Commit ·
cea37de
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Parent(s):
Initial release
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +60 -0
- README.md +149 -0
- assets/teaser.gif +3 -0
- configs/p_001/p_001_calibration_routine_left.json +558 -0
- configs/p_001/p_001_calibration_routine_left_k4a/cam-1.k4a_calibration.json +1 -0
- configs/p_001/p_001_calibration_routine_left_k4a/cam-2.k4a_calibration.json +1 -0
- configs/p_001/p_001_calibration_routine_left_k4a/cam-3.k4a_calibration.json +1 -0
- configs/p_001/p_001_calibration_routine_left_k4a/cam-4.k4a_calibration.json +1 -0
- configs/p_001/p_001_calibration_routine_left_k4a/cam-5.k4a_calibration.json +1 -0
- configs/p_001/p_001_calibration_routine_left_k4a/cam-6.k4a_calibration.json +1 -0
- configs/p_001/p_001_calibration_routine_left_k4a/cam-7.k4a_calibration.json +1 -0
- configs/p_001/p_001_calibration_routine_left_k4a/cam-d.k4a_calibration.json +1 -0
- configs/p_001/p_001_calibration_routine_right.json +558 -0
- configs/p_001/p_001_calibration_routine_right_k4a/cam-1.k4a_calibration.json +1 -0
- configs/p_001/p_001_calibration_routine_right_k4a/cam-2.k4a_calibration.json +1 -0
- configs/p_001/p_001_calibration_routine_right_k4a/cam-3.k4a_calibration.json +1 -0
- configs/p_001/p_001_calibration_routine_right_k4a/cam-4.k4a_calibration.json +1 -0
- configs/p_001/p_001_calibration_routine_right_k4a/cam-5.k4a_calibration.json +1 -0
- configs/p_001/p_001_calibration_routine_right_k4a/cam-6.k4a_calibration.json +1 -0
- configs/p_001/p_001_calibration_routine_right_k4a/cam-7.k4a_calibration.json +1 -0
- configs/p_001/p_001_calibration_routine_right_k4a/cam-d.k4a_calibration.json +1 -0
- configs/p_001/p_001_draw_word_5x_left.json +558 -0
- configs/p_001/p_001_draw_word_5x_left_k4a/cam-1.k4a_calibration.json +1 -0
- configs/p_001/p_001_draw_word_5x_left_k4a/cam-2.k4a_calibration.json +1 -0
- configs/p_001/p_001_draw_word_5x_left_k4a/cam-3.k4a_calibration.json +1 -0
- configs/p_001/p_001_draw_word_5x_left_k4a/cam-4.k4a_calibration.json +1 -0
- configs/p_001/p_001_draw_word_5x_left_k4a/cam-5.k4a_calibration.json +1 -0
- configs/p_001/p_001_draw_word_5x_left_k4a/cam-6.k4a_calibration.json +1 -0
- configs/p_001/p_001_draw_word_5x_left_k4a/cam-7.k4a_calibration.json +1 -0
- configs/p_001/p_001_draw_word_5x_left_k4a/cam-d.k4a_calibration.json +1 -0
- configs/p_001/p_001_draw_word_5x_right.json +558 -0
- configs/p_001/p_001_draw_word_5x_right_k4a/cam-1.k4a_calibration.json +1 -0
- configs/p_001/p_001_draw_word_5x_right_k4a/cam-2.k4a_calibration.json +1 -0
- configs/p_001/p_001_draw_word_5x_right_k4a/cam-3.k4a_calibration.json +1 -0
- configs/p_001/p_001_draw_word_5x_right_k4a/cam-4.k4a_calibration.json +1 -0
- configs/p_001/p_001_draw_word_5x_right_k4a/cam-5.k4a_calibration.json +1 -0
- configs/p_001/p_001_draw_word_5x_right_k4a/cam-6.k4a_calibration.json +1 -0
- configs/p_001/p_001_draw_word_5x_right_k4a/cam-7.k4a_calibration.json +1 -0
- configs/p_001/p_001_draw_word_5x_right_k4a/cam-d.k4a_calibration.json +1 -0
- configs/p_001/p_001_grasp-edge_curled_thumb-down_5x_left.json +558 -0
- configs/p_001/p_001_grasp-edge_curled_thumb-down_5x_left_k4a/cam-1.k4a_calibration.json +1 -0
- configs/p_001/p_001_grasp-edge_curled_thumb-down_5x_left_k4a/cam-2.k4a_calibration.json +1 -0
- configs/p_001/p_001_grasp-edge_curled_thumb-down_5x_left_k4a/cam-3.k4a_calibration.json +1 -0
- configs/p_001/p_001_grasp-edge_curled_thumb-down_5x_left_k4a/cam-4.k4a_calibration.json +1 -0
- configs/p_001/p_001_grasp-edge_curled_thumb-down_5x_left_k4a/cam-5.k4a_calibration.json +1 -0
- configs/p_001/p_001_grasp-edge_curled_thumb-down_5x_left_k4a/cam-6.k4a_calibration.json +1 -0
- configs/p_001/p_001_grasp-edge_curled_thumb-down_5x_left_k4a/cam-7.k4a_calibration.json +1 -0
- configs/p_001/p_001_grasp-edge_curled_thumb-down_5x_left_k4a/cam-d.k4a_calibration.json +1 -0
- configs/p_001/p_001_grasp-edge_curled_thumb-down_5x_right.json +558 -0
- configs/p_001/p_001_grasp-edge_curled_thumb-down_5x_right_k4a/cam-1.k4a_calibration.json +1 -0
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README.md
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---
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| 2 |
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license: cc-by-nc-sa-4.0
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pretty_name: EgoPressure
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tags:
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- hand-pose
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- pressure-estimation
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- egocentric-vision
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- hand-object-interaction
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- MANO
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size_categories:
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- 1M<n<10M
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---
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<h1 align="center">EgoPressure: A Dataset for Hand Pressure and Pose Estimation in Egocentric Vision</h1>
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<div align="center">
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| 17 |
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**CVPR 2025 (Highlight)**
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[Yiming Zhao<sup>1*</sup>](https://yiming-zhao.github.io), [Taein Kwon<sup>1*</sup>](https://taeinkwon.com/), [Paul Streli<sup>1*</sup>](https://www.paulstreli.com), [Marc Pollefeys<sup>1,2</sup>](https://people.inf.ethz.ch/marc.pollefeys/), [Christian Holz<sup>1</sup>](https://www.christianholz.net/)<br/>
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<sup>1</sup> ETH Zürich
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<sup>2</sup> Microsoft<br/>
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<sup>*</sup> Equal contribution<br/>
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</div>
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A dataset for **hand pressure and pose estimation in egocentric vision**.
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Participants perform touch gestures on a
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pressure-sensing touchpad (Sensel Morph) while being recorded by a
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head-mounted egocentric camera and seven static Azure Kinects — providing
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synchronized RGB-D from 8 views, fine-grained touch pressure for every
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contact, and MANO hand mesh annotations.
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- 📄 Paper: https://arxiv.org/abs/2409.02224
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- 🛠️ Toolkit (download / load / visualize): https://github.com/eth-siplab/EgoPressure
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- 🎬 Preview videos: https://drive.google.com/drive/folders/1JUIUvIR2jAV-ghYGtVLgBEN1JdCzkvnE
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<p align="center">
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<img src="assets/teaser.gif" width="800">
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</p>
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| 42 |
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| 43 |
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## Composition
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| 44 |
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| 45 |
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| | |
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|---|---|
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| Participants | 21 (pseudonymized `p_001` … `p_021`) |
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| 48 |
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| Sequences | **1,344** — 32 gestures × 2 hands per participant |
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| 49 |
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| Gestures | palm/finger/index presses (high, low, no-contact), pinches, pinch-zoom, grasps, pull/push, drawing, typing + a calibration routine |
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| 50 |
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| Views | 8 synchronized RGB-D cameras (1 egocentric 1920×1080 + 7 static 2560×1440) at 30 Hz |
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| Frames | ≈630K per camera stream (≈5M camera-frames overall) |
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| 52 |
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| Modalities | RGB, depth, hand masks, raw touch-pressure grid, UV pressure maps, MANO hand meshes (pose, shape, per-vertex refinement), per-frame egocentric camera pose |
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| 53 |
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| Total size | **1.96 TB** — selectively downloadable per participant / sequence / camera / modality |
|
| 54 |
+
|
| 55 |
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## Quick start (toolkit)
|
| 56 |
+
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| 57 |
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The official toolkit handles selective download, loading every modality,
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| 58 |
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geometry, and visualization:
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| 59 |
+
|
| 60 |
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```bash
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| 61 |
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pip install "egopressure[all] @ git+https://github.com/eth-siplab/EgoPressure"
|
| 62 |
+
|
| 63 |
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egopressure list
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| 64 |
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egopressure download --participants p_001 --cameras d --modalities rgb,depth,pressure,pose
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| 65 |
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egopressure video p_001 p_001_press_palm_low_x5_right --out seq.mp4
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| 66 |
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```
|
| 67 |
+
|
| 68 |
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```python
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| 69 |
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from egopressure import EgoPressure
|
| 70 |
+
|
| 71 |
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ep = EgoPressure.from_hub(participants=["p_001"], cameras=["d"],
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| 72 |
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modalities=["rgb", "depth", "pressure", "pose"])
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| 73 |
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seq = ep.sequence("p_001", "p_001_press_palm_low_x5_right")
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| 74 |
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frame = seq.load_frame(60, depth=True) # rgb, depth, force, annotation
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| 75 |
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frame.show(camera="d", overlays=["mesh", "skeleton", "pressure"])
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| 76 |
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```
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| 77 |
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| 78 |
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The toolkit's [data reference](https://github.com/eth-siplab/EgoPressure/blob/master/docs/DATA.md)
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| 79 |
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documents every field, unit, and convention.
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| 80 |
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| 81 |
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## Download without the toolkit
|
| 82 |
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| 83 |
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Everything is sharded by participant / sequence / camera / modality, so plain
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| 84 |
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`huggingface_hub` works too:
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| 85 |
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|
| 86 |
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```python
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| 87 |
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from huggingface_hub import snapshot_download
|
| 88 |
+
|
| 89 |
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snapshot_download("eth-siplab/EgoPressure", repo_type="dataset",
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| 90 |
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local_dir="egopressure_data",
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| 91 |
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allow_patterns=["configs/p_001/*",
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| 92 |
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"data/p_001/*/cam-d.color.parquet",
|
| 93 |
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"data/p_001/*/pressure.parquet",
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| 94 |
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"data/p_001/*/annotation.parquet"])
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| 95 |
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```
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| 96 |
+
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| 97 |
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### Layout
|
| 98 |
+
|
| 99 |
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```
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| 100 |
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configs/<participant>/<sequence>.json # camera calibration + metadata
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| 101 |
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configs/<participant>/<sequence>_k4a/ # per-camera factory calibrations
|
| 102 |
+
data/<participant>/<sequence>/
|
| 103 |
+
cam-d.color.parquet cam-1.color.parquet ... cam-7.color.parquet
|
| 104 |
+
cam-d.depth.parquet cam-1.depth.parquet ... cam-7.depth.parquet
|
| 105 |
+
cam-d.mask.parquet cam-1.mask.parquet ... cam-7.mask.parquet
|
| 106 |
+
pressure.parquet # Sensel grid + UV pressure
|
| 107 |
+
annotation.parquet # MANO pose/mesh + ego pose
|
| 108 |
+
```
|
| 109 |
+
|
| 110 |
+
Each Parquet shard holds one row per frame (`frame` column).
|
| 111 |
+
|
| 112 |
+
### Modalities
|
| 113 |
+
|
| 114 |
+
| Shard | Content |
|
| 115 |
+
|---|---|
|
| 116 |
+
| `cam-*.color` | RGB frames as original JPEG bytes (ego `d`: 1920×1080; static `1..7`: 2560×1440; undistorted) |
|
| 117 |
+
| `cam-*.depth` | 512×512 uint16 depth in millimetres (PNG bytes), all 8 cameras; depth-sensor frame, covering the camera's color view (+32 px guard band) — `0` = no measurement |
|
| 118 |
+
| `cam-*.mask` | hand segmentation masks (PNG bytes) |
|
| 119 |
+
| `pressure` | raw Sensel Morph grid (105×185 float32, flattened) + normalised 224×224 UV pressure map with `[min, max]` range |
|
| 120 |
+
| `annotation` | MANO `vertices (778×3)`, `joint_position (21×3)`, `betas (10)`, `full_pose (48)`, `transl`, `normals`, `displacement`, per-static-camera `visible_vertices (7×778)`, per-frame egocentric camera pose (`ego_R` 3×3, `ego_T` 3) |
|
| 121 |
+
|
| 122 |
+
### Geometry essentials
|
| 123 |
+
|
| 124 |
+
- World origin on the touchpad surface (the calibrated 240 × 137.5 mm pad
|
| 125 |
+
rectangle, x–y plane at z = 0); MANO vertices and the ego pose are in **metres**, static-camera
|
| 126 |
+
`ModelViewMatrix` extrinsics in **millimetres**.
|
| 127 |
+
- Images are undistorted → plain pinhole projection with the config intrinsics.
|
| 128 |
+
- Depth maps are in each camera's **depth-sensor frame** (not registered to
|
| 129 |
+
color) and cover the region co-visible with that camera's color image;
|
| 130 |
+
`configs/<p>/<seq>_k4a/` holds the factory calibrations — the toolkit's
|
| 131 |
+
`register_depth_to_color()` produces pixel-aligned RGB-D.
|
| 132 |
+
- Raw sensor counts convert to Newtons via `counts / 1736` (cell pitch 1.25 mm).
|
| 133 |
+
|
| 134 |
+
## License & citation
|
| 135 |
+
|
| 136 |
+
Released under **CC BY-NC-SA 4.0** (non-commercial, academic). MANO-derived
|
| 137 |
+
annotations are additionally subject to the
|
| 138 |
+
[MANO license](https://mano.is.tue.mpg.de/license.html).
