|
| 34 |
+
"z": 0.0010914965841121059
|
| 35 |
+
}
|
| 36 |
+
},
|
| 37 |
+
"extrinsic_head_fisheye_left_T_left": {
|
| 38 |
+
"rotation": {
|
| 39 |
+
"x": 0.00363868679823883,
|
| 40 |
+
"y": -0.42865062258823455,
|
| 41 |
+
"z": -0.19933934578868262,
|
| 42 |
+
"w": 0.8811976106036848
|
| 43 |
+
},
|
| 44 |
+
"translation": {
|
| 45 |
+
"x": -0.05050148006484744,
|
| 46 |
+
"y": 0.014694437626401657,
|
| 47 |
+
"z": -0.028958392523767598
|
| 48 |
+
}
|
| 49 |
+
},
|
| 50 |
+
"extrinsic_head_fisheye_right_T_left": {
|
| 51 |
+
"rotation": {
|
| 52 |
+
"x": 0.0003976459684297884,
|
| 53 |
+
"y": 0.42641808299703304,
|
| 54 |
+
"z": 0.20065156149051988,
|
| 55 |
+
"w": 0.8819900289925252
|
| 56 |
+
},
|
| 57 |
+
"translation": {
|
| 58 |
+
"x": 0.11023896172779998,
|
| 59 |
+
"y": 0.013827394575498546,
|
| 60 |
+
"z": -0.02812516971803584
|
| 61 |
+
}
|
| 62 |
+
}
|
| 63 |
+
},
|
| 64 |
+
"resolution": {
|
| 65 |
+
"width": 640,
|
| 66 |
+
"height": 480
|
| 67 |
+
},
|
| 68 |
+
"rectification": {
|
| 69 |
+
"source_projection_model": "opencv_fisheye",
|
| 70 |
+
"source_intrinsics": {
|
| 71 |
+
"Cx": 401.24334716796875,
|
| 72 |
+
"Cy": 299.5632019042969,
|
| 73 |
+
"Fx": 224.22935485839844,
|
| 74 |
+
"Fy": 224.09205627441406,
|
| 75 |
+
"height": 600,
|
| 76 |
+
"k1": 0.057993289083242416,
|
| 77 |
+
"k2": 0.01816844940185547,
|
| 78 |
+
"k3": -0.008063109591603279,
|
| 79 |
+
"k4": 0.0006919464212842286,
|
| 80 |
+
"width": 800
|
| 81 |
+
},
|
| 82 |
+
"source_to_virtual_rotation": [
|
| 83 |
+
[
|
| 84 |
+
1.0,
|
| 85 |
+
0.0,
|
| 86 |
+
0.0
|
| 87 |
+
],
|
| 88 |
+
[
|
| 89 |
+
0.0,
|
| 90 |
+
0.7880107536067219,
|
| 91 |
+
-0.6156614753256583
|
| 92 |
+
],
|
| 93 |
+
[
|
| 94 |
+
0.0,
|
| 95 |
+
0.6156614753256583,
|
| 96 |
+
0.7880107536067219
|
| 97 |
+
]
|
| 98 |
+
],
|
| 99 |
+
"hfov_deg": 90.0,
|
| 100 |
+
"view_pitch_deg": 38.0,
|
| 101 |
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"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."
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| 102 |
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},
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},
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},
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},
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| 169 |
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"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."
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| 170 |
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},
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},
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"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."
