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Browse files- .gitattributes +1 -0
- 20261008_151122/right/angle_data.json +1 -0
- 20261008_151122/right/dcam_calib.json +2429 -0
- 20261008_151122/right/dcam_calib_offline.json +9 -0
- 20261008_151122/right/dcam_clock_pairs.json +1 -0
- 20261008_151122/right/dcam_depth.mkv +3 -0
- 20261008_151122/right/dcam_depth_timestamps.json +1 -0
- 20261008_151122/right/dcam_left.mp4 +3 -0
- 20261008_151122/right/dcam_left_timestamps.json +1 -0
- 20261008_151122/right/dcam_mask.png +3 -0
- 20261008_151122/right/frame_timestamps.json +1 -0
- 20261008_151122/right/frames.json +163 -0
- 20261008_151122/right/metadata.json +32 -0
- 20261008_151122/right/raw_video.mp4 +3 -0
- 20261008_151122/right/rpi_camera_intrinsics.json +35 -0
.gitattributes
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20261008_151122/right/dcam_depth.mkv filter=lfs diff=lfs merge=lfs -text
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20261008_151122/right/angle_data.json
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|
| 1 |
+
{
|
| 2 |
+
"name": "Orbbec Gemini 305",
|
| 3 |
+
"serial_number": "CV27864000VS",
|
| 4 |
+
"firmware_version": "1.0.70",
|
| 5 |
+
"connection_type": "USB3.2",
|
| 6 |
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"baseline_mm": 18.112699508666992,
|
| 7 |
+
"sets": [
|
| 8 |
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{
|
| 9 |
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"depth_intrinsic": {
|
| 10 |
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"width": 640,
|
| 11 |
+
"height": 480,
|
| 12 |
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"fx": 372.87310791015625,
|
| 13 |
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"fy": 372.87310791015625,
|
| 14 |
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"cx": 319.4000244140625,
|
| 15 |
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"cy": 233.5
|
| 16 |
+
},
|
| 17 |
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"depth_distortion": {
|
| 18 |
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| 19 |
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| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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"p1": 0.0,
|
| 25 |
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"p2": 0.0
|
| 26 |
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}
|
| 27 |
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},
|
| 28 |
+
{
|
| 29 |
+
"depth_intrinsic": {
|
| 30 |
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"width": 640,
|
| 31 |
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"height": 480,
|
| 32 |
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"fx": 372.87310791015625,
|
| 33 |
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"fy": 372.87310791015625,
|
| 34 |
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"cx": 319.4000244140625,
|
| 35 |
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"cy": 233.5
|
| 36 |
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|
| 37 |
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| 38 |
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| 39 |
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| 40 |
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|
| 41 |
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|
| 42 |
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| 43 |
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| 44 |
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|
| 45 |
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|
| 46 |
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}
|
| 47 |
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},
|
| 48 |
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{
|
| 49 |
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|
| 50 |
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"width": 640,
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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| 59 |
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| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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| 65 |
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|
| 66 |
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}
|
| 67 |
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},
|
| 68 |
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{
|
| 69 |
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"depth_intrinsic": {
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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| 74 |
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| 75 |
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| 76 |
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|
| 77 |
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| 78 |
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|
| 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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|
| 87 |
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|
| 88 |
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{
|
| 89 |
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"depth_intrinsic": {
|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 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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|
| 105 |
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|
| 106 |
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}
|
| 107 |
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},
|
| 108 |
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{
|
| 109 |
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"depth_intrinsic": {
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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"cx": 423.3375244140625,
|
| 115 |
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"cy": 260.6937561035156
|
| 116 |
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},
|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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}
|
| 127 |
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},
|
| 128 |
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{
|
| 129 |
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"depth_intrinsic": {
|
| 130 |
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"width": 848,
|
| 131 |
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"height": 530,
|
| 132 |
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|
| 133 |
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"fy": 411.71405029296875,
|
| 134 |
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"cx": 423.3375244140625,
|
| 135 |
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"cy": 260.6937561035156
|
| 136 |
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},
|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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"k4": 0.0,
|
| 142 |
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"k5": 0.0,
|
| 143 |
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"k6": 0.0,
|
| 144 |
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"p1": 0.0,
|
| 145 |
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"p2": 0.0
|
| 146 |
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}
|
| 147 |
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},
|
| 148 |
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{
|
| 149 |
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"depth_intrinsic": {
|
| 150 |
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"width": 1280,
|
| 151 |
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"height": 720,
|
| 152 |
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"fx": 621.4551391601562,
|
| 153 |
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|
20261008_151122/right/dcam_calib_offline.json
ADDED
|
@@ -0,0 +1,9 @@
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{
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| 2 |
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"baseline": 0.018112699508666993