|
| 139 |
+
|
| 140 |
+
```bibtex
|
| 141 |
+
@InProceedings{Zhao_2025_CVPR,
|
| 142 |
+
author = {Zhao, Yiming and Kwon, Taein and Streli, Paul and Pollefeys, Marc and Holz, Christian},
|
| 143 |
+
title = {EgoPressure: A Dataset for Hand Pressure and Pose Estimation in Egocentric Vision},
|
| 144 |
+
booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
|
| 145 |
+
month = {June},
|
| 146 |
+
year = {2025},
|
| 147 |
+
pages = {27727--27738}
|
| 148 |
+
}
|
| 149 |
+
```
|
assets/teaser.gif
ADDED
|
Git LFS Details
|
configs/p_001/p_001_calibration_routine_left.json
ADDED
|
@@ -0,0 +1,558 @@
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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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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_calibrations": {
|
| 3 |
+
"0": {
|
| 4 |
+
"DepthToColor": [
|
| 5 |
+
[
|
| 6 |
+
0.999999,
|
| 7 |
+
0.000952568,
|
| 8 |
+
0.0010665,
|
| 9 |
+
-0.0335589
|
| 10 |
+
],
|
| 11 |
+
[
|
| 12 |
+
-0.00105482,
|
| 13 |
+
0.994948,
|
| 14 |
+
0.10039,
|
| 15 |
+
-0.00214962
|
| 16 |
+
],
|
| 17 |
+
[
|
| 18 |
+
-0.000965488,
|
| 19 |
+
-0.100391,
|
| 20 |
+
0.994948,
|
| 21 |
+
-0.00260536
|
| 22 |
+
],
|
| 23 |
+
[
|
| 24 |
+
0.0,
|
| 25 |
+
0.0,
|
| 26 |
+
0.0,
|
| 27 |
+
1.0
|
| 28 |
+
]
|
| 29 |
+
],
|
| 30 |
+
"ImageSizeX": 1920,
|
| 31 |
+
"ImageSizeY": 1080,
|
| 32 |
+
"SerialNo": "000235402712",
|
| 33 |
+
"cx": 961.2147827148438,
|
| 34 |
+
"cy": 548.8905029296875,
|
| 35 |
+
"fx": 921.5521240234375,
|
| 36 |
+
"fy": 921.7871704101562,
|
| 37 |
+
"k1": 0.2669992744922638,
|
| 38 |
+
"k2": -2.5442428588867188,
|
| 39 |
+
"k3": 1.5562381744384766,
|
| 40 |
+
"k4": 0.1468191295862198,
|
| 41 |
+
"k5": -2.3516733646392822,
|
| 42 |
+
"k6": 1.4714510440826416,
|
| 43 |
+
"p1": -0.00015272035670932382,
|
| 44 |
+
"p2": -0.00016664333816152066,
|
| 45 |
+
"p3": 0.0,
|
| 46 |
+
"p4": 0.0
|
| 47 |
+
},
|
| 48 |
+
"1": {
|
| 49 |
+
"DepthToColor": [
|
| 50 |
+
[
|
| 51 |
+
1.0,
|
| 52 |
+
7.8181e-05,
|
| 53 |
+
0.000666065,
|
| 54 |
+
-0.0321161
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
-0.000145653,
|
| 58 |
+
0.994794,
|
| 59 |
+
0.101911,
|
| 60 |
+
-0.00163833
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
-0.000654629,
|
| 64 |
+
-0.101911,
|
| 65 |
+
0.994793,
|
| 66 |
+
-0.00216376
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.0,
|
| 70 |
+
0.0,
|
| 71 |
+
0.0,
|
| 72 |
+
1.0
|
| 73 |
+
]
|
| 74 |
+
],
|
| 75 |
+
"ImageSizeX": 2560,
|
| 76 |
+
"ImageSizeY": 1440,
|
| 77 |
+
"ModelViewMatrix": [
|
| 78 |
+
[
|
| 79 |
+
-0.00219066,
|
| 80 |
+
-0.993849,
|
| 81 |
+
0.110724,
|
| 82 |
+
37.4966
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.679739,
|
| 86 |
+
0.0797311,
|
| 87 |
+
0.729107,
|
| 88 |
+
-8.183869999999999
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
-0.733451,
|
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"SerialNo": "000434300312",
|
| 530 |
+
"cx": 1273.2864990234375,
|
| 531 |
+
"cy": 739.634521484375,
|
| 532 |
+
"fx": 1837.281494140625,
|
| 533 |
+
"fy": 1836.9039306640625,
|
| 534 |
+
"k1": 0.3049771189689636,
|
| 535 |
+
"k2": -2.6113805770874023,
|
| 536 |
+
"k3": 1.6085880994796753,
|
| 537 |
+
"k4": 0.18434184789657593,
|
| 538 |
+
"k5": -2.4188356399536133,
|
| 539 |
+
"k6": 1.5230790376663208,
|
| 540 |
+
"p1": 0.0007276079268194735,
|
| 541 |
+
"p2": -0.0003869187203235924,
|
| 542 |
+
"p3": 0.0,
|
| 543 |
+
"p4": 0.0
|
| 544 |
+
}
|
| 545 |
+
},
|
| 546 |
+
"num_cameras": 8,
|
| 547 |
+
"participant": {
|
| 548 |
+
"id": "001",
|
| 549 |
+
"age": "28",
|
| 550 |
+
"height": "188",
|
| 551 |
+
"weight": "70",
|
| 552 |
+
"exposure": "10",
|
| 553 |
+
"light_tubes": "2",
|
| 554 |
+
"gender": "m",
|
| 555 |
+
"hand_side": "left",
|
| 556 |
+
"sequence_name": "calibration_routine_left"
|
| 557 |
+
}
|
| 558 |
+
}
|
configs/p_001/p_001_calibration_routine_left_k4a/cam-1.k4a_calibration.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5027486085891724, 0.5015245676040649, 0.4912012815475464, 0.49126216769218445, 5.000342845916748, 3.5339455604553223, 0.18954341113567352, 5.326869010925293, 5.201754093170166, 0.9838049411773682, 0, 0, 6.154234142741188e-05, -6.795406807214022e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.49905863404273987, 0.5082863569259644, 0.47463715076446533, 0.6325480937957764, 0.7326370477676392, -2.72086763381958, 1.4870834350585938, 0.6140478253364563, -2.567448139190674, 1.4290717840194702, 0, 0, -0.0004336950369179249, 0.0009995442815124989], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999976754188538, 2.55601435128483e-06, 0.0021641161292791367, -0.000223385461140424, 0.9947795271873474, 0.10204733163118362, -0.002152557484805584, -0.10204757750034332, 0.9947772026062012], "Translation": [-0.03202905133366585, -0.0019228613236919045, 0.004025778267532587]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.007132411003112793, 0, 0, 0, 0.020348532125353813, 0, 0, 0, 0.004264947026968002, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [1.0102620124816895, 0, 0, 0, 0.006478835828602314, 0, 0, 0, 0.0014253131812438369, 0, 0, 0, 0.006554477382451296, 0, 0, 0, 0.9986021518707275, 0, 0, 0, -0.001029757666401565, 0, 0, 0, 0.0014374135062098503, 0, 0, 0, -0.0010265150340273976, 0, 0, 0, 1.0017164945602417, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [-0.0024115650448948145, 0.11078017204999924, -0.9938420057296753, -0.9999914169311523, -0.0036204673815518618, 0.0020229255314916372, -0.0033740727230906487, 0.993838369846344, 0.11078795045614243], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.04600289463996887, 0, 0, 0, -0.0028773199301213026, 0, 0, 0, -0.12138088047504425, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9897992610931396, 0, 0, 0, -0.0004411204718053341, 0, 0, 0, -0.00045816777856089175, 0, 0, 0, -0.00043888582149520516, 0, 0, 0, 0.9948402047157288, 0, 0, 0, 0.0011742449132725596, 0, 0, 0, -0.00045692245475947857, 0, 0, 0, 0.0011770158307626843, 0, 0, 0, 0.9924981594085693, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [0.001254075556062162, 0.10841873288154602, -0.9941045045852661, -0.9999935626983643, -0.0031998788472265005, -0.001610488980077207, -0.003355621127411723, 0.9941001534461975, 0.10841402411460876], "Translation": [-0.05109700933098793, 0.0034552812576293945, 0.0017027963185682893]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000377404412", "FactoryCalDate": "10/24/2020 1:20:50 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
|
configs/p_001/p_001_calibration_routine_left_k4a/cam-2.k4a_calibration.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5061713457107544, 0.49213269352912903, 0.49246835708618164, 0.492513507604599, 0.26750999689102173, -0.061031922698020935, -0.0007263320730999112, 0.6097160577774048, -0.04487680271267891, -0.011743111535906792, 0, 0, 0.00012575395521707833, 7.260814891196787e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5003691911697388, 0.5039426684379578, 0.4783479869365692, 0.6378879547119141, 0.21557879447937012, -2.4680228233337402, 1.5400351285934448, 0.09540262073278427, -2.275580883026123, 1.4545351266860962, 0, 0, -0.0001935729815158993, 0.0002152603556169197], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999955892562866, 0.0028983273077756166, 0.0006163447978906333, -0.0029437437187880278, 0.9954808950424194, 0.0949166864156723, -0.0003384598530828953, -0.09491808712482452, 0.9954850077629089], "Translation": [-0.0320386067032814, -0.001985475653782487, 0.004124561790376902]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.007993617095053196, 0, 0, 0, -0.007421421818435192, 0, 0, 0, 0.021326621994376183, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9999890923500061, 0, 0, 0, -0.000332797528244555, 0, 0, 0, 0.009600135497748852, 0, 0, 0, -0.0003268910222686827, 0, 0, 0, 1.0179784297943115, 0, 0, 0, 0.0038503077812492847, 0, 0, 0, 0.009629962965846062, 0, 0, 0, 0.003932057414203882, 0, 0, 0, 0.9969064593315125, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [-0.0016529090935364366, 0.11617545038461685, -0.9932273030281067, -0.9999975562095642, -0.001649336889386177, 0.001471256953664124, -0.001467242487706244, 0.9932273626327515, 0.11617789417505264], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.052873045206069946, 0, 0, 0, 0.0245186910033226, 0, 0, 0, -0.08753518760204315, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9904006719589233, 0, 0, 0, -0.0007672802312299609, 0, 0, 0, -0.004795718006789684, 0, 0, 0, -0.0007668163161724806, 0, 0, 0, 0.9909789562225342, 0, 0, 0, 0.0014054372441023588, 0, 0, 0, -0.004759335424751043, 0, 0, 0, 0.001395618892274797, 0, 0, 0, 0.9979730844497681, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.000346852233633399, 0.10682665556669235, -0.9942775964736938, -0.9999926090240479, -0.0038400532212108374, -6.373506039381027e-05, -0.0038248873315751553, 0.9942702651023865, 0.10682719945907593], "Translation": [-0.05109089985489845, 0.0036591377574950457, 0.0008763206424191594]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000426200312", "FactoryCalDate": "1/12/2020 1:53:52 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
|
configs/p_001/p_001_calibration_routine_left_k4a/cam-3.k4a_calibration.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5017985701560974, 0.49178123474121094, 0.49233418703079224, 0.49239057302474976, 3.496838092803955, 2.7360594272613525, 0.1558273583650589, 3.8254477977752686, 3.892451047897339, 0.7895539402961731, 0, 0, 6.948197551537305e-05, -6.707473949063569e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.4978904724121094, 0.5049574971199036, 0.47671282291412354, 0.6354125738143921, 0.4233161211013794, -2.386378526687622, 1.343291997909546, 0.30664223432540894, -2.222109317779541, 1.278451919555664, 0, 0, -0.0003749821335077286, 0.0010767909698188305], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999834895133972, 0.005643587093800306, -0.0010804197518154979, -0.0055173952132463455, 0.9955774545669556, 0.09378229826688766, 0.0016049101250246167, -0.09377478808164597, 0.9955921173095703], "Translation": [-0.03207961842417717, -0.0019639430101960897, 0.004094239789992571]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [0.01219477504491806, 0, 0, 0, 0.0163558442145586, 0, 0, 0, -0.012651877477765083, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [1.01434326171875, 0, 0, 0, -0.0008494984940625727, 0, 0, 0, 0.0031813550740480423, 0, 0, 0, -0.0008622622699476779, 0, 0, 0, 0.9994109272956848, 0, 0, 0, 0.00959999579936266, 0, 0, 0, 0.00323945633135736, 0, 0, 0, 0.009630619548261166, 0, 0, 0, 0.996242344379425, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [0.0024047361221164465, 0.1068783551454544, -0.9942691922187805, -0.9999942779541016, 0.002619950333610177, -0.002136952942237258, 0.0023765419609844685, 0.9942686557769775, 0.10688403993844986], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.020264992490410805, 0, 0, 0, 0.019376961514353752, 0, 0, 0, 0.08269334584474564, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9948694109916687, 0, 0, 0, -0.001064794952981174, 0, 0, 0, -0.00013841457257512957, 0, 0, 0, -0.0010786697966977954, 0, 0, 0, 0.9820727109909058, 0, 0, 0, -0.0005185110494494438, 0, 0, 0, -0.00013923592632636428, 0, 0, 0, -0.0005148787167854607, 0, 0, 0, 0.9889997839927673, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.0024058425333350897, 0.10456501692533493, -0.9945151209831238, -0.9999964833259583, -0.0013638921082019806, 0.002275700680911541, -0.0011184526374563575, 0.9945170879364014, 0.10456793010234833], "Translation": [-0.05130750313401222, 0.0038692597299814224, 0.0015736044151708484]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000389100312", "FactoryCalDate": "1/12/2020 4:05:49 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
|
configs/p_001/p_001_calibration_routine_left_k4a/cam-4.k4a_calibration.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5043855309486389, 0.5003691911697388, 0.4923548102378845, 0.4924107789993286, 0.19114693999290466, -0.06970345973968506, -0.0005128095508553088, 0.5301324129104614, -0.07572615146636963, -0.011716516688466072, 0, 0, -0.00022429999080486596, 7.411435944959521e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.4979367256164551, 0.5084453225135803, 0.4743347764015198, 0.6322181820869446, 0.5467393398284912, -2.5799286365509033, 1.4728375673294067, 0.4288787543773651, -2.417959213256836, 1.4080861806869507, 0, 0, -0.000438770919572562, 0.0004620034887921065], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999880790710449, 0.0023756360169500113, 0.004264115355908871, -0.002850882476195693, 0.9933436512947083, 0.11515297740697861, -0.003962170332670212, -0.11516376584768295, 0.9933386445045471], "Translation": [-0.03198923170566559, -0.0018163592321798205, 0.0040358263067901134]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [0.01206822507083416, 0, 0, 0, 0.019368095323443413, 0, 0, 0, -0.01601979322731495, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [1.0053554773330688, 0, 0, 0, 0.001288337865844369, 0, 0, 0, -0.0032477756030857563, 0, 0, 0, 0.0013028804678469896, 0, 0, 0, 0.9941312074661255, 0, 0, 0, 0.002823630115017295, 0, 0, 0, -0.0032855903264135122, 0, 0, 0, 0.0028246224392205477, 0, 0, 0, 0.9937909245491028, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [0.021216928958892822, 0.10810822993516922, -0.9939126968383789, -0.9997702836990356, -0.0007236461387947202, -0.021420681849122047, -0.0030349930748343468, 0.9941388964653015, 0.10806804895401001], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.033233121037483215, 0, 0, 0, 0.061307791620492935, 0, 0, 0, -0.08125736564397812, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9908829927444458, 0, 0, 0, -0.0004954911419190466, 0, 0, 0, -0.003410156350582838, 0, 0, 0, -0.0004977108328603208, 0, 0, 0, 0.9864546060562134, 0, 0, 0, 0.00156039884313941, 0, 0, 0, -0.003405920695513487, 0, 0, 0, 0.0015515100676566362, 0, 0, 0, 0.9921175241470337, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [0.0016993341268971562, 0.10448145866394043, -0.9945253729820251, -0.9999890923500061, -0.004154492169618607, -0.0021451266948133707, -0.004355873446911573, 0.9945181608200073, 0.10447325557470322], "Translation": [-0.050973620265722275, 0.003755004145205021, 0.0009571274276822805]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000362304412", "FactoryCalDate": "10/29/2020 7:49:39 AM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
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configs/p_001/p_001_calibration_routine_left_k4a/cam-5.k4a_calibration.json
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{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5027137994766235, 0.5075123906135559, 0.4916822016239166, 0.49175894260406494, 7.1061201095581055, 4.899362087249756, 0.25499507784843445, 7.4288129806518555, 7.288814544677734, 1.340443730354309, 0, 0, -5.901794065721333e-05, -6.121195474406704e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.500187337398529, 0.5018849968910217, 0.4760653078556061, 0.6346415877342224, 0.39089179039001465, -2.563737630844116, 1.515727162361145, 0.27154844999313354, -2.3841359615325928, 1.439626932144165, 0, 0, -0.00011566179455257952, 0.0007968235295265913], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999906420707703, 0.003813045099377632, -0.002050007227808237, -0.0035813641734421253, 0.9946639537811279, 0.10310586541891098, 0.002432215493172407, -0.10309755802154541, 0.9946683049201965], "Translation": [-0.0320797860622406, -0.0019248725147917867, 0.004027719609439373]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.011261573061347008, 0, 0, 0, 0.036782652139663696, 0, 0, 0, 0.01544999796897173, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.999609112739563, 0, 0, 0, 0.0014311319682747126, 0, 0, 0, 0.007436901796609163, 0, 0, 0, 0.0014277069130912423, 0, 0, 0, 1.001952886581421, 0, 0, 0, 0.0013067945837974548, 0, 0, 0, 0.007473681587725878, 0, 0, 0, 0.0013164080446586013, 0, 0, 0, 0.9946894645690918, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [0.0006797777023166418, 0.11446645855903625, -0.9934268593788147, -0.9999996423721313, 0.000547653588000685, -0.0006211725412867963, 0.00047295037074945867, 0.9934269785881042, 0.11446679383516312], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [-0.008581435307860374, 0, 0, 0, 0.012976644560694695, 0, 0, 0, -0.06275785714387894, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.999673068523407, 0, 0, 0, -0.00019600843370426446, 0, 0, 0, -0.0038182768039405346, 0, 0, 0, -0.0001988311269087717, 0, 0, 0, 0.9854678511619568, 0, 0, 0, 0.0010603019036352634, 0, 0, 0, -0.003840584307909012, 0, 0, 0, 0.0010513560846447945, 0, 0, 0, 0.9938676953315735, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-9.128925739787519e-05, 0.10997745394706726, -0.9939340949058533, -0.9999998807907104, -0.0004603229754138738, 4.0912269469117746e-05, -0.0004530312435235828, 0.9939339756965637, 0.10997748374938965], "Translation": [-0.050905741751194, 0.003412852296605706, 0.001569376210682094]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000053601412", "FactoryCalDate": "3/31/2020 12:53:29 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
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configs/p_001/p_001_calibration_routine_left_k4a/cam-6.k4a_calibration.json