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},
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|
| 471 |
+
"width": 960
|
| 472 |
+
},
|
| 473 |
+
"suppiler_flag": {
|
| 474 |
+
"head_fisheye": "383100008901V01AA1VA069126071000489",
|
| 475 |
+
"head_fisheye_left": "382200016501V01AA1VA069126061402510",
|
| 476 |
+
"head_fisheye_right": "382200017101V01AA1VA069126061302311",
|
| 477 |
+
"head_stereo_left": "383100008901V01AA1VA069126071000489",
|
| 478 |
+
"head_stereo_right": "383100008901V01AA1VA069126071000489",
|
| 479 |
+
"suppiler": 0
|
| 480 |
+
}
|
| 481 |
+
},
|
| 482 |
+
"source_calibration_file": "calibration_fisheye.json",
|
| 483 |
+
"active_views": {
|
| 484 |
+
"top_head": {
|
| 485 |
+
"projection_model": "pinhole",
|
| 486 |
+
"width": 640,
|
| 487 |
+
"height": 480,
|
| 488 |
+
"hfov_deg": 90.0,
|
| 489 |
+
"view_pitch_deg": 38.0
|
| 490 |
+
},
|
| 491 |
+
"hand_left": {
|
| 492 |
+
"projection_model": "pinhole",
|
| 493 |
+
"width": 640,
|
| 494 |
+
"height": 480,
|
| 495 |
+
"hfov_deg": 90.0,
|
| 496 |
+
"view_pitch_deg": 38.0
|
| 497 |
+
},
|
| 498 |
+
"hand_right": {
|
| 499 |
+
"projection_model": "pinhole",
|
| 500 |
+
"width": 640,
|
| 501 |
+
"height": 480,
|
| 502 |
+
"hfov_deg": 90.0,
|
| 503 |
+
"view_pitch_deg": 38.0
|
| 504 |
+
}
|
| 505 |
+
}
|
| 506 |
+
}
|
inputs/human_hand/pourwater/ep000021/calibration_fisheye.json
ADDED
|
@@ -0,0 +1,386 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": "acwmbench.ego.calibration.v1",
|
| 3 |
+
"episode_index": 21,
|
| 4 |
+
"view_aliases": {
|
| 5 |
+
"top_head": "head_fisheye",
|
| 6 |
+
"hand_left": "head_fisheye_left",
|
| 7 |
+
"hand_right": "head_fisheye_right"
|
| 8 |
+
},
|
| 9 |
+
"alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
|
| 10 |
+
"cameras": {
|
| 11 |
+
"top_head": {
|
| 12 |
+
"source_camera": "head_fisheye",
|
| 13 |
+
"camera_mount": "head",
|
| 14 |
+
"projection_model": "opencv_fisheye",
|
| 15 |
+
"intrinsics": {
|
| 16 |
+
"Cx": 401.24334716796875,
|
| 17 |
+
"Cy": 299.5632019042969,
|
| 18 |
+
"Fx": 224.22935485839844,
|
| 19 |
+
"Fy": 224.09205627441406,
|
| 20 |
+
"height": 600,
|
| 21 |
+
"k1": 0.057993289083242416,
|
| 22 |
+
"k2": 0.01816844940185547,
|
| 23 |
+
"k3": -0.008063109591603279,
|
| 24 |
+
"k4": 0.0006919464212842286,
|
| 25 |
+
"width": 800
|
| 26 |
+
},
|
| 27 |
+
"extrinsics": {
|
| 28 |
+
"extrinsic_head_fisheye_T_left": {
|
| 29 |
+
"rotation": {
|
| 30 |
+
"x": 0.0009442228132370642,
|
| 31 |
+
"y": 0.0002965523734030786,
|
| 32 |
+
"z": 2.7778272304765542e-05,
|
| 33 |
+
"w": 0.9999995098640481
|
| 34 |
+
},
|
| 35 |
+
"translation": {
|
| 36 |
+
"x": 0.03061258879177004,
|
| 37 |
+
"y": -0.00044053462609449333,
|
| 38 |
+
"z": 0.0010914965841121059
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"extrinsic_head_fisheye_left_T_left": {
|
| 42 |
+
"rotation": {
|
| 43 |
+
"x": 0.00363868679823883,
|
| 44 |
+
"y": -0.42865062258823455,
|
| 45 |
+
"z": -0.19933934578868262,
|
| 46 |
+
"w": 0.8811976106036848
|
| 47 |
+
},
|
| 48 |
+
"translation": {
|
| 49 |
+
"x": -0.05050148006484744,
|
| 50 |
+
"y": 0.014694437626401657,
|
| 51 |
+
"z": -0.028958392523767598
|
| 52 |
+
}
|
| 53 |
+
},
|
| 54 |
+
"extrinsic_head_fisheye_right_T_left": {
|
| 55 |
+
"rotation": {
|
| 56 |
+
"x": 0.0003976459684297884,
|
| 57 |
+
"y": 0.42641808299703304,
|
| 58 |
+
"z": 0.20065156149051988,
|
| 59 |
+
"w": 0.8819900289925252
|
| 60 |
+
},
|
| 61 |
+
"translation": {
|
| 62 |
+
"x": 0.11023896172779998,
|
| 63 |
+
"y": 0.013827394575498546,
|
| 64 |
+
"z": -0.02812516971803584
|
| 65 |
+
}
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"resolution": {
|
| 69 |
+
"width": 800,
|
| 70 |
+
"height": 600
|
| 71 |
+
}
|
| 72 |
+
},
|
| 73 |
+
"hand_left": {
|
| 74 |
+
"source_camera": "head_fisheye_left",
|
| 75 |
+
"camera_mount": "head",
|
| 76 |
+
"projection_model": "opencv_fisheye",
|
| 77 |
+
"intrinsics": {
|
| 78 |
+
"Cx": 479.4472961425781,
|
