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Browse files- .gitattributes +1 -0
- 20261008_151102/right/angle_data.json +1 -0
- 20261008_151102/right/dcam_calib.json +2429 -0
- 20261008_151102/right/dcam_calib_offline.json +9 -0
- 20261008_151102/right/dcam_clock_pairs.json +1 -0
- 20261008_151102/right/dcam_depth.mkv +3 -0
- 20261008_151102/right/dcam_depth_timestamps.json +1 -0
- 20261008_151102/right/dcam_left.mp4 +3 -0
- 20261008_151102/right/dcam_left_timestamps.json +1 -0
- 20261008_151102/right/dcam_mask.png +3 -0
- 20261008_151102/right/frame_timestamps.json +1 -0
- 20261008_151102/right/frames.json +163 -0
- 20261008_151102/right/metadata.json +32 -0
- 20261008_151102/right/raw_video.mp4 +3 -0
- 20261008_151102/right/rpi_camera_intrinsics.json +35 -0
.gitattributes
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20261008_151102/right/dcam_depth.mkv filter=lfs diff=lfs merge=lfs -text
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20261008_151102/right/angle_data.json
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|
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ADDED
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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 |
+
"baseline_mm": 18.112699508666992,
|
| 7 |
+
"sets": [
|
| 8 |
+
{
|
| 9 |
+
"depth_intrinsic": {
|
| 10 |
+
"width": 640,
|
| 11 |
+
"height": 480,
|
| 12 |
+
"fx": 372.87310791015625,
|
| 13 |
+
"fy": 372.87310791015625,
|
| 14 |
+
"cx": 319.4000244140625,
|
| 15 |
+
"cy": 233.5
|
| 16 |
+
},
|
| 17 |
+
"depth_distortion": {
|
| 18 |
+
"k1": 0.0,
|
| 19 |
+
"k2": 0.0,
|
| 20 |
+
"k3": 0.0,
|
| 21 |
+
"k4": 0.0,
|
| 22 |
+
"k5": 0.0,
|
| 23 |
+
"k6": 0.0,
|
| 24 |
+
"p1": 0.0,
|
| 25 |
+
"p2": 0.0
|
| 26 |
+
}
|
| 27 |
+
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20261008_151102/right/dcam_calib_offline.json
ADDED
|
@@ -0,0 +1,9 @@
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{
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"baseline": 0.018112699508666993
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20261008_151102/right/dcam_clock_pairs.json
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{"pairs": [{"stream": "left", "seq": 1269, "device_us": 1791472262417618, "host_ms": -2.4245496218782137}]}
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20261008_151102/right/dcam_depth.mkv
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version https://git-lfs.github.com/spec/v1
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oid sha256:966f2da97d34a018486b54627b8a67406fab6bb1e89aa73e1913af52ae97bf2d
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size 10999153
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20261008_151102/right/dcam_depth_timestamps.json
ADDED
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{"samples": [{"seq": 1269, "device_us": 1791472262417618, "host_ms": -2.4245496218782137}, {"seq": 1279, "device_us": 1791472262750704, "host_ms": 330.6884054715056}, {"seq": 1280, "device_us": 1791472262784013, "host_ms": 363.9983419949431}, {"seq": 1281, "device_us": 1791472262817322, "host_ms": 397.3132853085417}, {"seq": 1282, "device_us": 1791472262850630, "host_ms": 430.63037438935226}, {"seq": 1283, "device_us": 1791472262883939, "host_ms": 463.94126458710616}, {"seq": 1284, "device_us": 1791472262917247, "host_ms": 497.2714666897673}, {"seq": 1285, "device_us": 1791472262950556, "host_ms": 530.5823568875212}, {"seq": 1286, "device_us": 1791472262983865, "host_ms": 563.8894323880095}, {"seq": 1287, "device_us": 1791472263017173, "host_ms": 597.1984152371306}, {"seq": 1288, "device_us": 1791472263050482, "host_ms": 630.5133585507292}, {"seq": 1289, "device_us": 1791472263083790, "host_ms": 663.8364080960173}, {"seq": 1290, "device_us": 1791472263117099, "host_ms": 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20261008_151102/right/dcam_left.mp4
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version https://git-lfs.github.com/spec/v1
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20261008_151102/right/dcam_left_timestamps.json
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{"samples": [{"seq": 1269, "device_us": 1791472262417618, "host_ms": -2.4245496218782137}, {"seq": 1279, "device_us": 1791472262750704, "host_ms": 330.6884054715056}, {"seq": 1280, "device_us": 1791472262784013, "host_ms": 363.9983419949431}, {"seq": 1281, "device_us": 1791472262817322, "host_ms": 397.3132853085417}, {"seq": 1282, "device_us": 1791472262850630, "host_ms": 430.63037438935226}, {"seq": 1283, "device_us": 1791472262883939, "host_ms": 463.94126458710616}, {"seq": 1284, "device_us": 1791472262917247, "host_ms": 497.2714666897673}, {"seq": 1285, "device_us": 1791472262950556, "host_ms": 530.5823568875212}, {"seq": 1286, "device_us": 1791472262983865, "host_ms": 563.8894323880095}, {"seq": 1287, "device_us": 1791472263017173, "host_ms": 597.1984152371306}, {"seq": 1288, "device_us": 1791472263050482, "host_ms": 630.5133585507292}, {"seq": 1289, "device_us": 1791472263083790, "host_ms": 663.8364080960173}, {"seq": 1290, "device_us": 1791472263117099, "host_ms": 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20261008_151102/right/frames.json
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| 147 |
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-0.04036010045998032
|
| 148 |
+
],
|
| 149 |
+
[
|
| 150 |
+
0.0,
|
| 151 |
+
-0.34201464574317253,
|
| 152 |
+
0.9396946217240856,
|
| 153 |
+
0.00012515174907385893
|
| 154 |
+
],
|
| 155 |
+
[
|
| 156 |
+
0.0,
|
| 157 |
+
0.0,
|
| 158 |
+
0.0,
|
| 159 |
+
1.0
|
| 160 |
+
]
|
| 161 |
+
],
|
| 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_151102/right/metadata.json
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"duration_seconds": 4.61,
|
| 3 |
+
"frame_count": 222,
|
| 4 |
+
"imu_sample_count": 0,
|
| 5 |
+
"angle_sample_count": 399,
|
| 6 |
+
"fps": 48.821,
|
| 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": 129,
|
| 14 |
+
"depth_frames": 129,
|
| 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": "2026-10-08T15:11:02.417457+00:00",
|
| 28 |
+
"capture_started_utc": "2026-10-08T15:11:02.510039+00:00",
|
| 29 |
+
"wake_skew_ms": -0.5,
|
| 30 |
+
"start_capture_ms": 93.1
|
| 31 |
+
}
|
| 32 |
+
}
|
20261008_151102/right/raw_video.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0d5237b89375a318de7b1beabe5c45e4b672cc3e302eb63776f38a3960e40005
|
| 3 |
+
size 4627025
|
20261008_151102/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 |
+
}
|