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{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5002638697624207, 0.4989505112171173, 0.49252256751060486, 0.4926035702228546, 6.193723678588867, 4.05201530456543, 0.20817022025585175, 6.5229363441467285, 6.11761999130249, 1.0965529680252075, 0, 0, 4.387072112876922e-05, -0.00011858023935928941], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5003945231437683, 0.5062068104743958, 0.4774100184440613, 0.6364012360572815, 0.5804356336593628, -2.4625375270843506, 1.2978419065475464, 0.4623895585536957, -2.3061137199401855, 1.2405247688293457, 0, 0, -2.3370432700176025e-06, 0.0009758204687386751], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999952912330627, 0.003040140261873603, 0.0004824143834412098, -0.003072356339544058, 0.9954042434692383, 0.09571309387683868, -0.00018921606533695012, -0.09571412205696106, 0.995408833026886], "Translation": [-0.032025765627622604, -0.002011232078075409, 0.004172912798821926]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [0.0027661749627441168, 0, 0, 0, 0.027811363339424133, 0, 0, 0, 0.009240197017788887, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9942420721054077, 0, 0, 0, -0.00027528012287802994, 0, 0, 0, -0.00028688370366580784, 0, 0, 0, -0.0002725551603361964, 0, 0, 0, 1.004331350326538, 0, 0, 0, 0.012192136608064175, 0, 0, 0, -0.0002849942829925567, 0, 0, 0, 0.012232932262122631, 0, 0, 0, 1.0009819269180298, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [0.00046842635492794216, 0.11314588785171509, -0.9935782551765442, -0.9999939799308777, 0.0034657055512070656, -7.678630208829418e-05, 0.0034347616601735353, 0.9935723543167114, 0.1131468340754509], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [-0.00829737912863493, 0, 0, 0, 0.0100891487672925, 0, 0, 0, -0.0612022764980793, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9959121942520142, 0, 0, 0, 4.6766184823354706e-05, 0, 0, 0, -0.003139341250061989, 0, 0, 0, 4.725841063191183e-05, 0, 0, 0, 0.985529363155365, 0, 0, 0, 0.0004348526708781719, 0, 0, 0, -0.0031630878802388906, 0, 0, 0, 0.00043357847607694566, 0, 0, 0, 0.9884356260299683, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.004636780358850956, 0.10729269683361053, -0.9942166805267334, -0.9999889731407166, -0.0012271973537281156, 0.004531265702098608, -0.0007339282892644405, 0.9942266941070557, 0.10729720443487167], "Translation": [-0.05119436979293823, 0.0035590077750384808, 0.0017104275757446885]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000372200312", "FactoryCalDate": "1/17/2020 8:12:55 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
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configs/p_001/p_001_calibration_routine_left_k4a/cam-7.k4a_calibration.json
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{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.501431941986084, 0.48781099915504456, 0.492413729429245, 0.49247944355010986, 3.4637808799743652, 2.3702194690704346, 0.126996710896492, 3.795011281967163, 3.5027015209198, 0.6589909791946411, 0, 0, 9.219846106134355e-06, -9.291007881984115e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.49838191270828247, 0.5069911479949951, 0.4784587323665619, 0.6378138661384583, 0.3049771189689636, -2.6113805770874023, 1.6085880994796753, 0.18434184789657593, -2.4188356399536133, 1.5230790376663208, 0, 0, -0.0003869187203235924, 0.0007276079268194735], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.999997079372406, 0.00231535523198545, -0.0006937969592399895, -0.002234756015241146, 0.995026707649231, 0.0995834618806839, 0.0009209175477735698, -0.09958162158727646, 0.9950289726257324], "Translation": [-0.03207229822874069, -0.001963492017239332, 0.004077647812664509]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.01740824617445469, 0, 0, 0, 0.043946027755737305, 0, 0, 0, 0.00867806188762188, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9969159960746765, 0, 0, 0, 0.000825574854388833, 0, 0, 0, -0.0004606670408975333, 0, 0, 0, 0.0008092857897281647, 0, 0, 0, 1.016983985900879, 0, 0, 0, -0.0015572311822324991, 0, 0, 0, -0.0004596069920808077, 0, 0, 0, -0.0015849192859604955, 0, 0, 0, 0.99921715259552, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [-0.0053807408548891544, 0.11956597864627838, -0.9928116798400879, -0.9999666213989258, -0.006748436018824577, 0.0046067931689321995, -0.00614911038428545, 0.9928033351898193, 0.11959829926490784], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.03634847700595856, 0, 0, 0, -0.02928505837917328, 0, 0, 0, -0.13058127462863922, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9943789839744568, 0, 0, 0, -0.0007046743994578719, 0, 0, 0, -0.0034167401026934385, 0, 0, 0, -0.0007024570950306952, 0, 0, 0, 0.997506320476532, 0, 0, 0, 0.0005271483678370714, 0, 0, 0, -0.0034065989311784506, 0, 0, 0, 0.0005272427806630731, 0, 0, 0, 0.9973389506340027, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.0024490703362971544, 0.11793056130409241, -0.9930188059806824, -0.9999830722808838, -0.005528145004063845, 0.0018097255378961563, -0.005276130046695471, 0.9930064678192139, 0.11794210225343704], "Translation": [-0.05112206190824509, 0.0034598896745592356, 0.00182235985994339]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000434300312", "FactoryCalDate": "1/17/2020 5:17:55 AM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
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configs/p_001/p_001_calibration_routine_left_k4a/cam-d.k4a_calibration.json
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| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5047338008880615, 0.49285370111465454, 0.4932085871696472, 0.49336764216423035, 0.916300356388092, 0.4960465431213379, 0.02894374169409275, 1.2540546655654907, 0.7451309561729431, 0.14445416629314423, 0, 0, 0.0001048803751473315, -3.213157469872385e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5008931159973145, 0.5065211653709412, 0.4799750745296478, 0.6401299834251404, 0.2669992744922638, -2.5442428588867188, 1.5562381744384766, 0.1468191295862198, -2.3516733646392822, 1.4714510440826416, 0, 0, -0.00016664333816152066, -0.00015272035670932382], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999952912330627, 0.002396829891949892, -0.0019247822929173708, -0.0021888604387640953, 0.9948223233222961, 0.1016061007976532, 0.0021583489142358303, -0.10160140693187714, 0.9948228597640991], "Translation": [-0.03204681724309921, -0.0020179927814751863, 0.0039457520470023155]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.0016760053113102913, 0, 0, 0, 0.039734695106744766, 0, 0, 0, 0.009237464517354965, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [1.0026402473449707, 0, 0, 0, -0.001462793443351984, 0, 0, 0, -0.00792436208575964, 0, 0, 0, -0.001475605764426291, 0, 0, 0, 0.9938718676567078, 0, 0, 0, -0.0009193980367854238, 0, 0, 0, -0.008014608174562454, 0, 0, 0, -0.0009217947372235358, 0, 0, 0, 0.9913489818572998, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [-0.005548615008592606, 0.11005167663097382, -0.9939103722572327, -0.9999809861183167, -0.003282322082668543, 0.0052190665155649185, -0.0026879669167101383, 0.9939204454421997, 0.11006779223680496], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.1857536882162094, 0, 0, 0, 0.08603720366954803, 0, 0, 0, -0.17794013023376465, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.995598554611206, 0, 0, 0, -0.0009547336958348751, 0, 0, 0, 0.0007287039770744741, 0, 0, 0, -0.0009675999754108489, 0, 0, 0, 0.9823611378669739, 0, 0, 0, 0.0013091510627418756, 0, 0, 0, 0.0007258445839397609, 0, 0, 0, 0.0012866744073107839, 0, 0, 0, 0.9995213747024536, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.002978472737595439, 0.1075180247426033, -0.9941986799240112, -0.9999867081642151, -0.004508141428232193, 0.0025082777719944715, -0.004212303087115288, 0.994192898273468, 0.10753002017736435], "Translation": [-0.05103876814246178, 0.00360187329351902, 0.0012109954841434956]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000235402712", "FactoryCalDate": "6/25/2020 8:49:41 AM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
|
configs/p_001/p_001_calibration_routine_right.json
ADDED
|
@@ -0,0 +1,558 @@
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|
| 1 |
+
{
|
| 2 |
+
"camera_calibrations": {
|
| 3 |
+
"0": {
|
| 4 |
+
"DepthToColor": [
|
| 5 |
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[
|
| 6 |
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|
| 7 |
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0.000952568,
|
| 8 |
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0.0010665,
|
| 9 |
+
-0.0335589
|
| 10 |
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],
|
| 11 |
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[
|
| 12 |
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-0.00105482,
|
| 13 |
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|
| 14 |
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|
| 15 |
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-0.00214962
|
| 16 |
+
],
|
| 17 |
+
[
|
| 18 |
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-0.000965488,
|
| 19 |
+
-0.100391,
|
| 20 |
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0.994948,
|
| 21 |
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-0.00260536
|
| 22 |
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],
|
| 23 |
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[
|
| 24 |
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|
| 25 |
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|
| 26 |
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0.0,
|
| 27 |
+
1.0
|
| 28 |
+
]
|
| 29 |
+
],
|
| 30 |
+
"ImageSizeX": 1920,
|
| 31 |
+
"ImageSizeY": 1080,
|
| 32 |
+
"SerialNo": "000235402712",
|
| 33 |
+
"cx": 961.2147827148438,
|
| 34 |
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"cy": 548.8905029296875,
|
| 35 |
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"fx": 921.5521240234375,
|
| 36 |
+
"fy": 921.7871704101562,
|
| 37 |
+
"k1": 0.2669992744922638,
|
| 38 |
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"k2": -2.5442428588867188,
|
| 39 |
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"k3": 1.5562381744384766,
|
| 40 |
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"k4": 0.1468191295862198,
|
| 41 |
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"k5": -2.3516733646392822,
|
| 42 |
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"k6": 1.4714510440826416,
|
| 43 |
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"p1": -0.00015272035670932382,
|
| 44 |
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"p2": -0.00016664333816152066,
|
| 45 |
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"p3": 0.0,
|
| 46 |
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"p4": 0.0
|
| 47 |
+
},
|
| 48 |
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"1": {
|
| 49 |
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"DepthToColor": [
|
| 50 |
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[
|
| 51 |
+
1.0,
|
| 52 |
+
7.8181e-05,
|
| 53 |
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0.000666065,
|
| 54 |
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-0.0321161
|
| 55 |
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],
|
| 56 |
+
[
|
| 57 |
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-0.000145653,
|
| 58 |
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0.994794,
|
| 59 |
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0.101911,
|
| 60 |
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-0.00163833
|
| 61 |
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],
|
| 62 |
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[
|
| 63 |
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-0.000654629,
|
| 64 |
+
-0.101911,
|
| 65 |
+
0.994793,
|
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"num_cameras": 8,
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"participant": {
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"id": "001",
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| 549 |
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"age": "28",
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"height": "188",
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"weight": "70",
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"exposure": "10",
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"light_tubes": "2",
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"gender": "m",
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"hand_side": "right",
|
| 556 |
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"sequence_name": "calibration_routine_right"
|
| 557 |
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}
|
| 558 |
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}
|
configs/p_001/p_001_calibration_routine_right_k4a/cam-1.k4a_calibration.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5027486085891724, 0.5015245676040649, 0.4912012815475464, 0.49126216769218445, 5.000342845916748, 3.5339455604553223, 0.18954341113567352, 5.326869010925293, 5.201754093170166, 0.9838049411773682, 0, 0, 6.154234142741188e-05, -6.795406807214022e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.49905863404273987, 0.5082863569259644, 0.47463715076446533, 0.6325480937957764, 0.7326370477676392, -2.72086763381958, 1.4870834350585938, 0.6140478253364563, -2.567448139190674, 1.4290717840194702, 0, 0, -0.0004336950369179249, 0.0009995442815124989], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999976754188538, 2.55601435128483e-06, 0.0021641161292791367, -0.000223385461140424, 0.9947795271873474, 0.10204733163118362, -0.002152557484805584, -0.10204757750034332, 0.9947772026062012], "Translation": [-0.03202905133366585, -0.0019228613236919045, 0.004025778267532587]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.007132411003112793, 0, 0, 0, 0.020348532125353813, 0, 0, 0, 0.004264947026968002, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [1.0102620124816895, 0, 0, 0, 0.006478835828602314, 0, 0, 0, 0.0014253131812438369, 0, 0, 0, 0.006554477382451296, 0, 0, 0, 0.9986021518707275, 0, 0, 0, -0.001029757666401565, 0, 0, 0, 0.0014374135062098503, 0, 0, 0, -0.0010265150340273976, 0, 0, 0, 1.0017164945602417, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [-0.0024115650448948145, 0.11078017204999924, -0.9938420057296753, -0.9999914169311523, -0.0036204673815518618, 0.0020229255314916372, -0.0033740727230906487, 0.993838369846344, 0.11078795045614243], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.04600289463996887, 0, 0, 0, -0.0028773199301213026, 0, 0, 0, -0.12138088047504425, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9897992610931396, 0, 0, 0, -0.0004411204718053341, 0, 0, 0, -0.00045816777856089175, 0, 0, 0, -0.00043888582149520516, 0, 0, 0, 0.9948402047157288, 0, 0, 0, 0.0011742449132725596, 0, 0, 0, -0.00045692245475947857, 0, 0, 0, 0.0011770158307626843, 0, 0, 0, 0.9924981594085693, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [0.001254075556062162, 0.10841873288154602, -0.9941045045852661, -0.9999935626983643, -0.0031998788472265005, -0.001610488980077207, -0.003355621127411723, 0.9941001534461975, 0.10841402411460876], "Translation": [-0.05109700933098793, 0.0034552812576293945, 0.0017027963185682893]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000377404412", "FactoryCalDate": "10/24/2020 1:20:50 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
|
configs/p_001/p_001_calibration_routine_right_k4a/cam-2.k4a_calibration.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5061713457107544, 0.49213269352912903, 0.49246835708618164, 0.492513507604599, 0.26750999689102173, -0.061031922698020935, -0.0007263320730999112, 0.6097160577774048, -0.04487680271267891, -0.011743111535906792, 0, 0, 0.00012575395521707833, 7.260814891196787e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5003691911697388, 0.5039426684379578, 0.4783479869365692, 0.6378879547119141, 0.21557879447937012, -2.4680228233337402, 1.5400351285934448, 0.09540262073278427, -2.275580883026123, 1.4545351266860962, 0, 0, -0.0001935729815158993, 0.0002152603556169197], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999955892562866, 0.0028983273077756166, 0.0006163447978906333, -0.0029437437187880278, 0.9954808950424194, 0.0949166864156723, -0.0003384598530828953, -0.09491808712482452, 0.9954850077629089], "Translation": [-0.0320386067032814, -0.001985475653782487, 0.004124561790376902]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.007993617095053196, 0, 0, 0, -0.007421421818435192, 0, 0, 0, 0.021326621994376183, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9999890923500061, 0, 0, 0, -0.000332797528244555, 0, 0, 0, 0.009600135497748852, 0, 0, 0, -0.0003268910222686827, 0, 0, 0, 1.0179784297943115, 0, 0, 0, 0.0038503077812492847, 0, 0, 0, 0.009629962965846062, 0, 0, 0, 0.003932057414203882, 0, 0, 0, 0.9969064593315125, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [-0.0016529090935364366, 0.11617545038461685, -0.9932273030281067, -0.9999975562095642, -0.001649336889386177, 0.001471256953664124, -0.001467242487706244, 0.9932273626327515, 0.11617789417505264], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.052873045206069946, 0, 0, 0, 0.0245186910033226, 0, 0, 0, -0.08753518760204315, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9904006719589233, 0, 0, 0, -0.0007672802312299609, 0, 0, 0, -0.004795718006789684, 0, 0, 0, -0.0007668163161724806, 0, 0, 0, 0.9909789562225342, 0, 0, 0, 0.0014054372441023588, 0, 0, 0, -0.004759335424751043, 0, 0, 0, 0.001395618892274797, 0, 0, 0, 0.9979730844497681, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.000346852233633399, 0.10682665556669235, -0.9942775964736938, -0.9999926090240479, -0.0038400532212108374, -6.373506039381027e-05, -0.0038248873315751553, 0.9942702651023865, 0.10682719945907593], "Translation": [-0.05109089985489845, 0.0036591377574950457, 0.0008763206424191594]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000426200312", "FactoryCalDate": "1/12/2020 1:53:52 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
|