| 79 |
+
"Cy": 299.9506530761719,
|
| 80 |
+
"Fx": 223.04345703125,
|
| 81 |
+
"Fy": 223.11749267578125,
|
| 82 |
+
"height": 600,
|
| 83 |
+
"k1": 0.06008125841617584,
|
| 84 |
+
"k2": 0.015944620594382286,
|
| 85 |
+
"k3": -0.006167862098664045,
|
| 86 |
+
"k4": 0.00022500510385725647,
|
| 87 |
+
"width": 960
|
| 88 |
+
},
|
| 89 |
+
"extrinsics": {
|
| 90 |
+
"extrinsic_head_fisheye_left_T_left": {
|
| 91 |
+
"rotation": {
|
| 92 |
+
"x": 0.00363868679823883,
|
| 93 |
+
"y": -0.42865062258823455,
|
| 94 |
+
"z": -0.19933934578868262,
|
| 95 |
+
"w": 0.8811976106036848
|
| 96 |
+
},
|
| 97 |
+
"translation": {
|
| 98 |
+
"x": -0.05050148006484744,
|
| 99 |
+
"y": 0.014694437626401657,
|
| 100 |
+
"z": -0.028958392523767598
|
| 101 |
+
}
|
| 102 |
+
}
|
| 103 |
+
},
|
| 104 |
+
"resolution": {
|
| 105 |
+
"width": 960,
|
| 106 |
+
"height": 600
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"hand_right": {
|
| 110 |
+
"source_camera": "head_fisheye_right",
|
| 111 |
+
"camera_mount": "head",
|
| 112 |
+
"projection_model": "opencv_fisheye",
|
| 113 |
+
"intrinsics": {
|
| 114 |
+
"Cx": 480.4215393066406,
|
| 115 |
+
"Cy": 299.4262390136719,
|
| 116 |
+
"Fx": 223.5740509033203,
|
| 117 |
+
"Fy": 223.46319580078125,
|
| 118 |
+
"height": 600,
|
| 119 |
+
"k1": 0.05835850164294243,
|
| 120 |
+
"k2": 0.017698010429739952,
|
| 121 |
+
"k3": -0.007227227091789246,
|
| 122 |
+
"k4": 0.0004160731041338295,
|
| 123 |
+
"width": 960
|
| 124 |
+
},
|
| 125 |
+
"extrinsics": {
|
| 126 |
+
"extrinsic_head_fisheye_right_T_left": {
|
| 127 |
+
"rotation": {
|
| 128 |
+
"x": 0.0003976459684297884,
|
| 129 |
+
"y": 0.42641808299703304,
|
| 130 |
+
"z": 0.20065156149051988,
|
| 131 |
+
"w": 0.8819900289925252
|
| 132 |
+
},
|
| 133 |
+
"translation": {
|
| 134 |
+
"x": 0.11023896172779998,
|
| 135 |
+
"y": 0.013827394575498546,
|
| 136 |
+
"z": -0.02812516971803584
|
| 137 |
+
}
|
| 138 |
+
}
|
| 139 |
+
},
|
| 140 |
+
"resolution": {
|
| 141 |
+
"width": 960,
|
| 142 |
+
"height": 600
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
"head_stereo_left": {
|
| 146 |
+
"source_camera": "head_stereo_left",
|
| 147 |
+
"camera_mount": "head",
|
| 148 |
+
"projection_model": "pinhole",
|
| 149 |
+
"intrinsics": {
|
| 150 |
+
"Cx": 481.39990234375,
|
| 151 |
+
"Cy": 298.59674072265625,
|
| 152 |
+
"Fx": 300.0994873046875,
|
| 153 |
+
"Fy": 300.0945129394531,
|
| 154 |
+
"height": 600,
|
| 155 |
+
"k1": 0.23313209414482117,
|
| 156 |
+
"k2": -0.013054169714450836,
|
| 157 |
+
"k3": -0.02656524069607258,
|
| 158 |
+
"k4": 0.008368264883756638,
|
| 159 |
+
"width": 960
|
| 160 |
+
},
|
| 161 |
+
"extrinsics": {
|
| 162 |
+
"extrinsic_head_stereo_left_T_imu": {
|
| 163 |
+
"rotation": {
|
| 164 |
+
"x": 0.999970395486808,
|
| 165 |
+
"y": -0.005711054071957077,
|
| 166 |
+
"z": -0.0016198635801491547,
|
| 167 |
+
"w": -0.004895717855982548
|
| 168 |
+
},
|
| 169 |
+
"translation": {
|
| 170 |
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"x": 0.004417393018733836,
|
| 171 |
+
"y": -0.0042354069095445705,
|
| 172 |
+
"z": -0.017029698432489374
|
| 173 |
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inputs/human_hand/pourwater/ep000021/controls/hand_camera_poses.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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inputs/human_hand/pourwater/ep000021/metadata.json
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{
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"head_stereo_left": "observations/head_stereo_left.png",
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},
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| 26 |
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"hand_right": "observations/fisheye/hand_right.png"
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| 27 |
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}
|
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},