|
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|
20261008_151122/right/dcam_clock_pairs.json
ADDED
|
@@ -0,0 +1 @@
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|
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|
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|
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{"pairs": [{"stream": "left", "seq": 1866, "device_us": 1791472282302853, "host_ms": -15.934925233068498}]}
|
20261008_151122/right/dcam_depth.mkv
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version https://git-lfs.github.com/spec/v1
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size 10910328
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20261008_151122/right/dcam_depth_timestamps.json
ADDED
|
@@ -0,0 +1 @@
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|
|
|
|
|
|
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20261008_151122/right/dcam_left.mp4
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:ebc8bb0faa4e38c49853467052693edbc8c86fc3444beab6736b81722d8abcfa
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| 3 |
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size 3924195
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20261008_151122/right/dcam_left_timestamps.json
ADDED
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{"samples": [{"seq": 1866, "device_us": 1791472282302853, "host_ms": -15.934925233068498}, {"seq": 1875, "device_us": 1791472282602630, "host_ms": 283.9751432788944}, {"seq": 1876, "device_us": 1791472282635939, "host_ms": 317.30916007882115}, {"seq": 1877, "device_us": 1791472282669247, "host_ms": 350.6140898120975}, {"seq": 1878, "device_us": 1791472282702556, "host_ms": 383.92712577706334}, {"seq": 1879, "device_us": 1791472282735864, "host_ms": 417.2432611835575}, {"seq": 1880, "device_us": 1791472282769173, "host_ms": 450.57727798348424}, {"seq": 1881, "device_us": 1791472282802482, "host_ms": 483.89222129708287}, {"seq": 1882, "device_us": 1791472282835790, "host_ms": 517.2312448871708}, {"seq": 1883, "device_us": 1791472282869099, "host_ms": 550.5552481067753}, {"seq": 1884, "device_us": 1791472282902407, "host_ms": 583.8921259296512}, {"seq": 1885, "device_us": 1791472282935716, "host_ms": 617.2211359394169}, {"seq": 1886, "device_us": 1791472282969025, "host_ms": 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|
20261008_151122/right/dcam_mask.png
ADDED
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Git LFS Details
|
20261008_151122/right/frame_timestamps.json
ADDED
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@@ -0,0 +1 @@
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| 1 |
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|
20261008_151122/right/frames.json
ADDED
|
@@ -0,0 +1,163 @@
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| 1 |
+
{
|
| 2 |
+
"urdf_source": "grabette_right/robot.urdf",
|
| 3 |
+
"parent_link": "grip_r",
|
| 4 |
+
"frames_in_grip_r": {
|
| 5 |
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"camera": [
|
| 6 |
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[
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| 7 |
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| 8 |
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[
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],
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| 18 |
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[
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]
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| 30 |
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],
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| 31 |
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"oak_l": [
|
| 32 |
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[
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| 33 |
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| 34 |
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| 54 |
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]
|
| 56 |
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],
|
| 57 |
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"oak_r": [
|
| 58 |
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[
|
| 59 |
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|
| 60 |
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| 61 |
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],
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[
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],
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[
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|
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],
|
| 83 |
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"gripper_center": [
|
| 84 |
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[
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| 85 |
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|
| 86 |
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| 108 |
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],
|
| 109 |
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"thumb_tip": [
|
| 110 |
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[
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| 111 |
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|
| 112 |
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-2.6335830036882566e-06,
|
| 113 |
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|
| 114 |
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],
|
| 116 |
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[
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| 117 |
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|
| 118 |
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[
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|
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|
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|
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| 128 |
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| 129 |
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| 131 |
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| 132 |
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1.0
|
| 133 |
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]
|
| 134 |
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]
|
| 135 |
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},
|
| 136 |
+
"T_camera_in_oak_l": [
|
| 137 |
+
[
|
| 138 |
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1.0,
|
| 139 |
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0.0,
|
| 140 |
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0.0,
|
| 141 |
+
-0.003499999999999996
|
| 142 |
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],
|
| 143 |
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[
|
| 144 |
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0.0,
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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],
|
| 149 |
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[
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| 150 |
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0.0,
|
| 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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[
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| 156 |
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| 157 |
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|
| 158 |
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|
| 159 |
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1.0
|
| 160 |
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]
|
| 161 |
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],
|
| 162 |
+
"note": "4x4 row-major homogeneous transforms, meters + radians. frames_in_grip_r[X] = T_X_in_grip_r (pose of frame X in the grip_r link frame). T_camera_in_oak_l = inv(T_oak_l_in_grip_r) @ T_camera_in_grip_r \u2014 provided as a convenience so SLAM poses (produced in the oak_l frame) can be re-expressed in the primary RPi camera frame without URDF parsing."