configs/p_001/p_001_calibration_routine_right_k4a/cam-3.k4a_calibration.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5017985701560974, 0.49178123474121094, 0.49233418703079224, 0.49239057302474976, 3.496838092803955, 2.7360594272613525, 0.1558273583650589, 3.8254477977752686, 3.892451047897339, 0.7895539402961731, 0, 0, 6.948197551537305e-05, -6.707473949063569e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.4978904724121094, 0.5049574971199036, 0.47671282291412354, 0.6354125738143921, 0.4233161211013794, -2.386378526687622, 1.343291997909546, 0.30664223432540894, -2.222109317779541, 1.278451919555664, 0, 0, -0.0003749821335077286, 0.0010767909698188305], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999834895133972, 0.005643587093800306, -0.0010804197518154979, -0.0055173952132463455, 0.9955774545669556, 0.09378229826688766, 0.0016049101250246167, -0.09377478808164597, 0.9955921173095703], "Translation": [-0.03207961842417717, -0.0019639430101960897, 0.004094239789992571]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [0.01219477504491806, 0, 0, 0, 0.0163558442145586, 0, 0, 0, -0.012651877477765083, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [1.01434326171875, 0, 0, 0, -0.0008494984940625727, 0, 0, 0, 0.0031813550740480423, 0, 0, 0, -0.0008622622699476779, 0, 0, 0, 0.9994109272956848, 0, 0, 0, 0.00959999579936266, 0, 0, 0, 0.00323945633135736, 0, 0, 0, 0.009630619548261166, 0, 0, 0, 0.996242344379425, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [0.0024047361221164465, 0.1068783551454544, -0.9942691922187805, -0.9999942779541016, 0.002619950333610177, -0.002136952942237258, 0.0023765419609844685, 0.9942686557769775, 0.10688403993844986], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.020264992490410805, 0, 0, 0, 0.019376961514353752, 0, 0, 0, 0.08269334584474564, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9948694109916687, 0, 0, 0, -0.001064794952981174, 0, 0, 0, -0.00013841457257512957, 0, 0, 0, -0.0010786697966977954, 0, 0, 0, 0.9820727109909058, 0, 0, 0, -0.0005185110494494438, 0, 0, 0, -0.00013923592632636428, 0, 0, 0, -0.0005148787167854607, 0, 0, 0, 0.9889997839927673, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.0024058425333350897, 0.10456501692533493, -0.9945151209831238, -0.9999964833259583, -0.0013638921082019806, 0.002275700680911541, -0.0011184526374563575, 0.9945170879364014, 0.10456793010234833], "Translation": [-0.05130750313401222, 0.0038692597299814224, 0.0015736044151708484]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000389100312", "FactoryCalDate": "1/12/2020 4:05:49 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
|
configs/p_001/p_001_calibration_routine_right_k4a/cam-4.k4a_calibration.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5043855309486389, 0.5003691911697388, 0.4923548102378845, 0.4924107789993286, 0.19114693999290466, -0.06970345973968506, -0.0005128095508553088, 0.5301324129104614, -0.07572615146636963, -0.011716516688466072, 0, 0, -0.00022429999080486596, 7.411435944959521e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.4979367256164551, 0.5084453225135803, 0.4743347764015198, 0.6322181820869446, 0.5467393398284912, -2.5799286365509033, 1.4728375673294067, 0.4288787543773651, -2.417959213256836, 1.4080861806869507, 0, 0, -0.000438770919572562, 0.0004620034887921065], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999880790710449, 0.0023756360169500113, 0.004264115355908871, -0.002850882476195693, 0.9933436512947083, 0.11515297740697861, -0.003962170332670212, -0.11516376584768295, 0.9933386445045471], "Translation": [-0.03198923170566559, -0.0018163592321798205, 0.0040358263067901134]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [0.01206822507083416, 0, 0, 0, 0.019368095323443413, 0, 0, 0, -0.01601979322731495, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [1.0053554773330688, 0, 0, 0, 0.001288337865844369, 0, 0, 0, -0.0032477756030857563, 0, 0, 0, 0.0013028804678469896, 0, 0, 0, 0.9941312074661255, 0, 0, 0, 0.002823630115017295, 0, 0, 0, -0.0032855903264135122, 0, 0, 0, 0.0028246224392205477, 0, 0, 0, 0.9937909245491028, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [0.021216928958892822, 0.10810822993516922, -0.9939126968383789, -0.9997702836990356, -0.0007236461387947202, -0.021420681849122047, -0.0030349930748343468, 0.9941388964653015, 0.10806804895401001], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.033233121037483215, 0, 0, 0, 0.061307791620492935, 0, 0, 0, -0.08125736564397812, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9908829927444458, 0, 0, 0, -0.0004954911419190466, 0, 0, 0, -0.003410156350582838, 0, 0, 0, -0.0004977108328603208, 0, 0, 0, 0.9864546060562134, 0, 0, 0, 0.00156039884313941, 0, 0, 0, -0.003405920695513487, 0, 0, 0, 0.0015515100676566362, 0, 0, 0, 0.9921175241470337, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [0.0016993341268971562, 0.10448145866394043, -0.9945253729820251, -0.9999890923500061, -0.004154492169618607, -0.0021451266948133707, -0.004355873446911573, 0.9945181608200073, 0.10447325557470322], "Translation": [-0.050973620265722275, 0.003755004145205021, 0.0009571274276822805]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000362304412", "FactoryCalDate": "10/29/2020 7:49:39 AM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
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configs/p_001/p_001_calibration_routine_right_k4a/cam-5.k4a_calibration.json
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{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5027137994766235, 0.5075123906135559, 0.4916822016239166, 0.49175894260406494, 7.1061201095581055, 4.899362087249756, 0.25499507784843445, 7.4288129806518555, 7.288814544677734, 1.340443730354309, 0, 0, -5.901794065721333e-05, -6.121195474406704e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.500187337398529, 0.5018849968910217, 0.4760653078556061, 0.6346415877342224, 0.39089179039001465, -2.563737630844116, 1.515727162361145, 0.27154844999313354, -2.3841359615325928, 1.439626932144165, 0, 0, -0.00011566179455257952, 0.0007968235295265913], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999906420707703, 0.003813045099377632, -0.002050007227808237, -0.0035813641734421253, 0.9946639537811279, 0.10310586541891098, 0.002432215493172407, -0.10309755802154541, 0.9946683049201965], "Translation": [-0.0320797860622406, -0.0019248725147917867, 0.004027719609439373]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.011261573061347008, 0, 0, 0, 0.036782652139663696, 0, 0, 0, 0.01544999796897173, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.999609112739563, 0, 0, 0, 0.0014311319682747126, 0, 0, 0, 0.007436901796609163, 0, 0, 0, 0.0014277069130912423, 0, 0, 0, 1.001952886581421, 0, 0, 0, 0.0013067945837974548, 0, 0, 0, 0.007473681587725878, 0, 0, 0, 0.0013164080446586013, 0, 0, 0, 0.9946894645690918, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [0.0006797777023166418, 0.11446645855903625, -0.9934268593788147, -0.9999996423721313, 0.000547653588000685, -0.0006211725412867963, 0.00047295037074945867, 0.9934269785881042, 0.11446679383516312], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [-0.008581435307860374, 0, 0, 0, 0.012976644560694695, 0, 0, 0, -0.06275785714387894, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.999673068523407, 0, 0, 0, -0.00019600843370426446, 0, 0, 0, -0.0038182768039405346, 0, 0, 0, -0.0001988311269087717, 0, 0, 0, 0.9854678511619568, 0, 0, 0, 0.0010603019036352634, 0, 0, 0, -0.003840584307909012, 0, 0, 0, 0.0010513560846447945, 0, 0, 0, 0.9938676953315735, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-9.128925739787519e-05, 0.10997745394706726, -0.9939340949058533, -0.9999998807907104, -0.0004603229754138738, 4.0912269469117746e-05, -0.0004530312435235828, 0.9939339756965637, 0.10997748374938965], "Translation": [-0.050905741751194, 0.003412852296605706, 0.001569376210682094]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000053601412", "FactoryCalDate": "3/31/2020 12:53:29 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
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configs/p_001/p_001_calibration_routine_right_k4a/cam-6.k4a_calibration.json
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{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5002638697624207, 0.4989505112171173, 0.49252256751060486, 0.4926035702228546, 6.193723678588867, 4.05201530456543, 0.20817022025585175, 6.5229363441467285, 6.11761999130249, 1.0965529680252075, 0, 0, 4.387072112876922e-05, -0.00011858023935928941], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5003945231437683, 0.5062068104743958, 0.4774100184440613, 0.6364012360572815, 0.5804356336593628, -2.4625375270843506, 1.2978419065475464, 0.4623895585536957, -2.3061137199401855, 1.2405247688293457, 0, 0, -2.3370432700176025e-06, 0.0009758204687386751], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999952912330627, 0.003040140261873603, 0.0004824143834412098, -0.003072356339544058, 0.9954042434692383, 0.09571309387683868, -0.00018921606533695012, -0.09571412205696106, 0.995408833026886], "Translation": [-0.032025765627622604, -0.002011232078075409, 0.004172912798821926]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [0.0027661749627441168, 0, 0, 0, 0.027811363339424133, 0, 0, 0, 0.009240197017788887, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9942420721054077, 0, 0, 0, -0.00027528012287802994, 0, 0, 0, -0.00028688370366580784, 0, 0, 0, -0.0002725551603361964, 0, 0, 0, 1.004331350326538, 0, 0, 0, 0.012192136608064175, 0, 0, 0, -0.0002849942829925567, 0, 0, 0, 0.012232932262122631, 0, 0, 0, 1.0009819269180298, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [0.00046842635492794216, 0.11314588785171509, -0.9935782551765442, -0.9999939799308777, 0.0034657055512070656, -7.678630208829418e-05, 0.0034347616601735353, 0.9935723543167114, 0.1131468340754509], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [-0.00829737912863493, 0, 0, 0, 0.0100891487672925, 0, 0, 0, -0.0612022764980793, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9959121942520142, 0, 0, 0, 4.6766184823354706e-05, 0, 0, 0, -0.003139341250061989, 0, 0, 0, 4.725841063191183e-05, 0, 0, 0, 0.985529363155365, 0, 0, 0, 0.0004348526708781719, 0, 0, 0, -0.0031630878802388906, 0, 0, 0, 0.00043357847607694566, 0, 0, 0, 0.9884356260299683, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.004636780358850956, 0.10729269683361053, -0.9942166805267334, -0.9999889731407166, -0.0012271973537281156, 0.004531265702098608, -0.0007339282892644405, 0.9942266941070557, 0.10729720443487167], "Translation": [-0.05119436979293823, 0.0035590077750384808, 0.0017104275757446885]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000372200312", "FactoryCalDate": "1/17/2020 8:12:55 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
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configs/p_001/p_001_calibration_routine_right_k4a/cam-7.k4a_calibration.json
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{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.501431941986084, 0.48781099915504456, 0.492413729429245, 0.49247944355010986, 3.4637808799743652, 2.3702194690704346, 0.126996710896492, 3.795011281967163, 3.5027015209198, 0.6589909791946411, 0, 0, 9.219846106134355e-06, -9.291007881984115e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.49838191270828247, 0.5069911479949951, 0.4784587323665619, 0.6378138661384583, 0.3049771189689636, -2.6113805770874023, 1.6085880994796753, 0.18434184789657593, -2.4188356399536133, 1.5230790376663208, 0, 0, -0.0003869187203235924, 0.0007276079268194735], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.999997079372406, 0.00231535523198545, -0.0006937969592399895, -0.002234756015241146, 0.995026707649231, 0.0995834618806839, 0.0009209175477735698, -0.09958162158727646, 0.9950289726257324], "Translation": [-0.03207229822874069, -0.001963492017239332, 0.004077647812664509]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.01740824617445469, 0, 0, 0, 0.043946027755737305, 0, 0, 0, 0.00867806188762188, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9969159960746765, 0, 0, 0, 0.000825574854388833, 0, 0, 0, -0.0004606670408975333, 0, 0, 0, 0.0008092857897281647, 0, 0, 0, 1.016983985900879, 0, 0, 0, -0.0015572311822324991, 0, 0, 0, -0.0004596069920808077, 0, 0, 0, -0.0015849192859604955, 0, 0, 0, 0.99921715259552, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [-0.0053807408548891544, 0.11956597864627838, -0.9928116798400879, -0.9999666213989258, -0.006748436018824577, 0.0046067931689321995, -0.00614911038428545, 0.9928033351898193, 0.11959829926490784], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.03634847700595856, 0, 0, 0, -0.02928505837917328, 0, 0, 0, -0.13058127462863922, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9943789839744568, 0, 0, 0, -0.0007046743994578719, 0, 0, 0, -0.0034167401026934385, 0, 0, 0, -0.0007024570950306952, 0, 0, 0, 0.997506320476532, 0, 0, 0, 0.0005271483678370714, 0, 0, 0, -0.0034065989311784506, 0, 0, 0, 0.0005272427806630731, 0, 0, 0, 0.9973389506340027, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.0024490703362971544, 0.11793056130409241, -0.9930188059806824, -0.9999830722808838, -0.005528145004063845, 0.0018097255378961563, -0.005276130046695471, 0.9930064678192139, 0.11794210225343704], "Translation": [-0.05112206190824509, 0.0034598896745592356, 0.00182235985994339]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000434300312", "FactoryCalDate": "1/17/2020 5:17:55 AM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
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configs/p_001/p_001_calibration_routine_right_k4a/cam-d.k4a_calibration.json
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| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5047338008880615, 0.49285370111465454, 0.4932085871696472, 0.49336764216423035, 0.916300356388092, 0.4960465431213379, 0.02894374169409275, 1.2540546655654907, 0.7451309561729431, 0.14445416629314423, 0, 0, 0.0001048803751473315, -3.213157469872385e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5008931159973145, 0.5065211653709412, 0.4799750745296478, 0.6401299834251404, 0.2669992744922638, -2.5442428588867188, 1.5562381744384766, 0.1468191295862198, -2.3516733646392822, 1.4714510440826416, 0, 0, -0.00016664333816152066, -0.00015272035670932382], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999952912330627, 0.002396829891949892, -0.0019247822929173708, -0.0021888604387640953, 0.9948223233222961, 0.1016061007976532, 0.0021583489142358303, -0.10160140693187714, 0.9948228597640991], "Translation": [-0.03204681724309921, -0.0020179927814751863, 0.0039457520470023155]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.0016760053113102913, 0, 0, 0, 0.039734695106744766, 0, 0, 0, 0.009237464517354965, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [1.0026402473449707, 0, 0, 0, -0.001462793443351984, 0, 0, 0, -0.00792436208575964, 0, 0, 0, -0.001475605764426291, 0, 0, 0, 0.9938718676567078, 0, 0, 0, -0.0009193980367854238, 0, 0, 0, -0.008014608174562454, 0, 0, 0, -0.0009217947372235358, 0, 0, 0, 0.9913489818572998, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [-0.005548615008592606, 0.11005167663097382, -0.9939103722572327, -0.9999809861183167, -0.003282322082668543, 0.0052190665155649185, -0.0026879669167101383, 0.9939204454421997, 0.11006779223680496], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.1857536882162094, 0, 0, 0, 0.08603720366954803, 0, 0, 0, -0.17794013023376465, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.995598554611206, 0, 0, 0, -0.0009547336958348751, 0, 0, 0, 0.0007287039770744741, 0, 0, 0, -0.0009675999754108489, 0, 0, 0, 0.9823611378669739, 0, 0, 0, 0.0013091510627418756, 0, 0, 0, 0.0007258445839397609, 0, 0, 0, 0.0012866744073107839, 0, 0, 0, 0.9995213747024536, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.002978472737595439, 0.1075180247426033, -0.9941986799240112, -0.9999867081642151, -0.004508141428232193, 0.0025082777719944715, -0.004212303087115288, 0.994192898273468, 0.10753002017736435], "Translation": [-0.05103876814246178, 0.00360187329351902, 0.0012109954841434956]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000235402712", "FactoryCalDate": "6/25/2020 8:49:41 AM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
|
configs/p_001/p_001_draw_word_5x_left.json
ADDED
|
@@ -0,0 +1,558 @@
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|
| 1 |
+
{
|
| 2 |
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"camera_calibrations": {
|
| 3 |
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"0": {
|
| 4 |
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"DepthToColor": [
|
| 5 |
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[
|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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],
|
| 11 |
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[
|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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],
|
| 17 |
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[
|
| 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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],
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| 23 |
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[
|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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]
|
| 29 |
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],
|
| 30 |
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"ImageSizeX": 1920,
|
| 31 |
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"ImageSizeY": 1080,
|
| 32 |
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"SerialNo": "000235402712",
|
| 33 |
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"cx": 961.2147827148438,
|
| 34 |
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"cy": 548.8905029296875,
|
| 35 |
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"fx": 921.5521240234375,
|
| 36 |
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"fy": 921.7871704101562,
|
| 37 |
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"k1": 0.2669992744922638,
|
| 38 |
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"k2": -2.5442428588867188,
|
| 39 |
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"k3": 1.5562381744384766,
|
| 40 |
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"k4": 0.1468191295862198,
|
| 41 |
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"k5": -2.3516733646392822,
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| 42 |
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"k6": 1.4714510440826416,
|
| 43 |
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"p1": -0.00015272035670932382,
|
| 44 |
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"p2": -0.00016664333816152066,
|
| 45 |
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"p3": 0.0,
|
| 46 |
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"p4": 0.0
|
| 47 |
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},
|
| 48 |
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"1": {
|
| 49 |