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| 29 |
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"active_projection": {
|
| 30 |
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"views": [
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| 31 |
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"top_head",
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| 32 |
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"hand_left",
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| 33 |
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|
| 34 |
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],
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"model": "pinhole",
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"hfov_deg": 90.0,
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},
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"alignment": "Absolute hand and camera pose sample t corresponds to episode frame t. The released observation images are frame 0 inputs.",
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| 42 |
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"pose_representation": "absolute_per_frame",
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"contains_delta_action": false
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inputs/human_hand/pourwater/ep000021/observations/fisheye/hand_left.png
ADDED
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Git LFS Details
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inputs/human_hand/pourwater/ep000021/observations/fisheye/hand_right.png
ADDED
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inputs/human_hand/pourwater/ep000021/observations/fisheye/top_head.png
ADDED
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Git LFS Details
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inputs/human_hand/pourwater/ep000021/observations/hand_left.png
ADDED
|
Git LFS Details
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inputs/human_hand/pourwater/ep000021/observations/hand_right.png
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|
Git LFS Details
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inputs/human_hand/pourwater/ep000021/observations/head_stereo_left.png
ADDED
|
Git LFS Details
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inputs/human_hand/pourwater/ep000021/observations/head_stereo_right.png
ADDED
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Git LFS Details
|
inputs/human_hand/pourwater/ep000021/observations/top_head.png
ADDED
|
Git LFS Details
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inputs/human_hand/pourwater/ep000022/calibration.json
ADDED
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@@ -0,0 +1,506 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": "acwmbench.ego.calibration.pinhole.v1",
|
| 3 |
+
"episode_index": 22,
|
| 4 |
+
"view_aliases": {
|
| 5 |
+
"top_head": "head_fisheye",
|
| 6 |
+
"hand_left": "head_fisheye_left",
|
| 7 |
+
"hand_right": "head_fisheye_right"
|
| 8 |
+
},
|
| 9 |
+
"alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
|
| 10 |
+
"cameras": {
|
| 11 |
+
"top_head": {
|
| 12 |
+
"source_camera": "head_fisheye",
|
| 13 |
+
"camera_mount": "head",
|
| 14 |
+
"projection_model": "pinhole",
|
| 15 |
+
"intrinsics": {
|
| 16 |
+
"Fx": 320.00000000000006,
|
| 17 |
+
"Fy": 320.00000000000006,
|
| 18 |
+
"Cx": 320.0,
|
| 19 |
+
"Cy": 240.0,
|
| 20 |
+
"width": 640,
|
| 21 |
+
"height": 480
|
| 22 |
+
},
|
| 23 |
+
"extrinsics": {
|
| 24 |
+
"extrinsic_head_fisheye_T_left": {
|
| 25 |
+
"rotation": {
|
| 26 |
+
"x": 0.0009442228132370642,
|
| 27 |
+
"y": 0.0002965523734030786,
|
| 28 |
+
"z": 2.7778272304765542e-05,
|
| 29 |
+
"w": 0.9999995098640481
|
| 30 |
+
},
|
| 31 |
+
"translation": {
|
| 32 |
+
"x": 0.03061258879177004,
|
| 33 |
+
"y": -0.00044053462609449333,
|
| 34 |
+
"z": 0.0010914965841121059
|
| 35 |
+
}
|
| 36 |
+
},
|
| 37 |
+
"extrinsic_head_fisheye_left_T_left": {
|