|
| 163 |
+
}
|
20261008_151122/right/metadata.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"duration_seconds": 4.3,
|
| 3 |
+
"frame_count": 204,
|
| 4 |
+
"imu_sample_count": 0,
|
| 5 |
+
"angle_sample_count": 368,
|
| 6 |
+
"fps": 48.286,
|
| 7 |
+
"backend": "rpi",
|
| 8 |
+
"hand": "right",
|
| 9 |
+
"angle_convention": "positive_closing",
|
| 10 |
+
"device_id": "grabette-35ed8c08",
|
| 11 |
+
"urdf": "grabette_right",
|
| 12 |
+
"dcam": {
|
| 13 |
+
"left_frames": 121,
|
| 14 |
+
"depth_frames": 121,
|
| 15 |
+
"imu_samples": 0
|
| 16 |
+
},
|
| 17 |
+
"depth_camera": {
|
| 18 |
+
"model": "gemini305",
|
| 19 |
+
"name": "Orbbec Gemini 305",
|
| 20 |
+
"serial": "CV27864000VS",
|
| 21 |
+
"firmware": "1.0.70",
|
| 22 |
+
"link": "USB3.2",
|
| 23 |
+
"imu": null,
|
| 24 |
+
"image_orientation": "rotate_180_in_capture"
|
| 25 |
+
},
|
| 26 |
+
"sync": {
|
| 27 |
+
"scheduled_start_utc": "2026-10-08T15:11:22.317499+00:00",
|
| 28 |
+
"capture_started_utc": "2026-10-08T15:11:22.375740+00:00",
|
| 29 |
+
"wake_skew_ms": 0.2,
|
| 30 |
+
"start_capture_ms": 58.1
|
| 31 |
+
}
|
| 32 |
+
}
|
20261008_151122/right/raw_video.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:46047d53e716a6180048ad747929a44252f652b0bddaeb9175e44ae8dc1bc4a5
|
| 3 |
+
size 4251112
|
20261008_151122/right/rpi_camera_intrinsics.json
ADDED
|
@@ -0,0 +1,35 @@
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|
| 1 |
+
{
|
| 2 |
+
"image_width": 1296,
|
| 3 |
+
"image_height": 972,
|
| 4 |
+
"intrinsic_type": "FISHEYE",
|
| 5 |
+
"intrinsics": {
|
| 6 |
+
"aspect_ratio": 0.9974064140442742,
|
| 7 |
+
"focal_length": 512.336215632677,
|
| 8 |
+
"principal_pt_x": 639.4547113545062,
|
| 9 |
+
"principal_pt_y": 495.85762143010663,
|
| 10 |
+
"radial_distortion_1": -0.0036315938261216887,
|
| 11 |
+
"radial_distortion_2": -0.006340515410813272,
|
| 12 |
+
"radial_distortion_3": -0.005022585622138357,
|
| 13 |
+
"radial_distortion_4": 0.002255799946569448,
|
| 14 |
+
"skew": 0.0
|
| 15 |
+
},
|
| 16 |
+
"fps": 49.62,
|
| 17 |
+
"calibration_source": "OpenICC (full spline optimization)",
|
| 18 |
+
"camera_reproj_error": 0.31874753391544464,
|
| 19 |
+
"imu_camera_reproj_error": 7.244266583888487,
|
| 20 |
+
"nr_calib_images": 29,
|
| 21 |
+
"t_i_c": {
|
| 22 |
+
"x": -0.00011395952305253986,
|
| 23 |
+
"y": -0.005276075233591049,
|
| 24 |
+
"z": -0.006171107108430983
|
| 25 |
+
},
|
| 26 |
+
"q_i_c": {
|
| 27 |
+
"w": -0.528343102376054,
|
| 28 |
+
"x": -0.8414094982035182,
|
| 29 |
+
"y": -0.09443487530222187,
|
| 30 |
+
"z": 0.06297362012147899
|
| 31 |
+
},
|
| 32 |
+
"time_offset_imu_to_cam": -0.17615498950452477,
|
| 33 |
+
"gyro_bias": [0.00015996975557990202, 0.0009524907263527097, -0.0020606042040575644],
|
| 34 |
+
"_note": "Final calibration from OpenICC spline optimization. Euler angles XYZ: (116deg, 12deg, 5deg)"
|
| 35 |
+
}
|