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"DepthToColor": [
|
| 50 |
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[
|
| 51 |
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|
| 52 |
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|
| 53 |
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0.000666065,
|
| 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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],
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| 62 |
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[
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| 63 |
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|
| 64 |
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-0.101911,
|
| 65 |
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0.994793,
|
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"num_cameras": 8,
|
| 547 |
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"participant": {
|
| 548 |
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"id": "001",
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| 549 |
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"age": "28",
|
| 550 |
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"height": "188",
|
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"weight": "70",
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"exposure": "10",
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"light_tubes": "2",
|
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"gender": "m",
|
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"hand_side": "left",
|
| 556 |
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"sequence_name": "draw_word_5x_left"
|
| 557 |
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}
|
| 558 |
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}
|
configs/p_001/p_001_draw_word_5x_left_k4a/cam-1.k4a_calibration.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5027486085891724, 0.5015245676040649, 0.4912012815475464, 0.49126216769218445, 5.000342845916748, 3.5339455604553223, 0.18954341113567352, 5.326869010925293, 5.201754093170166, 0.9838049411773682, 0, 0, 6.154234142741188e-05, -6.795406807214022e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.49905863404273987, 0.5082863569259644, 0.47463715076446533, 0.6325480937957764, 0.7326370477676392, -2.72086763381958, 1.4870834350585938, 0.6140478253364563, -2.567448139190674, 1.4290717840194702, 0, 0, -0.0004336950369179249, 0.0009995442815124989], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999976754188538, 2.55601435128483e-06, 0.0021641161292791367, -0.000223385461140424, 0.9947795271873474, 0.10204733163118362, -0.002152557484805584, -0.10204757750034332, 0.9947772026062012], "Translation": [-0.03202905133366585, -0.0019228613236919045, 0.004025778267532587]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.007132411003112793, 0, 0, 0, 0.020348532125353813, 0, 0, 0, 0.004264947026968002, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [1.0102620124816895, 0, 0, 0, 0.006478835828602314, 0, 0, 0, 0.0014253131812438369, 0, 0, 0, 0.006554477382451296, 0, 0, 0, 0.9986021518707275, 0, 0, 0, -0.001029757666401565, 0, 0, 0, 0.0014374135062098503, 0, 0, 0, -0.0010265150340273976, 0, 0, 0, 1.0017164945602417, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [-0.0024115650448948145, 0.11078017204999924, -0.9938420057296753, -0.9999914169311523, -0.0036204673815518618, 0.0020229255314916372, -0.0033740727230906487, 0.993838369846344, 0.11078795045614243], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.04600289463996887, 0, 0, 0, -0.0028773199301213026, 0, 0, 0, -0.12138088047504425, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9897992610931396, 0, 0, 0, -0.0004411204718053341, 0, 0, 0, -0.00045816777856089175, 0, 0, 0, -0.00043888582149520516, 0, 0, 0, 0.9948402047157288, 0, 0, 0, 0.0011742449132725596, 0, 0, 0, -0.00045692245475947857, 0, 0, 0, 0.0011770158307626843, 0, 0, 0, 0.9924981594085693, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [0.001254075556062162, 0.10841873288154602, -0.9941045045852661, -0.9999935626983643, -0.0031998788472265005, -0.001610488980077207, -0.003355621127411723, 0.9941001534461975, 0.10841402411460876], "Translation": [-0.05109700933098793, 0.0034552812576293945, 0.0017027963185682893]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000377404412", "FactoryCalDate": "10/24/2020 1:20:50 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
|
configs/p_001/p_001_draw_word_5x_left_k4a/cam-2.k4a_calibration.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5061713457107544, 0.49213269352912903, 0.49246835708618164, 0.492513507604599, 0.26750999689102173, -0.061031922698020935, -0.0007263320730999112, 0.6097160577774048, -0.04487680271267891, -0.011743111535906792, 0, 0, 0.00012575395521707833, 7.260814891196787e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5003691911697388, 0.5039426684379578, 0.4783479869365692, 0.6378879547119141, 0.21557879447937012, -2.4680228233337402, 1.5400351285934448, 0.09540262073278427, -2.275580883026123, 1.4545351266860962, 0, 0, -0.0001935729815158993, 0.0002152603556169197], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999955892562866, 0.0028983273077756166, 0.0006163447978906333, -0.0029437437187880278, 0.9954808950424194, 0.0949166864156723, -0.0003384598530828953, -0.09491808712482452, 0.9954850077629089], "Translation": [-0.0320386067032814, -0.001985475653782487, 0.004124561790376902]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.007993617095053196, 0, 0, 0, -0.007421421818435192, 0, 0, 0, 0.021326621994376183, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9999890923500061, 0, 0, 0, -0.000332797528244555, 0, 0, 0, 0.009600135497748852, 0, 0, 0, -0.0003268910222686827, 0, 0, 0, 1.0179784297943115, 0, 0, 0, 0.0038503077812492847, 0, 0, 0, 0.009629962965846062, 0, 0, 0, 0.003932057414203882, 0, 0, 0, 0.9969064593315125, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [-0.0016529090935364366, 0.11617545038461685, -0.9932273030281067, -0.9999975562095642, -0.001649336889386177, 0.001471256953664124, -0.001467242487706244, 0.9932273626327515, 0.11617789417505264], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.052873045206069946, 0, 0, 0, 0.0245186910033226, 0, 0, 0, -0.08753518760204315, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9904006719589233, 0, 0, 0, -0.0007672802312299609, 0, 0, 0, -0.004795718006789684, 0, 0, 0, -0.0007668163161724806, 0, 0, 0, 0.9909789562225342, 0, 0, 0, 0.0014054372441023588, 0, 0, 0, -0.004759335424751043, 0, 0, 0, 0.001395618892274797, 0, 0, 0, 0.9979730844497681, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.000346852233633399, 0.10682665556669235, -0.9942775964736938, -0.9999926090240479, -0.0038400532212108374, -6.373506039381027e-05, -0.0038248873315751553, 0.9942702651023865, 0.10682719945907593], "Translation": [-0.05109089985489845, 0.0036591377574950457, 0.0008763206424191594]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000426200312", "FactoryCalDate": "1/12/2020 1:53:52 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
|
configs/p_001/p_001_draw_word_5x_left_k4a/cam-3.k4a_calibration.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5017985701560974, 0.49178123474121094, 0.49233418703079224, 0.49239057302474976, 3.496838092803955, 2.7360594272613525, 0.1558273583650589, 3.8254477977752686, 3.892451047897339, 0.7895539402961731, 0, 0, 6.948197551537305e-05, -6.707473949063569e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.4978904724121094, 0.5049574971199036, 0.47671282291412354, 0.6354125738143921, 0.4233161211013794, -2.386378526687622, 1.343291997909546, 0.30664223432540894, -2.222109317779541, 1.278451919555664, 0, 0, -0.0003749821335077286, 0.0010767909698188305], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999834895133972, 0.005643587093800306, -0.0010804197518154979, -0.0055173952132463455, 0.9955774545669556, 0.09378229826688766, 0.0016049101250246167, -0.09377478808164597, 0.9955921173095703], "Translation": [-0.03207961842417717, -0.0019639430101960897, 0.004094239789992571]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [0.01219477504491806, 0, 0, 0, 0.0163558442145586, 0, 0, 0, -0.012651877477765083, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [1.01434326171875, 0, 0, 0, -0.0008494984940625727, 0, 0, 0, 0.0031813550740480423, 0, 0, 0, -0.0008622622699476779, 0, 0, 0, 0.9994109272956848, 0, 0, 0, 0.00959999579936266, 0, 0, 0, 0.00323945633135736, 0, 0, 0, 0.009630619548261166, 0, 0, 0, 0.996242344379425, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [0.0024047361221164465, 0.1068783551454544, -0.9942691922187805, -0.9999942779541016, 0.002619950333610177, -0.002136952942237258, 0.0023765419609844685, 0.9942686557769775, 0.10688403993844986], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.020264992490410805, 0, 0, 0, 0.019376961514353752, 0, 0, 0, 0.08269334584474564, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9948694109916687, 0, 0, 0, -0.001064794952981174, 0, 0, 0, -0.00013841457257512957, 0, 0, 0, -0.0010786697966977954, 0, 0, 0, 0.9820727109909058, 0, 0, 0, -0.0005185110494494438, 0, 0, 0, -0.00013923592632636428, 0, 0, 0, -0.0005148787167854607, 0, 0, 0, 0.9889997839927673, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.0024058425333350897, 0.10456501692533493, -0.9945151209831238, -0.9999964833259583, -0.0013638921082019806, 0.002275700680911541, -0.0011184526374563575, 0.9945170879364014, 0.10456793010234833], "Translation": [-0.05130750313401222, 0.0038692597299814224, 0.0015736044151708484]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000389100312", "FactoryCalDate": "1/12/2020 4:05:49 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
|
configs/p_001/p_001_draw_word_5x_left_k4a/cam-4.k4a_calibration.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5043855309486389, 0.5003691911697388, 0.4923548102378845, 0.4924107789993286, 0.19114693999290466, -0.06970345973968506, -0.0005128095508553088, 0.5301324129104614, -0.07572615146636963, -0.011716516688466072, 0, 0, -0.00022429999080486596, 7.411435944959521e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.4979367256164551, 0.5084453225135803, 0.4743347764015198, 0.6322181820869446, 0.5467393398284912, -2.5799286365509033, 1.4728375673294067, 0.4288787543773651, -2.417959213256836, 1.4080861806869507, 0, 0, -0.000438770919572562, 0.0004620034887921065], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999880790710449, 0.0023756360169500113, 0.004264115355908871, -0.002850882476195693, 0.9933436512947083, 0.11515297740697861, -0.003962170332670212, -0.11516376584768295, 0.9933386445045471], "Translation": [-0.03198923170566559, -0.0018163592321798205, 0.0040358263067901134]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [0.01206822507083416, 0, 0, 0, 0.019368095323443413, 0, 0, 0, -0.01601979322731495, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [1.0053554773330688, 0, 0, 0, 0.001288337865844369, 0, 0, 0, -0.0032477756030857563, 0, 0, 0, 0.0013028804678469896, 0, 0, 0, 0.9941312074661255, 0, 0, 0, 0.002823630115017295, 0, 0, 0, -0.0032855903264135122, 0, 0, 0, 0.0028246224392205477, 0, 0, 0, 0.9937909245491028, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [0.021216928958892822, 0.10810822993516922, -0.9939126968383789, -0.9997702836990356, -0.0007236461387947202, -0.021420681849122047, -0.0030349930748343468, 0.9941388964653015, 0.10806804895401001], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.033233121037483215, 0, 0, 0, 0.061307791620492935, 0, 0, 0, -0.08125736564397812, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9908829927444458, 0, 0, 0, -0.0004954911419190466, 0, 0, 0, -0.003410156350582838, 0, 0, 0, -0.0004977108328603208, 0, 0, 0, 0.9864546060562134, 0, 0, 0, 0.00156039884313941, 0, 0, 0, -0.003405920695513487, 0, 0, 0, 0.0015515100676566362, 0, 0, 0, 0.9921175241470337, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [0.0016993341268971562, 0.10448145866394043, -0.9945253729820251, -0.9999890923500061, -0.004154492169618607, -0.0021451266948133707, -0.004355873446911573, 0.9945181608200073, 0.10447325557470322], "Translation": [-0.050973620265722275, 0.003755004145205021, 0.0009571274276822805]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000362304412", "FactoryCalDate": "10/29/2020 7:49:39 AM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
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configs/p_001/p_001_draw_word_5x_left_k4a/cam-5.k4a_calibration.json
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{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5027137994766235, 0.5075123906135559, 0.4916822016239166, 0.49175894260406494, 7.1061201095581055, 4.899362087249756, 0.25499507784843445, 7.4288129806518555, 7.288814544677734, 1.340443730354309, 0, 0, -5.901794065721333e-05, -6.121195474406704e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.500187337398529, 0.5018849968910217, 0.4760653078556061, 0.6346415877342224, 0.39089179039001465, -2.563737630844116, 1.515727162361145, 0.27154844999313354, -2.3841359615325928, 1.439626932144165, 0, 0, -0.00011566179455257952, 0.0007968235295265913], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999906420707703, 0.003813045099377632, -0.002050007227808237, -0.0035813641734421253, 0.9946639537811279, 0.10310586541891098, 0.002432215493172407, -0.10309755802154541, 0.9946683049201965], "Translation": [-0.0320797860622406, -0.0019248725147917867, 0.004027719609439373]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.011261573061347008, 0, 0, 0, 0.036782652139663696, 0, 0, 0, 0.01544999796897173, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.999609112739563, 0, 0, 0, 0.0014311319682747126, 0, 0, 0, 0.007436901796609163, 0, 0, 0, 0.0014277069130912423, 0, 0, 0, 1.001952886581421, 0, 0, 0, 0.0013067945837974548, 0, 0, 0, 0.007473681587725878, 0, 0, 0, 0.0013164080446586013, 0, 0, 0, 0.9946894645690918, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [0.0006797777023166418, 0.11446645855903625, -0.9934268593788147, -0.9999996423721313, 0.000547653588000685, -0.0006211725412867963, 0.00047295037074945867, 0.9934269785881042, 0.11446679383516312], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [-0.008581435307860374, 0, 0, 0, 0.012976644560694695, 0, 0, 0, -0.06275785714387894, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.999673068523407, 0, 0, 0, -0.00019600843370426446, 0, 0, 0, -0.0038182768039405346, 0, 0, 0, -0.0001988311269087717, 0, 0, 0, 0.9854678511619568, 0, 0, 0, 0.0010603019036352634, 0, 0, 0, -0.003840584307909012, 0, 0, 0, 0.0010513560846447945, 0, 0, 0, 0.9938676953315735, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-9.128925739787519e-05, 0.10997745394706726, -0.9939340949058533, -0.9999998807907104, -0.0004603229754138738, 4.0912269469117746e-05, -0.0004530312435235828, 0.9939339756965637, 0.10997748374938965], "Translation": [-0.050905741751194, 0.003412852296605706, 0.001569376210682094]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000053601412", "FactoryCalDate": "3/31/2020 12:53:29 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
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configs/p_001/p_001_draw_word_5x_left_k4a/cam-6.k4a_calibration.json
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{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5002638697624207, 0.4989505112171173, 0.49252256751060486, 0.4926035702228546, 6.193723678588867, 4.05201530456543, 0.20817022025585175, 6.5229363441467285, 6.11761999130249, 1.0965529680252075, 0, 0, 4.387072112876922e-05, -0.00011858023935928941], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5003945231437683, 0.5062068104743958, 0.4774100184440613, 0.6364012360572815, 0.5804356336593628, -2.4625375270843506, 1.2978419065475464, 0.4623895585536957, -2.3061137199401855, 1.2405247688293457, 0, 0, -2.3370432700176025e-06, 0.0009758204687386751], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999952912330627, 0.003040140261873603, 0.0004824143834412098, -0.003072356339544058, 0.9954042434692383, 0.09571309387683868, -0.00018921606533695012, -0.09571412205696106, 0.995408833026886], "Translation": [-0.032025765627622604, -0.002011232078075409, 0.004172912798821926]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [0.0027661749627441168, 0, 0, 0, 0.027811363339424133, 0, 0, 0, 0.009240197017788887, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9942420721054077, 0, 0, 0, -0.00027528012287802994, 0, 0, 0, -0.00028688370366580784, 0, 0, 0, -0.0002725551603361964, 0, 0, 0, 1.004331350326538, 0, 0, 0, 0.012192136608064175, 0, 0, 0, -0.0002849942829925567, 0, 0, 0, 0.012232932262122631, 0, 0, 0, 1.0009819269180298, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [0.00046842635492794216, 0.11314588785171509, -0.9935782551765442, -0.9999939799308777, 0.0034657055512070656, -7.678630208829418e-05, 0.0034347616601735353, 0.9935723543167114, 0.1131468340754509], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [-0.00829737912863493, 0, 0, 0, 0.0100891487672925, 0, 0, 0, -0.0612022764980793, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9959121942520142, 0, 0, 0, 4.6766184823354706e-05, 0, 0, 0, -0.003139341250061989, 0, 0, 0, 4.725841063191183e-05, 0, 0, 0, 0.985529363155365, 0, 0, 0, 0.0004348526708781719, 0, 0, 0, -0.0031630878802388906, 0, 0, 0, 0.00043357847607694566, 0, 0, 0, 0.9884356260299683, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.004636780358850956, 0.10729269683361053, -0.9942166805267334, -0.9999889731407166, -0.0012271973537281156, 0.004531265702098608, -0.0007339282892644405, 0.9942266941070557, 0.10729720443487167], "Translation": [-0.05119436979293823, 0.0035590077750384808, 0.0017104275757446885]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000372200312", "FactoryCalDate": "1/17/2020 8:12:55 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
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configs/p_001/p_001_draw_word_5x_left_k4a/cam-7.k4a_calibration.json