| 38 |
+
"rotation": {
|
| 39 |
+
"x": 0.00363868679823883,
|
| 40 |
+
"y": -0.42865062258823455,
|
| 41 |
+
"z": -0.19933934578868262,
|
| 42 |
+
"w": 0.8811976106036848
|
| 43 |
+
},
|
| 44 |
+
"translation": {
|
| 45 |
+
"x": -0.05050148006484744,
|
| 46 |
+
"y": 0.014694437626401657,
|
| 47 |
+
"z": -0.028958392523767598
|
| 48 |
+
}
|
| 49 |
+
},
|
| 50 |
+
"extrinsic_head_fisheye_right_T_left": {
|
| 51 |
+
"rotation": {
|
| 52 |
+
"x": 0.0003976459684297884,
|
| 53 |
+
"y": 0.42641808299703304,
|
| 54 |
+
"z": 0.20065156149051988,
|
| 55 |
+
"w": 0.8819900289925252
|
| 56 |
+
},
|
| 57 |
+
"translation": {
|
| 58 |
+
"x": 0.11023896172779998,
|
| 59 |
+
"y": 0.013827394575498546,
|
| 60 |
+
"z": -0.02812516971803584
|
| 61 |
+
}
|
| 62 |
+
}
|
| 63 |
+
},
|
| 64 |
+
"resolution": {
|
| 65 |
+
"width": 640,
|
| 66 |
+
"height": 480
|
| 67 |
+
},
|
| 68 |
+
"rectification": {
|
| 69 |
+
"source_projection_model": "opencv_fisheye",
|
| 70 |
+
"source_intrinsics": {
|
| 71 |
+
"Cx": 401.24334716796875,
|
| 72 |
+
"Cy": 299.5632019042969,
|
| 73 |
+
"Fx": 224.22935485839844,
|
| 74 |
+
"Fy": 224.09205627441406,
|
| 75 |
+
"height": 600,
|
| 76 |
+
"k1": 0.057993289083242416,
|
| 77 |
+
"k2": 0.01816844940185547,
|
| 78 |
+
"k3": -0.008063109591603279,
|
| 79 |
+
"k4": 0.0006919464212842286,
|
| 80 |
+
"width": 800
|
| 81 |
+
},
|
| 82 |
+
"source_to_virtual_rotation": [
|
| 83 |
+
[
|
| 84 |
+
1.0,
|
| 85 |
+
0.0,
|
| 86 |
+
0.0
|
| 87 |
+
],
|
| 88 |
+
[
|
| 89 |
+
0.0,
|
| 90 |
+
0.7880107536067219,
|
| 91 |
+
-0.6156614753256583
|
| 92 |
+
],
|
| 93 |
+
[
|
| 94 |
+
0.0,
|
| 95 |
+
0.6156614753256583,
|
| 96 |
+
0.7880107536067219
|
| 97 |
+
]
|
| 98 |
+
],
|
| 99 |
+
"hfov_deg": 90.0,
|
| 100 |
+
"view_pitch_deg": 38.0,
|
| 101 |
+
"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."
|
| 102 |
+
},
|
| 103 |
+
"extrinsics_reference_frame": "source_fisheye_camera"
|
| 104 |
+
},
|
| 105 |
+
"hand_left": {
|
| 106 |
+
"source_camera": "head_fisheye_left",
|
| 107 |
+
"camera_mount": "head",
|
| 108 |
+
"projection_model": "pinhole",
|
| 109 |
+
"intrinsics": {
|
| 110 |
+
"Fx": 320.00000000000006,
|
| 111 |
+
"Fy": 320.00000000000006,
|
| 112 |
+
"Cx": 320.0,
|
| 113 |
+
"Cy": 240.0,
|
| 114 |
+
"width": 640,
|
| 115 |
+
"height": 480
|
| 116 |
+
},
|
| 117 |
+
"extrinsics": {
|
| 118 |
+
"extrinsic_head_fisheye_left_T_left": {
|
| 119 |
+
"rotation": {
|
| 120 |
+
"x": 0.00363868679823883,
|
| 121 |
+
"y": -0.42865062258823455,
|
| 122 |
+
"z": -0.19933934578868262,
|
| 123 |
+
"w": 0.8811976106036848
|
| 124 |
+
},
|
| 125 |
+
"translation": {
|
| 126 |
+
"x": -0.05050148006484744,
|
| 127 |
+
"y": 0.014694437626401657,
|
| 128 |
+
"z": -0.028958392523767598
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
},
|
| 132 |
+
"resolution": {
|
| 133 |
+
"width": 640,
|
| 134 |
+
"height": 480
|
| 135 |
+
},
|
| 136 |
+
"rectification": {
|
| 137 |
+
"source_projection_model": "opencv_fisheye",
|
| 138 |
+
"source_intrinsics": {
|
| 139 |
+
"Cx": 479.4472961425781,
|
| 140 |
+
"Cy": 299.9506530761719,
|
| 141 |
+
"Fx": 223.04345703125,
|
| 142 |
+
"Fy": 223.11749267578125,
|
| 143 |
+
"height": 600,
|
| 144 |
+
"k1": 0.06008125841617584,
|
| 145 |
+
"k2": 0.015944620594382286,
|
| 146 |
+
"k3": -0.006167862098664045,
|
| 147 |
+
"k4": 0.00022500510385725647,
|
| 148 |
+
"width": 960
|
| 149 |
+
},
|
| 150 |
+
"source_to_virtual_rotation": [
|
| 151 |
+
[
|
| 152 |
+
1.0,
|
| 153 |
+
0.0,
|
| 154 |
+
0.0
|
| 155 |
+
],
|
| 156 |
+
[
|
| 157 |
+
0.0,
|
| 158 |
+
0.7880107536067219,
|
| 159 |
+
-0.6156614753256583
|
| 160 |
+
],
|
| 161 |
+
[
|
| 162 |
+
0.0,
|
| 163 |
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0.6156614753256583,
|
| 164 |
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0.7880107536067219
|
| 165 |
+
]
|
| 166 |
+
],
|
| 167 |
+
"hfov_deg": 90.0,
|
| 168 |
+
"view_pitch_deg": 38.0,
|
| 169 |
+
"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."