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{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.501431941986084, 0.48781099915504456, 0.492413729429245, 0.49247944355010986, 3.4637808799743652, 2.3702194690704346, 0.126996710896492, 3.795011281967163, 3.5027015209198, 0.6589909791946411, 0, 0, 9.219846106134355e-06, -9.291007881984115e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.49838191270828247, 0.5069911479949951, 0.4784587323665619, 0.6378138661384583, 0.3049771189689636, -2.6113805770874023, 1.6085880994796753, 0.18434184789657593, -2.4188356399536133, 1.5230790376663208, 0, 0, -0.0003869187203235924, 0.0007276079268194735], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.999997079372406, 0.00231535523198545, -0.0006937969592399895, -0.002234756015241146, 0.995026707649231, 0.0995834618806839, 0.0009209175477735698, -0.09958162158727646, 0.9950289726257324], "Translation": [-0.03207229822874069, -0.001963492017239332, 0.004077647812664509]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.01740824617445469, 0, 0, 0, 0.043946027755737305, 0, 0, 0, 0.00867806188762188, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9969159960746765, 0, 0, 0, 0.000825574854388833, 0, 0, 0, -0.0004606670408975333, 0, 0, 0, 0.0008092857897281647, 0, 0, 0, 1.016983985900879, 0, 0, 0, -0.0015572311822324991, 0, 0, 0, -0.0004596069920808077, 0, 0, 0, -0.0015849192859604955, 0, 0, 0, 0.99921715259552, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [-0.0053807408548891544, 0.11956597864627838, -0.9928116798400879, -0.9999666213989258, -0.006748436018824577, 0.0046067931689321995, -0.00614911038428545, 0.9928033351898193, 0.11959829926490784], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.03634847700595856, 0, 0, 0, -0.02928505837917328, 0, 0, 0, -0.13058127462863922, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9943789839744568, 0, 0, 0, -0.0007046743994578719, 0, 0, 0, -0.0034167401026934385, 0, 0, 0, -0.0007024570950306952, 0, 0, 0, 0.997506320476532, 0, 0, 0, 0.0005271483678370714, 0, 0, 0, -0.0034065989311784506, 0, 0, 0, 0.0005272427806630731, 0, 0, 0, 0.9973389506340027, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.0024490703362971544, 0.11793056130409241, -0.9930188059806824, -0.9999830722808838, -0.005528145004063845, 0.0018097255378961563, -0.005276130046695471, 0.9930064678192139, 0.11794210225343704], "Translation": [-0.05112206190824509, 0.0034598896745592356, 0.00182235985994339]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000434300312", "FactoryCalDate": "1/17/2020 5:17:55 AM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
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configs/p_001/p_001_draw_word_5x_left_k4a/cam-d.k4a_calibration.json
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| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5047338008880615, 0.49285370111465454, 0.4932085871696472, 0.49336764216423035, 0.916300356388092, 0.4960465431213379, 0.02894374169409275, 1.2540546655654907, 0.7451309561729431, 0.14445416629314423, 0, 0, 0.0001048803751473315, -3.213157469872385e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5008931159973145, 0.5065211653709412, 0.4799750745296478, 0.6401299834251404, 0.2669992744922638, -2.5442428588867188, 1.5562381744384766, 0.1468191295862198, -2.3516733646392822, 1.4714510440826416, 0, 0, -0.00016664333816152066, -0.00015272035670932382], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999952912330627, 0.002396829891949892, -0.0019247822929173708, -0.0021888604387640953, 0.9948223233222961, 0.1016061007976532, 0.0021583489142358303, -0.10160140693187714, 0.9948228597640991], "Translation": [-0.03204681724309921, -0.0020179927814751863, 0.0039457520470023155]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.0016760053113102913, 0, 0, 0, 0.039734695106744766, 0, 0, 0, 0.009237464517354965, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [1.0026402473449707, 0, 0, 0, -0.001462793443351984, 0, 0, 0, -0.00792436208575964, 0, 0, 0, -0.001475605764426291, 0, 0, 0, 0.9938718676567078, 0, 0, 0, -0.0009193980367854238, 0, 0, 0, -0.008014608174562454, 0, 0, 0, -0.0009217947372235358, 0, 0, 0, 0.9913489818572998, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [-0.005548615008592606, 0.11005167663097382, -0.9939103722572327, -0.9999809861183167, -0.003282322082668543, 0.0052190665155649185, -0.0026879669167101383, 0.9939204454421997, 0.11006779223680496], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.1857536882162094, 0, 0, 0, 0.08603720366954803, 0, 0, 0, -0.17794013023376465, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.995598554611206, 0, 0, 0, -0.0009547336958348751, 0, 0, 0, 0.0007287039770744741, 0, 0, 0, -0.0009675999754108489, 0, 0, 0, 0.9823611378669739, 0, 0, 0, 0.0013091510627418756, 0, 0, 0, 0.0007258445839397609, 0, 0, 0, 0.0012866744073107839, 0, 0, 0, 0.9995213747024536, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.002978472737595439, 0.1075180247426033, -0.9941986799240112, -0.9999867081642151, -0.004508141428232193, 0.0025082777719944715, -0.004212303087115288, 0.994192898273468, 0.10753002017736435], "Translation": [-0.05103876814246178, 0.00360187329351902, 0.0012109954841434956]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000235402712", "FactoryCalDate": "6/25/2020 8:49:41 AM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
|
configs/p_001/p_001_draw_word_5x_right.json
ADDED
|
@@ -0,0 +1,558 @@
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|
| 1 |
+
{
|
| 2 |
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"camera_calibrations": {
|
| 3 |
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"0": {
|
| 4 |
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"DepthToColor": [
|
| 5 |
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[
|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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],
|
| 11 |
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[
|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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],
|
| 17 |
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[
|
| 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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],
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| 23 |
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[
|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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]
|
| 29 |
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],
|
| 30 |
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"ImageSizeX": 1920,
|
| 31 |
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"ImageSizeY": 1080,
|
| 32 |
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"SerialNo": "000235402712",
|
| 33 |
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"cx": 961.2147827148438,
|
| 34 |
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"cy": 548.8905029296875,
|
| 35 |
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"fx": 921.5521240234375,
|
| 36 |
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"fy": 921.7871704101562,
|
| 37 |
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"k1": 0.2669992744922638,
|
| 38 |
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"k2": -2.5442428588867188,
|
| 39 |
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"k3": 1.5562381744384766,
|
| 40 |
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"k4": 0.1468191295862198,
|
| 41 |
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"k5": -2.3516733646392822,
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| 42 |
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"k6": 1.4714510440826416,
|
| 43 |
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"p1": -0.00015272035670932382,
|
| 44 |
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"p2": -0.00016664333816152066,
|
| 45 |
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"p3": 0.0,
|
| 46 |
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"p4": 0.0
|
| 47 |
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},
|
| 48 |
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"1": {
|
| 49 |
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"DepthToColor": [
|
| 50 |
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[
|
| 51 |
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|
| 52 |
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|
| 53 |
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0.000666065,
|
| 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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],
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| 62 |
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[
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| 63 |
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|
| 64 |
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-0.101911,
|
| 65 |
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0.994793,
|
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"num_cameras": 8,
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| 547 |
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"participant": {
|
| 548 |
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"id": "001",
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| 549 |
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"age": "28",
|
| 550 |
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"height": "188",
|
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"weight": "70",
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"exposure": "10",
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"light_tubes": "2",
|
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"gender": "m",
|
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"hand_side": "right",
|
| 556 |
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"sequence_name": "draw_word_5x_right"
|
| 557 |
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}
|
| 558 |
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}
|
configs/p_001/p_001_draw_word_5x_right_k4a/cam-1.k4a_calibration.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5027486085891724, 0.5015245676040649, 0.4912012815475464, 0.49126216769218445, 5.000342845916748, 3.5339455604553223, 0.18954341113567352, 5.326869010925293, 5.201754093170166, 0.9838049411773682, 0, 0, 6.154234142741188e-05, -6.795406807214022e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.49905863404273987, 0.5082863569259644, 0.47463715076446533, 0.6325480937957764, 0.7326370477676392, -2.72086763381958, 1.4870834350585938, 0.6140478253364563, -2.567448139190674, 1.4290717840194702, 0, 0, -0.0004336950369179249, 0.0009995442815124989], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999976754188538, 2.55601435128483e-06, 0.0021641161292791367, -0.000223385461140424, 0.9947795271873474, 0.10204733163118362, -0.002152557484805584, -0.10204757750034332, 0.9947772026062012], "Translation": [-0.03202905133366585, -0.0019228613236919045, 0.004025778267532587]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.007132411003112793, 0, 0, 0, 0.020348532125353813, 0, 0, 0, 0.004264947026968002, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [1.0102620124816895, 0, 0, 0, 0.006478835828602314, 0, 0, 0, 0.0014253131812438369, 0, 0, 0, 0.006554477382451296, 0, 0, 0, 0.9986021518707275, 0, 0, 0, -0.001029757666401565, 0, 0, 0, 0.0014374135062098503, 0, 0, 0, -0.0010265150340273976, 0, 0, 0, 1.0017164945602417, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [-0.0024115650448948145, 0.11078017204999924, -0.9938420057296753, -0.9999914169311523, -0.0036204673815518618, 0.0020229255314916372, -0.0033740727230906487, 0.993838369846344, 0.11078795045614243], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.04600289463996887, 0, 0, 0, -0.0028773199301213026, 0, 0, 0, -0.12138088047504425, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9897992610931396, 0, 0, 0, -0.0004411204718053341, 0, 0, 0, -0.00045816777856089175, 0, 0, 0, -0.00043888582149520516, 0, 0, 0, 0.9948402047157288, 0, 0, 0, 0.0011742449132725596, 0, 0, 0, -0.00045692245475947857, 0, 0, 0, 0.0011770158307626843, 0, 0, 0, 0.9924981594085693, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [0.001254075556062162, 0.10841873288154602, -0.9941045045852661, -0.9999935626983643, -0.0031998788472265005, -0.001610488980077207, -0.003355621127411723, 0.9941001534461975, 0.10841402411460876], "Translation": [-0.05109700933098793, 0.0034552812576293945, 0.0017027963185682893]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000377404412", "FactoryCalDate": "10/24/2020 1:20:50 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
|
configs/p_001/p_001_draw_word_5x_right_k4a/cam-2.k4a_calibration.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5061713457107544, 0.49213269352912903, 0.49246835708618164, 0.492513507604599, 0.26750999689102173, -0.061031922698020935, -0.0007263320730999112, 0.6097160577774048, -0.04487680271267891, -0.011743111535906792, 0, 0, 0.00012575395521707833, 7.260814891196787e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5003691911697388, 0.5039426684379578, 0.4783479869365692, 0.6378879547119141, 0.21557879447937012, -2.4680228233337402, 1.5400351285934448, 0.09540262073278427, -2.275580883026123, 1.4545351266860962, 0, 0, -0.0001935729815158993, 0.0002152603556169197], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999955892562866, 0.0028983273077756166, 0.0006163447978906333, -0.0029437437187880278, 0.9954808950424194, 0.0949166864156723, -0.0003384598530828953, -0.09491808712482452, 0.9954850077629089], "Translation": [-0.0320386067032814, -0.001985475653782487, 0.004124561790376902]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.007993617095053196, 0, 0, 0, -0.007421421818435192, 0, 0, 0, 0.021326621994376183, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9999890923500061, 0, 0, 0, -0.000332797528244555, 0, 0, 0, 0.009600135497748852, 0, 0, 0, -0.0003268910222686827, 0, 0, 0, 1.0179784297943115, 0, 0, 0, 0.0038503077812492847, 0, 0, 0, 0.009629962965846062, 0, 0, 0, 0.003932057414203882, 0, 0, 0, 0.9969064593315125, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [-0.0016529090935364366, 0.11617545038461685, -0.9932273030281067, -0.9999975562095642, -0.001649336889386177, 0.001471256953664124, -0.001467242487706244, 0.9932273626327515, 0.11617789417505264], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.052873045206069946, 0, 0, 0, 0.0245186910033226, 0, 0, 0, -0.08753518760204315, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9904006719589233, 0, 0, 0, -0.0007672802312299609, 0, 0, 0, -0.004795718006789684, 0, 0, 0, -0.0007668163161724806, 0, 0, 0, 0.9909789562225342, 0, 0, 0, 0.0014054372441023588, 0, 0, 0, -0.004759335424751043, 0, 0, 0, 0.001395618892274797, 0, 0, 0, 0.9979730844497681, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.000346852233633399, 0.10682665556669235, -0.9942775964736938, -0.9999926090240479, -0.0038400532212108374, -6.373506039381027e-05, -0.0038248873315751553, 0.9942702651023865, 0.10682719945907593], "Translation": [-0.05109089985489845, 0.0036591377574950457, 0.0008763206424191594]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000426200312", "FactoryCalDate": "1/12/2020 1:53:52 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
|
configs/p_001/p_001_draw_word_5x_right_k4a/cam-3.k4a_calibration.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5017985701560974, 0.49178123474121094, 0.49233418703079224, 0.49239057302474976, 3.496838092803955, 2.7360594272613525, 0.1558273583650589, 3.8254477977752686, 3.892451047897339, 0.7895539402961731, 0, 0, 6.948197551537305e-05, -6.707473949063569e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.4978904724121094, 0.5049574971199036, 0.47671282291412354, 0.6354125738143921, 0.4233161211013794, -2.386378526687622, 1.343291997909546, 0.30664223432540894, -2.222109317779541, 1.278451919555664, 0, 0, -0.0003749821335077286, 0.0010767909698188305], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999834895133972, 0.005643587093800306, -0.0010804197518154979, -0.0055173952132463455, 0.9955774545669556, 0.09378229826688766, 0.0016049101250246167, -0.09377478808164597, 0.9955921173095703], "Translation": [-0.03207961842417717, -0.0019639430101960897, 0.004094239789992571]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [0.01219477504491806, 0, 0, 0, 0.0163558442145586, 0, 0, 0, -0.012651877477765083, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [1.01434326171875, 0, 0, 0, -0.0008494984940625727, 0, 0, 0, 0.0031813550740480423, 0, 0, 0, -0.0008622622699476779, 0, 0, 0, 0.9994109272956848, 0, 0, 0, 0.00959999579936266, 0, 0, 0, 0.00323945633135736, 0, 0, 0, 0.009630619548261166, 0, 0, 0, 0.996242344379425, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [0.0024047361221164465, 0.1068783551454544, -0.9942691922187805, -0.9999942779541016, 0.002619950333610177, -0.002136952942237258, 0.0023765419609844685, 0.9942686557769775, 0.10688403993844986], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.020264992490410805, 0, 0, 0, 0.019376961514353752, 0, 0, 0, 0.08269334584474564, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9948694109916687, 0, 0, 0, -0.001064794952981174, 0, 0, 0, -0.00013841457257512957, 0, 0, 0, -0.0010786697966977954, 0, 0, 0, 0.9820727109909058, 0, 0, 0, -0.0005185110494494438, 0, 0, 0, -0.00013923592632636428, 0, 0, 0, -0.0005148787167854607, 0, 0, 0, 0.9889997839927673, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.0024058425333350897, 0.10456501692533493, -0.9945151209831238, -0.9999964833259583, -0.0013638921082019806, 0.002275700680911541, -0.0011184526374563575, 0.9945170879364014, 0.10456793010234833], "Translation": [-0.05130750313401222, 0.0038692597299814224, 0.0015736044151708484]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000389100312", "FactoryCalDate": "1/12/2020 4:05:49 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
|