|
| 170 |
+
},
|
| 171 |
+
"extrinsics_reference_frame": "source_fisheye_camera"
|
| 172 |
+
},
|
| 173 |
+
"hand_right": {
|
| 174 |
+
"source_camera": "head_fisheye_right",
|
| 175 |
+
"camera_mount": "head",
|
| 176 |
+
"projection_model": "pinhole",
|
| 177 |
+
"intrinsics": {
|
| 178 |
+
"Fx": 320.00000000000006,
|
| 179 |
+
"Fy": 320.00000000000006,
|
| 180 |
+
"Cx": 320.0,
|
| 181 |
+
"Cy": 240.0,
|
| 182 |
+
"width": 640,
|
| 183 |
+
"height": 480
|
| 184 |
+
},
|
| 185 |
+
"extrinsics": {
|
| 186 |
+
"extrinsic_head_fisheye_right_T_left": {
|
| 187 |
+
"rotation": {
|
| 188 |
+
"x": 0.0003976459684297884,
|
| 189 |
+
"y": 0.42641808299703304,
|
| 190 |
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"z": 0.20065156149051988,
|
| 191 |
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"w": 0.8819900289925252
|
| 192 |
+
},
|
| 193 |
+
"translation": {
|
| 194 |
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"x": 0.11023896172779998,
|
| 195 |
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"y": 0.013827394575498546,
|
| 196 |
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"z": -0.02812516971803584
|
| 197 |
+
}
|
| 198 |
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}
|
| 199 |
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},
|
| 200 |
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"resolution": {
|
| 201 |
+
"width": 640,
|
| 202 |
+
"height": 480
|
| 203 |
+
},
|
| 204 |
+
"rectification": {
|
| 205 |
+
"source_projection_model": "opencv_fisheye",
|
| 206 |
+
"source_intrinsics": {
|
| 207 |
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"Cx": 480.4215393066406,
|
| 208 |
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"Cy": 299.4262390136719,
|
| 209 |
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"Fx": 223.5740509033203,
|
| 210 |
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"Fy": 223.46319580078125,
|
| 211 |
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"height": 600,
|
| 212 |
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"k1": 0.05835850164294243,
|
| 213 |
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"k2": 0.017698010429739952,
|
| 214 |
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"k3": -0.007227227091789246,
|
| 215 |
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"k4": 0.0004160731041338295,
|
| 216 |
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"width": 960
|
| 217 |
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},
|
| 218 |
+
"source_to_virtual_rotation": [
|
| 219 |
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[
|
| 220 |
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1.0,
|
| 221 |
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0.0,
|
| 222 |
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0.0
|
| 223 |
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],
|
| 224 |
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[
|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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],
|
| 229 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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]
|
| 234 |
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],
|
| 235 |
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"hfov_deg": 90.0,
|
| 236 |
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"view_pitch_deg": 38.0,
|
| 237 |
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"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."
|
| 238 |
+
},
|
| 239 |
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"extrinsics_reference_frame": "source_fisheye_camera"
|
| 240 |
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},
|
| 241 |
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"head_stereo_left": {
|
| 242 |
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"source_camera": "head_stereo_left",
|
| 243 |
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"camera_mount": "head",
|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
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| 248 |
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| 250 |
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|
| 251 |
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| 252 |
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| 254 |
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|
| 255 |
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"width": 960
|
| 256 |
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},
|
| 257 |
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|
| 258 |
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|
| 259 |
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|
| 260 |
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| 261 |
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| 262 |
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| 263 |
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| 264 |
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| 265 |
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| 266 |
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|
| 267 |
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| 268 |
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| 269 |
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}
|
| 270 |
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|
| 271 |
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|
| 272 |
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|
| 273 |
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|
| 274 |
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| 275 |
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| 276 |
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| 281 |
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| 282 |
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| 283 |
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|
| 284 |
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| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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}
|
| 289 |
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},
|
| 290 |
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|
| 291 |
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|
| 292 |
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"camera_mount": "head",
|
| 293 |
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"projection_model": "pinhole",
|
| 294 |
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|
| 295 |
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|
| 296 |
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| 302 |
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"width": 960
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| 305 |
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},
|
| 306 |
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"extrinsics": {
|
| 307 |
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"extrinsic_head_stereo_right_T_imu": {
|
| 308 |
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|
| 309 |
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| 310 |
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| 313 |
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| 315 |
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| 318 |
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| 319 |
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| 320 |
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| 321 |
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|
| 322 |
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|
| 323 |
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|
| 324 |
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}
|
| 325 |
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}
|
| 326 |
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},