configs/p_001/p_001_draw_word_5x_right_k4a/cam-4.k4a_calibration.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5043855309486389, 0.5003691911697388, 0.4923548102378845, 0.4924107789993286, 0.19114693999290466, -0.06970345973968506, -0.0005128095508553088, 0.5301324129104614, -0.07572615146636963, -0.011716516688466072, 0, 0, -0.00022429999080486596, 7.411435944959521e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.4979367256164551, 0.5084453225135803, 0.4743347764015198, 0.6322181820869446, 0.5467393398284912, -2.5799286365509033, 1.4728375673294067, 0.4288787543773651, -2.417959213256836, 1.4080861806869507, 0, 0, -0.000438770919572562, 0.0004620034887921065], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999880790710449, 0.0023756360169500113, 0.004264115355908871, -0.002850882476195693, 0.9933436512947083, 0.11515297740697861, -0.003962170332670212, -0.11516376584768295, 0.9933386445045471], "Translation": [-0.03198923170566559, -0.0018163592321798205, 0.0040358263067901134]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [0.01206822507083416, 0, 0, 0, 0.019368095323443413, 0, 0, 0, -0.01601979322731495, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [1.0053554773330688, 0, 0, 0, 0.001288337865844369, 0, 0, 0, -0.0032477756030857563, 0, 0, 0, 0.0013028804678469896, 0, 0, 0, 0.9941312074661255, 0, 0, 0, 0.002823630115017295, 0, 0, 0, -0.0032855903264135122, 0, 0, 0, 0.0028246224392205477, 0, 0, 0, 0.9937909245491028, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [0.021216928958892822, 0.10810822993516922, -0.9939126968383789, -0.9997702836990356, -0.0007236461387947202, -0.021420681849122047, -0.0030349930748343468, 0.9941388964653015, 0.10806804895401001], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.033233121037483215, 0, 0, 0, 0.061307791620492935, 0, 0, 0, -0.08125736564397812, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9908829927444458, 0, 0, 0, -0.0004954911419190466, 0, 0, 0, -0.003410156350582838, 0, 0, 0, -0.0004977108328603208, 0, 0, 0, 0.9864546060562134, 0, 0, 0, 0.00156039884313941, 0, 0, 0, -0.003405920695513487, 0, 0, 0, 0.0015515100676566362, 0, 0, 0, 0.9921175241470337, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [0.0016993341268971562, 0.10448145866394043, -0.9945253729820251, -0.9999890923500061, -0.004154492169618607, -0.0021451266948133707, -0.004355873446911573, 0.9945181608200073, 0.10447325557470322], "Translation": [-0.050973620265722275, 0.003755004145205021, 0.0009571274276822805]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000362304412", "FactoryCalDate": "10/29/2020 7:49:39 AM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
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configs/p_001/p_001_draw_word_5x_right_k4a/cam-5.k4a_calibration.json
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{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5027137994766235, 0.5075123906135559, 0.4916822016239166, 0.49175894260406494, 7.1061201095581055, 4.899362087249756, 0.25499507784843445, 7.4288129806518555, 7.288814544677734, 1.340443730354309, 0, 0, -5.901794065721333e-05, -6.121195474406704e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.500187337398529, 0.5018849968910217, 0.4760653078556061, 0.6346415877342224, 0.39089179039001465, -2.563737630844116, 1.515727162361145, 0.27154844999313354, -2.3841359615325928, 1.439626932144165, 0, 0, -0.00011566179455257952, 0.0007968235295265913], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999906420707703, 0.003813045099377632, -0.002050007227808237, -0.0035813641734421253, 0.9946639537811279, 0.10310586541891098, 0.002432215493172407, -0.10309755802154541, 0.9946683049201965], "Translation": [-0.0320797860622406, -0.0019248725147917867, 0.004027719609439373]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.011261573061347008, 0, 0, 0, 0.036782652139663696, 0, 0, 0, 0.01544999796897173, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.999609112739563, 0, 0, 0, 0.0014311319682747126, 0, 0, 0, 0.007436901796609163, 0, 0, 0, 0.0014277069130912423, 0, 0, 0, 1.001952886581421, 0, 0, 0, 0.0013067945837974548, 0, 0, 0, 0.007473681587725878, 0, 0, 0, 0.0013164080446586013, 0, 0, 0, 0.9946894645690918, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [0.0006797777023166418, 0.11446645855903625, -0.9934268593788147, -0.9999996423721313, 0.000547653588000685, -0.0006211725412867963, 0.00047295037074945867, 0.9934269785881042, 0.11446679383516312], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [-0.008581435307860374, 0, 0, 0, 0.012976644560694695, 0, 0, 0, -0.06275785714387894, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.999673068523407, 0, 0, 0, -0.00019600843370426446, 0, 0, 0, -0.0038182768039405346, 0, 0, 0, -0.0001988311269087717, 0, 0, 0, 0.9854678511619568, 0, 0, 0, 0.0010603019036352634, 0, 0, 0, -0.003840584307909012, 0, 0, 0, 0.0010513560846447945, 0, 0, 0, 0.9938676953315735, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-9.128925739787519e-05, 0.10997745394706726, -0.9939340949058533, -0.9999998807907104, -0.0004603229754138738, 4.0912269469117746e-05, -0.0004530312435235828, 0.9939339756965637, 0.10997748374938965], "Translation": [-0.050905741751194, 0.003412852296605706, 0.001569376210682094]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000053601412", "FactoryCalDate": "3/31/2020 12:53:29 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
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configs/p_001/p_001_draw_word_5x_right_k4a/cam-6.k4a_calibration.json
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{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5002638697624207, 0.4989505112171173, 0.49252256751060486, 0.4926035702228546, 6.193723678588867, 4.05201530456543, 0.20817022025585175, 6.5229363441467285, 6.11761999130249, 1.0965529680252075, 0, 0, 4.387072112876922e-05, -0.00011858023935928941], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5003945231437683, 0.5062068104743958, 0.4774100184440613, 0.6364012360572815, 0.5804356336593628, -2.4625375270843506, 1.2978419065475464, 0.4623895585536957, -2.3061137199401855, 1.2405247688293457, 0, 0, -2.3370432700176025e-06, 0.0009758204687386751], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999952912330627, 0.003040140261873603, 0.0004824143834412098, -0.003072356339544058, 0.9954042434692383, 0.09571309387683868, -0.00018921606533695012, -0.09571412205696106, 0.995408833026886], "Translation": [-0.032025765627622604, -0.002011232078075409, 0.004172912798821926]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [0.0027661749627441168, 0, 0, 0, 0.027811363339424133, 0, 0, 0, 0.009240197017788887, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9942420721054077, 0, 0, 0, -0.00027528012287802994, 0, 0, 0, -0.00028688370366580784, 0, 0, 0, -0.0002725551603361964, 0, 0, 0, 1.004331350326538, 0, 0, 0, 0.012192136608064175, 0, 0, 0, -0.0002849942829925567, 0, 0, 0, 0.012232932262122631, 0, 0, 0, 1.0009819269180298, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [0.00046842635492794216, 0.11314588785171509, -0.9935782551765442, -0.9999939799308777, 0.0034657055512070656, -7.678630208829418e-05, 0.0034347616601735353, 0.9935723543167114, 0.1131468340754509], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [-0.00829737912863493, 0, 0, 0, 0.0100891487672925, 0, 0, 0, -0.0612022764980793, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9959121942520142, 0, 0, 0, 4.6766184823354706e-05, 0, 0, 0, -0.003139341250061989, 0, 0, 0, 4.725841063191183e-05, 0, 0, 0, 0.985529363155365, 0, 0, 0, 0.0004348526708781719, 0, 0, 0, -0.0031630878802388906, 0, 0, 0, 0.00043357847607694566, 0, 0, 0, 0.9884356260299683, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.004636780358850956, 0.10729269683361053, -0.9942166805267334, -0.9999889731407166, -0.0012271973537281156, 0.004531265702098608, -0.0007339282892644405, 0.9942266941070557, 0.10729720443487167], "Translation": [-0.05119436979293823, 0.0035590077750384808, 0.0017104275757446885]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000372200312", "FactoryCalDate": "1/17/2020 8:12:55 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
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configs/p_001/p_001_draw_word_5x_right_k4a/cam-7.k4a_calibration.json
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{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.501431941986084, 0.48781099915504456, 0.492413729429245, 0.49247944355010986, 3.4637808799743652, 2.3702194690704346, 0.126996710896492, 3.795011281967163, 3.5027015209198, 0.6589909791946411, 0, 0, 9.219846106134355e-06, -9.291007881984115e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.49838191270828247, 0.5069911479949951, 0.4784587323665619, 0.6378138661384583, 0.3049771189689636, -2.6113805770874023, 1.6085880994796753, 0.18434184789657593, -2.4188356399536133, 1.5230790376663208, 0, 0, -0.0003869187203235924, 0.0007276079268194735], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.999997079372406, 0.00231535523198545, -0.0006937969592399895, -0.002234756015241146, 0.995026707649231, 0.0995834618806839, 0.0009209175477735698, -0.09958162158727646, 0.9950289726257324], "Translation": [-0.03207229822874069, -0.001963492017239332, 0.004077647812664509]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.01740824617445469, 0, 0, 0, 0.043946027755737305, 0, 0, 0, 0.00867806188762188, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9969159960746765, 0, 0, 0, 0.000825574854388833, 0, 0, 0, -0.0004606670408975333, 0, 0, 0, 0.0008092857897281647, 0, 0, 0, 1.016983985900879, 0, 0, 0, -0.0015572311822324991, 0, 0, 0, -0.0004596069920808077, 0, 0, 0, -0.0015849192859604955, 0, 0, 0, 0.99921715259552, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [-0.0053807408548891544, 0.11956597864627838, -0.9928116798400879, -0.9999666213989258, -0.006748436018824577, 0.0046067931689321995, -0.00614911038428545, 0.9928033351898193, 0.11959829926490784], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.03634847700595856, 0, 0, 0, -0.02928505837917328, 0, 0, 0, -0.13058127462863922, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9943789839744568, 0, 0, 0, -0.0007046743994578719, 0, 0, 0, -0.0034167401026934385, 0, 0, 0, -0.0007024570950306952, 0, 0, 0, 0.997506320476532, 0, 0, 0, 0.0005271483678370714, 0, 0, 0, -0.0034065989311784506, 0, 0, 0, 0.0005272427806630731, 0, 0, 0, 0.9973389506340027, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.0024490703362971544, 0.11793056130409241, -0.9930188059806824, -0.9999830722808838, -0.005528145004063845, 0.0018097255378961563, -0.005276130046695471, 0.9930064678192139, 0.11794210225343704], "Translation": [-0.05112206190824509, 0.0034598896745592356, 0.00182235985994339]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000434300312", "FactoryCalDate": "1/17/2020 5:17:55 AM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
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configs/p_001/p_001_draw_word_5x_right_k4a/cam-d.k4a_calibration.json
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| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5047338008880615, 0.49285370111465454, 0.4932085871696472, 0.49336764216423035, 0.916300356388092, 0.4960465431213379, 0.02894374169409275, 1.2540546655654907, 0.7451309561729431, 0.14445416629314423, 0, 0, 0.0001048803751473315, -3.213157469872385e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5008931159973145, 0.5065211653709412, 0.4799750745296478, 0.6401299834251404, 0.2669992744922638, -2.5442428588867188, 1.5562381744384766, 0.1468191295862198, -2.3516733646392822, 1.4714510440826416, 0, 0, -0.00016664333816152066, -0.00015272035670932382], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999952912330627, 0.002396829891949892, -0.0019247822929173708, -0.0021888604387640953, 0.9948223233222961, 0.1016061007976532, 0.0021583489142358303, -0.10160140693187714, 0.9948228597640991], "Translation": [-0.03204681724309921, -0.0020179927814751863, 0.0039457520470023155]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.0016760053113102913, 0, 0, 0, 0.039734695106744766, 0, 0, 0, 0.009237464517354965, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [1.0026402473449707, 0, 0, 0, -0.001462793443351984, 0, 0, 0, -0.00792436208575964, 0, 0, 0, -0.001475605764426291, 0, 0, 0, 0.9938718676567078, 0, 0, 0, -0.0009193980367854238, 0, 0, 0, -0.008014608174562454, 0, 0, 0, -0.0009217947372235358, 0, 0, 0, 0.9913489818572998, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [-0.005548615008592606, 0.11005167663097382, -0.9939103722572327, -0.9999809861183167, -0.003282322082668543, 0.0052190665155649185, -0.0026879669167101383, 0.9939204454421997, 0.11006779223680496], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.1857536882162094, 0, 0, 0, 0.08603720366954803, 0, 0, 0, -0.17794013023376465, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.995598554611206, 0, 0, 0, -0.0009547336958348751, 0, 0, 0, 0.0007287039770744741, 0, 0, 0, -0.0009675999754108489, 0, 0, 0, 0.9823611378669739, 0, 0, 0, 0.0013091510627418756, 0, 0, 0, 0.0007258445839397609, 0, 0, 0, 0.0012866744073107839, 0, 0, 0, 0.9995213747024536, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.002978472737595439, 0.1075180247426033, -0.9941986799240112, -0.9999867081642151, -0.004508141428232193, 0.0025082777719944715, -0.004212303087115288, 0.994192898273468, 0.10753002017736435], "Translation": [-0.05103876814246178, 0.00360187329351902, 0.0012109954841434956]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000235402712", "FactoryCalDate": "6/25/2020 8:49:41 AM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
|
configs/p_001/p_001_grasp-edge_curled_thumb-down_5x_left.json
ADDED
|
@@ -0,0 +1,558 @@
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|
| 1 |
+
{
|
| 2 |
+
"camera_calibrations": {
|
| 3 |
+
"0": {
|
| 4 |
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"DepthToColor": [
|
| 5 |
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[
|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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-0.0335589
|
| 10 |
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],
|
| 11 |
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[
|
| 12 |
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-0.00105482,
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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],
|
| 17 |
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[
|
| 18 |
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-0.000965488,
|
| 19 |
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-0.100391,
|
| 20 |
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0.994948,
|
| 21 |
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|
| 22 |
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],
|
| 23 |
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[
|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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]
|
| 29 |
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],
|
| 30 |
+
"ImageSizeX": 1920,
|
| 31 |
+
"ImageSizeY": 1080,
|
| 32 |
+
"SerialNo": "000235402712",
|
| 33 |
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"cx": 961.2147827148438,
|
| 34 |
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"cy": 548.8905029296875,
|
| 35 |
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"fx": 921.5521240234375,
|
| 36 |
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"fy": 921.7871704101562,
|
| 37 |
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"k1": 0.2669992744922638,
|
| 38 |
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"k2": -2.5442428588867188,
|
| 39 |
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"k3": 1.5562381744384766,
|
| 40 |
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"k4": 0.1468191295862198,
|
| 41 |
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"k5": -2.3516733646392822,
|
| 42 |
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"k6": 1.4714510440826416,
|
| 43 |
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"p1": -0.00015272035670932382,
|
| 44 |
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"p2": -0.00016664333816152066,
|
| 45 |
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"p3": 0.0,
|
| 46 |
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"p4": 0.0
|
| 47 |
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},
|
| 48 |
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"1": {
|
| 49 |
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"DepthToColor": [
|
| 50 |
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[
|
| 51 |
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1.0,
|
| 52 |
+
7.8181e-05,
|
| 53 |
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0.000666065,
|
| 54 |
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-0.0321161
|
| 55 |
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],
|
| 56 |
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[
|
| 57 |
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-0.000145653,
|
| 58 |
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0.994794,
|
| 59 |
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0.101911,
|
| 60 |
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-0.00163833
|
| 61 |
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],
|
| 62 |
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[
|
| 63 |
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-0.000654629,
|
| 64 |
+
-0.101911,
|
| 65 |
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"sequence_name": "grasp-edge_curled_thumb-down_5x_left"
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}
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| 558 |
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}
|