|
| 327 |
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"source_calibration": {
|
| 328 |
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"extrinsic_head_fisheye_T_left": {
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| 329 |
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| 330 |
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| 342 |
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| 343 |
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},
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| 355 |
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| 356 |
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}
|
| 366 |
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},
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"extrinsic_head_stereo_left_T_imu": {
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| 368 |
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| 369 |
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},
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"translation": {
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}
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},
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| 381 |
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| 394 |
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},
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| 400 |
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|
| 407 |
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},
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|
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},
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},
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},
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|
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|
| 472 |
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},
|
| 473 |
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"suppiler_flag": {
|
| 474 |
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"head_fisheye": "383100008901V01AA1VA069126071000489",
|
| 475 |
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"head_fisheye_left": "382200016501V01AA1VA069126061402510",
|
| 476 |
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"head_fisheye_right": "382200017101V01AA1VA069126061302311",
|
| 477 |
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"head_stereo_left": "383100008901V01AA1VA069126071000489",
|
| 478 |
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"head_stereo_right": "383100008901V01AA1VA069126071000489",
|
| 479 |
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"suppiler": 0
|
| 480 |
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}
|
| 481 |
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},
|
| 482 |
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"source_calibration_file": "calibration_fisheye.json",
|
| 483 |
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"active_views": {
|
| 484 |
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"top_head": {
|
| 485 |
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"projection_model": "pinhole",
|
| 486 |
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"width": 640,
|
| 487 |
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"height": 480,
|
| 488 |
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"hfov_deg": 90.0,
|
| 489 |
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"view_pitch_deg": 38.0
|
| 490 |
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},
|
| 491 |
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"hand_left": {
|
| 492 |
+
"projection_model": "pinhole",
|
| 493 |
+
"width": 640,
|
| 494 |
+
"height": 480,
|
| 495 |
+
"hfov_deg": 90.0,
|
| 496 |
+
"view_pitch_deg": 38.0
|
| 497 |
+
},
|
| 498 |
+
"hand_right": {
|
| 499 |
+
"projection_model": "pinhole",
|
| 500 |
+
"width": 640,
|
| 501 |
+
"height": 480,
|
| 502 |
+
"hfov_deg": 90.0,
|
| 503 |
+
"view_pitch_deg": 38.0
|
| 504 |
+
}
|
| 505 |
+
}
|
| 506 |
+
}
|
inputs/human_hand/pourwater/ep000022/calibration_fisheye.json
ADDED
|
@@ -0,0 +1,386 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": "acwmbench.ego.calibration.v1",
|
| 3 |
+
"episode_index": 22,
|
| 4 |
+
"view_aliases": {
|
| 5 |
+
"top_head": "head_fisheye",
|
| 6 |
+
"hand_left": "head_fisheye_left",
|
| 7 |
+
"hand_right": "head_fisheye_right"
|
| 8 |
+
},
|
| 9 |
+
"alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
|
| 10 |
+
"cameras": {
|
| 11 |
+
"top_head": {
|
| 12 |
+
"source_camera": "head_fisheye",
|
| 13 |
+
"camera_mount": "head",
|
| 14 |
+
"projection_model": "opencv_fisheye",
|
| 15 |
+
"intrinsics": {
|
| 16 |
+
"Cx": 401.24334716796875,
|
| 17 |
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"Cy": 299.5632019042969,
|
| 18 |
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"Fx": 224.22935485839844,
|
| 19 |
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"Fy": 224.09205627441406,
|
| 20 |
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"height": 600,
|
| 21 |
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"k1": 0.057993289083242416,
|
| 22 |
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|
| 23 |
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"k3": -0.008063109591603279,
|
| 24 |
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"k4": 0.0006919464212842286,
|
| 25 |
+
"width": 800
|
| 26 |
+
},
|
| 27 |
+
"extrinsics": {
|
| 28 |
+
"extrinsic_head_fisheye_T_left": {
|
| 29 |
+
"rotation": {
|
| 30 |
+
"x": 0.0009442228132370642,
|
| 31 |
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"y": 0.0002965523734030786,
|
| 32 |
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"z": 2.7778272304765542e-05,
|
| 33 |
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"w": 0.9999995098640481
|
| 34 |
+
},
|
| 35 |
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"translation": {
|
| 36 |
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"x": 0.03061258879177004,
|
| 37 |
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"y": -0.00044053462609449333,
|
| 38 |
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"z": 0.0010914965841121059
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"extrinsic_head_fisheye_left_T_left": {
|
| 42 |
+
"rotation": {
|
| 43 |
+
"x": 0.00363868679823883,
|
| 44 |
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|
| 45 |
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|
| 46 |
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"w": 0.8811976106036848
|
| 47 |
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},
|
| 48 |
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"translation": {
|
| 49 |
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|
| 50 |
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|
| 51 |
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"z": -0.028958392523767598
|
| 52 |
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}
|
| 53 |
+
},
|
| 54 |
+
"extrinsic_head_fisheye_right_T_left": {
|
| 55 |
+
"rotation": {
|
| 56 |
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"x": 0.0003976459684297884,
|
| 57 |
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"y": 0.42641808299703304,
|
| 58 |
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|
| 59 |
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"w": 0.8819900289925252
|
| 60 |
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},
|
| 61 |
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"translation": {
|
| 62 |
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"x": 0.11023896172779998,
|
| 63 |
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"y": 0.013827394575498546,
|
| 64 |
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|
| 65 |
+
}
|
| 66 |
+
}
|
| 67 |
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},
|
| 68 |
+
"resolution": {
|
| 69 |
+
"width": 800,
|
| 70 |
+
"height": 600
|
| 71 |
+
}
|
| 72 |
+
},
|
| 73 |
+
"hand_left": {
|
| 74 |
+
"source_camera": "head_fisheye_left",
|
| 75 |
+
"camera_mount": "head",
|
| 76 |
+
"projection_model": "opencv_fisheye",
|
| 77 |
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"intrinsics": {
|
| 78 |
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"Cx": 479.4472961425781,
|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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"k4": 0.00022500510385725647,
|
| 87 |
+
"width": 960
|
| 88 |
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},
|
| 89 |
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"extrinsics": {
|
| 90 |
+
"extrinsic_head_fisheye_left_T_left": {
|
| 91 |
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"rotation": {
|
| 92 |
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"x": 0.00363868679823883,
|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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},
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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}
|
| 102 |
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}
|
| 103 |
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},
|
| 104 |
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"resolution": {
|
| 105 |
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"width": 960,
|
| 106 |
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"height": 600
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"hand_right": {
|
| 110 |
+
"source_camera": "head_fisheye_right",
|
| 111 |
+
"camera_mount": "head",
|
| 112 |
+
"projection_model": "opencv_fisheye",
|
| 113 |
+
"intrinsics": {
|
| 114 |
+
"Cx": 480.4215393066406,
|
| 115 |
+
"Cy": 299.4262390136719,
|
| 116 |
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"Fx": 223.5740509033203,
|
| 117 |
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"Fy": 223.46319580078125,
|
| 118 |
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"height": 600,
|
| 119 |
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"k1": 0.05835850164294243,
|
| 120 |
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|
| 121 |
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|
| 122 |
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"k4": 0.0004160731041338295,
|
| 123 |
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"width": 960
|
| 124 |
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},
|
| 125 |
+
"extrinsics": {
|
| 126 |
+
"extrinsic_head_fisheye_right_T_left": {
|
| 127 |
+
"rotation": {
|
| 128 |
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"x": 0.0003976459684297884,
|
| 129 |
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"y": 0.42641808299703304,
|
| 130 |
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"z": 0.20065156149051988,
|
| 131 |
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"w": 0.8819900289925252
|
| 132 |
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},
|
| 133 |
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"translation": {
|
| 134 |
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"x": 0.11023896172779998,
|
| 135 |
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|
| 136 |
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|
| 137 |
+
}
|
| 138 |
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}
|
| 139 |
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},
|
| 140 |
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"resolution": {
|
| 141 |
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"width": 960,
|
| 142 |
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"height": 600
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
"head_stereo_left": {
|
| 146 |
+
"source_camera": "head_stereo_left",
|
| 147 |
+
"camera_mount": "head",
|
| 148 |
+
"projection_model": "pinhole",
|
| 149 |
+
"intrinsics": {
|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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},
|
| 161 |
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"extrinsics": {
|
| 162 |
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"extrinsic_head_stereo_left_T_imu": {
|
| 163 |
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"rotation": {
|
| 164 |
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"x": 0.999970395486808,
|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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},
|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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| 173 |
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}
|
| 174 |
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},
|
| 175 |
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| 176 |
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|
| 177 |
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|
| 178 |
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| 179 |
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| 180 |
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| 181 |
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},
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| 182 |
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| 183 |
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| 184 |
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| 186 |
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}
|
| 187 |
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}
|
| 188 |
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},
|
| 189 |
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"resolution": {
|
| 190 |
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|
| 191 |
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|
| 192 |
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}
|
| 193 |
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},
|
| 194 |
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|
| 195 |
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|
| 196 |
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"camera_mount": "head",
|
| 197 |
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|
| 198 |
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| 199 |
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| 200 |
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| 201 |
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|
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| 212 |
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| 213 |
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|
| 228 |
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|
| 229 |
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}
|
| 230 |
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},
|
| 231 |
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|
| 232 |
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| 233 |
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}
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| 244 |
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},
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| 246 |
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},
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}
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},
|
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}
|
| 270 |
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},
|
| 271 |
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|
| 272 |
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|
| 273 |
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|
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},
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}
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},
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