configs/p_001/p_001_grasp-edge_curled_thumb-down_5x_left_k4a/cam-1.k4a_calibration.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5027486085891724, 0.5015245676040649, 0.4912012815475464, 0.49126216769218445, 5.000342845916748, 3.5339455604553223, 0.18954341113567352, 5.326869010925293, 5.201754093170166, 0.9838049411773682, 0, 0, 6.154234142741188e-05, -6.795406807214022e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.49905863404273987, 0.5082863569259644, 0.47463715076446533, 0.6325480937957764, 0.7326370477676392, -2.72086763381958, 1.4870834350585938, 0.6140478253364563, -2.567448139190674, 1.4290717840194702, 0, 0, -0.0004336950369179249, 0.0009995442815124989], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999976754188538, 2.55601435128483e-06, 0.0021641161292791367, -0.000223385461140424, 0.9947795271873474, 0.10204733163118362, -0.002152557484805584, -0.10204757750034332, 0.9947772026062012], "Translation": [-0.03202905133366585, -0.0019228613236919045, 0.004025778267532587]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.007132411003112793, 0, 0, 0, 0.020348532125353813, 0, 0, 0, 0.004264947026968002, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [1.0102620124816895, 0, 0, 0, 0.006478835828602314, 0, 0, 0, 0.0014253131812438369, 0, 0, 0, 0.006554477382451296, 0, 0, 0, 0.9986021518707275, 0, 0, 0, -0.001029757666401565, 0, 0, 0, 0.0014374135062098503, 0, 0, 0, -0.0010265150340273976, 0, 0, 0, 1.0017164945602417, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [-0.0024115650448948145, 0.11078017204999924, -0.9938420057296753, -0.9999914169311523, -0.0036204673815518618, 0.0020229255314916372, -0.0033740727230906487, 0.993838369846344, 0.11078795045614243], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.04600289463996887, 0, 0, 0, -0.0028773199301213026, 0, 0, 0, -0.12138088047504425, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9897992610931396, 0, 0, 0, -0.0004411204718053341, 0, 0, 0, -0.00045816777856089175, 0, 0, 0, -0.00043888582149520516, 0, 0, 0, 0.9948402047157288, 0, 0, 0, 0.0011742449132725596, 0, 0, 0, -0.00045692245475947857, 0, 0, 0, 0.0011770158307626843, 0, 0, 0, 0.9924981594085693, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [0.001254075556062162, 0.10841873288154602, -0.9941045045852661, -0.9999935626983643, -0.0031998788472265005, -0.001610488980077207, -0.003355621127411723, 0.9941001534461975, 0.10841402411460876], "Translation": [-0.05109700933098793, 0.0034552812576293945, 0.0017027963185682893]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000377404412", "FactoryCalDate": "10/24/2020 1:20:50 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
|
configs/p_001/p_001_grasp-edge_curled_thumb-down_5x_left_k4a/cam-2.k4a_calibration.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5061713457107544, 0.49213269352912903, 0.49246835708618164, 0.492513507604599, 0.26750999689102173, -0.061031922698020935, -0.0007263320730999112, 0.6097160577774048, -0.04487680271267891, -0.011743111535906792, 0, 0, 0.00012575395521707833, 7.260814891196787e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5003691911697388, 0.5039426684379578, 0.4783479869365692, 0.6378879547119141, 0.21557879447937012, -2.4680228233337402, 1.5400351285934448, 0.09540262073278427, -2.275580883026123, 1.4545351266860962, 0, 0, -0.0001935729815158993, 0.0002152603556169197], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999955892562866, 0.0028983273077756166, 0.0006163447978906333, -0.0029437437187880278, 0.9954808950424194, 0.0949166864156723, -0.0003384598530828953, -0.09491808712482452, 0.9954850077629089], "Translation": [-0.0320386067032814, -0.001985475653782487, 0.004124561790376902]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.007993617095053196, 0, 0, 0, -0.007421421818435192, 0, 0, 0, 0.021326621994376183, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9999890923500061, 0, 0, 0, -0.000332797528244555, 0, 0, 0, 0.009600135497748852, 0, 0, 0, -0.0003268910222686827, 0, 0, 0, 1.0179784297943115, 0, 0, 0, 0.0038503077812492847, 0, 0, 0, 0.009629962965846062, 0, 0, 0, 0.003932057414203882, 0, 0, 0, 0.9969064593315125, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [-0.0016529090935364366, 0.11617545038461685, -0.9932273030281067, -0.9999975562095642, -0.001649336889386177, 0.001471256953664124, -0.001467242487706244, 0.9932273626327515, 0.11617789417505264], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.052873045206069946, 0, 0, 0, 0.0245186910033226, 0, 0, 0, -0.08753518760204315, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9904006719589233, 0, 0, 0, -0.0007672802312299609, 0, 0, 0, -0.004795718006789684, 0, 0, 0, -0.0007668163161724806, 0, 0, 0, 0.9909789562225342, 0, 0, 0, 0.0014054372441023588, 0, 0, 0, -0.004759335424751043, 0, 0, 0, 0.001395618892274797, 0, 0, 0, 0.9979730844497681, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.000346852233633399, 0.10682665556669235, -0.9942775964736938, -0.9999926090240479, -0.0038400532212108374, -6.373506039381027e-05, -0.0038248873315751553, 0.9942702651023865, 0.10682719945907593], "Translation": [-0.05109089985489845, 0.0036591377574950457, 0.0008763206424191594]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000426200312", "FactoryCalDate": "1/12/2020 1:53:52 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
|
configs/p_001/p_001_grasp-edge_curled_thumb-down_5x_left_k4a/cam-3.k4a_calibration.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5017985701560974, 0.49178123474121094, 0.49233418703079224, 0.49239057302474976, 3.496838092803955, 2.7360594272613525, 0.1558273583650589, 3.8254477977752686, 3.892451047897339, 0.7895539402961731, 0, 0, 6.948197551537305e-05, -6.707473949063569e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.4978904724121094, 0.5049574971199036, 0.47671282291412354, 0.6354125738143921, 0.4233161211013794, -2.386378526687622, 1.343291997909546, 0.30664223432540894, -2.222109317779541, 1.278451919555664, 0, 0, -0.0003749821335077286, 0.0010767909698188305], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999834895133972, 0.005643587093800306, -0.0010804197518154979, -0.0055173952132463455, 0.9955774545669556, 0.09378229826688766, 0.0016049101250246167, -0.09377478808164597, 0.9955921173095703], "Translation": [-0.03207961842417717, -0.0019639430101960897, 0.004094239789992571]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [0.01219477504491806, 0, 0, 0, 0.0163558442145586, 0, 0, 0, -0.012651877477765083, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [1.01434326171875, 0, 0, 0, -0.0008494984940625727, 0, 0, 0, 0.0031813550740480423, 0, 0, 0, -0.0008622622699476779, 0, 0, 0, 0.9994109272956848, 0, 0, 0, 0.00959999579936266, 0, 0, 0, 0.00323945633135736, 0, 0, 0, 0.009630619548261166, 0, 0, 0, 0.996242344379425, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [0.0024047361221164465, 0.1068783551454544, -0.9942691922187805, -0.9999942779541016, 0.002619950333610177, -0.002136952942237258, 0.0023765419609844685, 0.9942686557769775, 0.10688403993844986], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.020264992490410805, 0, 0, 0, 0.019376961514353752, 0, 0, 0, 0.08269334584474564, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9948694109916687, 0, 0, 0, -0.001064794952981174, 0, 0, 0, -0.00013841457257512957, 0, 0, 0, -0.0010786697966977954, 0, 0, 0, 0.9820727109909058, 0, 0, 0, -0.0005185110494494438, 0, 0, 0, -0.00013923592632636428, 0, 0, 0, -0.0005148787167854607, 0, 0, 0, 0.9889997839927673, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.0024058425333350897, 0.10456501692533493, -0.9945151209831238, -0.9999964833259583, -0.0013638921082019806, 0.002275700680911541, -0.0011184526374563575, 0.9945170879364014, 0.10456793010234833], "Translation": [-0.05130750313401222, 0.0038692597299814224, 0.0015736044151708484]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000389100312", "FactoryCalDate": "1/12/2020 4:05:49 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
|
configs/p_001/p_001_grasp-edge_curled_thumb-down_5x_left_k4a/cam-4.k4a_calibration.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5043855309486389, 0.5003691911697388, 0.4923548102378845, 0.4924107789993286, 0.19114693999290466, -0.06970345973968506, -0.0005128095508553088, 0.5301324129104614, -0.07572615146636963, -0.011716516688466072, 0, 0, -0.00022429999080486596, 7.411435944959521e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.4979367256164551, 0.5084453225135803, 0.4743347764015198, 0.6322181820869446, 0.5467393398284912, -2.5799286365509033, 1.4728375673294067, 0.4288787543773651, -2.417959213256836, 1.4080861806869507, 0, 0, -0.000438770919572562, 0.0004620034887921065], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999880790710449, 0.0023756360169500113, 0.004264115355908871, -0.002850882476195693, 0.9933436512947083, 0.11515297740697861, -0.003962170332670212, -0.11516376584768295, 0.9933386445045471], "Translation": [-0.03198923170566559, -0.0018163592321798205, 0.0040358263067901134]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [0.01206822507083416, 0, 0, 0, 0.019368095323443413, 0, 0, 0, -0.01601979322731495, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [1.0053554773330688, 0, 0, 0, 0.001288337865844369, 0, 0, 0, -0.0032477756030857563, 0, 0, 0, 0.0013028804678469896, 0, 0, 0, 0.9941312074661255, 0, 0, 0, 0.002823630115017295, 0, 0, 0, -0.0032855903264135122, 0, 0, 0, 0.0028246224392205477, 0, 0, 0, 0.9937909245491028, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [0.021216928958892822, 0.10810822993516922, -0.9939126968383789, -0.9997702836990356, -0.0007236461387947202, -0.021420681849122047, -0.0030349930748343468, 0.9941388964653015, 0.10806804895401001], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.033233121037483215, 0, 0, 0, 0.061307791620492935, 0, 0, 0, -0.08125736564397812, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9908829927444458, 0, 0, 0, -0.0004954911419190466, 0, 0, 0, -0.003410156350582838, 0, 0, 0, -0.0004977108328603208, 0, 0, 0, 0.9864546060562134, 0, 0, 0, 0.00156039884313941, 0, 0, 0, -0.003405920695513487, 0, 0, 0, 0.0015515100676566362, 0, 0, 0, 0.9921175241470337, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [0.0016993341268971562, 0.10448145866394043, -0.9945253729820251, -0.9999890923500061, -0.004154492169618607, -0.0021451266948133707, -0.004355873446911573, 0.9945181608200073, 0.10447325557470322], "Translation": [-0.050973620265722275, 0.003755004145205021, 0.0009571274276822805]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000362304412", "FactoryCalDate": "10/29/2020 7:49:39 AM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
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configs/p_001/p_001_grasp-edge_curled_thumb-down_5x_left_k4a/cam-5.k4a_calibration.json
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{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5027137994766235, 0.5075123906135559, 0.4916822016239166, 0.49175894260406494, 7.1061201095581055, 4.899362087249756, 0.25499507784843445, 7.4288129806518555, 7.288814544677734, 1.340443730354309, 0, 0, -5.901794065721333e-05, -6.121195474406704e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.500187337398529, 0.5018849968910217, 0.4760653078556061, 0.6346415877342224, 0.39089179039001465, -2.563737630844116, 1.515727162361145, 0.27154844999313354, -2.3841359615325928, 1.439626932144165, 0, 0, -0.00011566179455257952, 0.0007968235295265913], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999906420707703, 0.003813045099377632, -0.002050007227808237, -0.0035813641734421253, 0.9946639537811279, 0.10310586541891098, 0.002432215493172407, -0.10309755802154541, 0.9946683049201965], "Translation": [-0.0320797860622406, -0.0019248725147917867, 0.004027719609439373]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.011261573061347008, 0, 0, 0, 0.036782652139663696, 0, 0, 0, 0.01544999796897173, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.999609112739563, 0, 0, 0, 0.0014311319682747126, 0, 0, 0, 0.007436901796609163, 0, 0, 0, 0.0014277069130912423, 0, 0, 0, 1.001952886581421, 0, 0, 0, 0.0013067945837974548, 0, 0, 0, 0.007473681587725878, 0, 0, 0, 0.0013164080446586013, 0, 0, 0, 0.9946894645690918, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [0.0006797777023166418, 0.11446645855903625, -0.9934268593788147, -0.9999996423721313, 0.000547653588000685, -0.0006211725412867963, 0.00047295037074945867, 0.9934269785881042, 0.11446679383516312], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [-0.008581435307860374, 0, 0, 0, 0.012976644560694695, 0, 0, 0, -0.06275785714387894, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.999673068523407, 0, 0, 0, -0.00019600843370426446, 0, 0, 0, -0.0038182768039405346, 0, 0, 0, -0.0001988311269087717, 0, 0, 0, 0.9854678511619568, 0, 0, 0, 0.0010603019036352634, 0, 0, 0, -0.003840584307909012, 0, 0, 0, 0.0010513560846447945, 0, 0, 0, 0.9938676953315735, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-9.128925739787519e-05, 0.10997745394706726, -0.9939340949058533, -0.9999998807907104, -0.0004603229754138738, 4.0912269469117746e-05, -0.0004530312435235828, 0.9939339756965637, 0.10997748374938965], "Translation": [-0.050905741751194, 0.003412852296605706, 0.001569376210682094]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000053601412", "FactoryCalDate": "3/31/2020 12:53:29 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
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configs/p_001/p_001_grasp-edge_curled_thumb-down_5x_left_k4a/cam-6.k4a_calibration.json
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{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5002638697624207, 0.4989505112171173, 0.49252256751060486, 0.4926035702228546, 6.193723678588867, 4.05201530456543, 0.20817022025585175, 6.5229363441467285, 6.11761999130249, 1.0965529680252075, 0, 0, 4.387072112876922e-05, -0.00011858023935928941], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5003945231437683, 0.5062068104743958, 0.4774100184440613, 0.6364012360572815, 0.5804356336593628, -2.4625375270843506, 1.2978419065475464, 0.4623895585536957, -2.3061137199401855, 1.2405247688293457, 0, 0, -2.3370432700176025e-06, 0.0009758204687386751], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999952912330627, 0.003040140261873603, 0.0004824143834412098, -0.003072356339544058, 0.9954042434692383, 0.09571309387683868, -0.00018921606533695012, -0.09571412205696106, 0.995408833026886], "Translation": [-0.032025765627622604, -0.002011232078075409, 0.004172912798821926]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [0.0027661749627441168, 0, 0, 0, 0.027811363339424133, 0, 0, 0, 0.009240197017788887, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9942420721054077, 0, 0, 0, -0.00027528012287802994, 0, 0, 0, -0.00028688370366580784, 0, 0, 0, -0.0002725551603361964, 0, 0, 0, 1.004331350326538, 0, 0, 0, 0.012192136608064175, 0, 0, 0, -0.0002849942829925567, 0, 0, 0, 0.012232932262122631, 0, 0, 0, 1.0009819269180298, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [0.00046842635492794216, 0.11314588785171509, -0.9935782551765442, -0.9999939799308777, 0.0034657055512070656, -7.678630208829418e-05, 0.0034347616601735353, 0.9935723543167114, 0.1131468340754509], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [-0.00829737912863493, 0, 0, 0, 0.0100891487672925, 0, 0, 0, -0.0612022764980793, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9959121942520142, 0, 0, 0, 4.6766184823354706e-05, 0, 0, 0, -0.003139341250061989, 0, 0, 0, 4.725841063191183e-05, 0, 0, 0, 0.985529363155365, 0, 0, 0, 0.0004348526708781719, 0, 0, 0, -0.0031630878802388906, 0, 0, 0, 0.00043357847607694566, 0, 0, 0, 0.9884356260299683, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.004636780358850956, 0.10729269683361053, -0.9942166805267334, -0.9999889731407166, -0.0012271973537281156, 0.004531265702098608, -0.0007339282892644405, 0.9942266941070557, 0.10729720443487167], "Translation": [-0.05119436979293823, 0.0035590077750384808, 0.0017104275757446885]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000372200312", "FactoryCalDate": "1/17/2020 8:12:55 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
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configs/p_001/p_001_grasp-edge_curled_thumb-down_5x_left_k4a/cam-7.k4a_calibration.json
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{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.501431941986084, 0.48781099915504456, 0.492413729429245, 0.49247944355010986, 3.4637808799743652, 2.3702194690704346, 0.126996710896492, 3.795011281967163, 3.5027015209198, 0.6589909791946411, 0, 0, 9.219846106134355e-06, -9.291007881984115e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.49838191270828247, 0.5069911479949951, 0.4784587323665619, 0.6378138661384583, 0.3049771189689636, -2.6113805770874023, 1.6085880994796753, 0.18434184789657593, -2.4188356399536133, 1.5230790376663208, 0, 0, -0.0003869187203235924, 0.0007276079268194735], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.999997079372406, 0.00231535523198545, -0.0006937969592399895, -0.002234756015241146, 0.995026707649231, 0.0995834618806839, 0.0009209175477735698, -0.09958162158727646, 0.9950289726257324], "Translation": [-0.03207229822874069, -0.001963492017239332, 0.004077647812664509]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.01740824617445469, 0, 0, 0, 0.043946027755737305, 0, 0, 0, 0.00867806188762188, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9969159960746765, 0, 0, 0, 0.000825574854388833, 0, 0, 0, -0.0004606670408975333, 0, 0, 0, 0.0008092857897281647, 0, 0, 0, 1.016983985900879, 0, 0, 0, -0.0015572311822324991, 0, 0, 0, -0.0004596069920808077, 0, 0, 0, -0.0015849192859604955, 0, 0, 0, 0.99921715259552, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [-0.0053807408548891544, 0.11956597864627838, -0.9928116798400879, -0.9999666213989258, -0.006748436018824577, 0.0046067931689321995, -0.00614911038428545, 0.9928033351898193, 0.11959829926490784], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.03634847700595856, 0, 0, 0, -0.02928505837917328, 0, 0, 0, -0.13058127462863922, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9943789839744568, 0, 0, 0, -0.0007046743994578719, 0, 0, 0, -0.0034167401026934385, 0, 0, 0, -0.0007024570950306952, 0, 0, 0, 0.997506320476532, 0, 0, 0, 0.0005271483678370714, 0, 0, 0, -0.0034065989311784506, 0, 0, 0, 0.0005272427806630731, 0, 0, 0, 0.9973389506340027, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.0024490703362971544, 0.11793056130409241, -0.9930188059806824, -0.9999830722808838, -0.005528145004063845, 0.0018097255378961563, -0.005276130046695471, 0.9930064678192139, 0.11794210225343704], "Translation": [-0.05112206190824509, 0.0034598896745592356, 0.00182235985994339]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000434300312", "FactoryCalDate": "1/17/2020 5:17:55 AM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
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configs/p_001/p_001_grasp-edge_curled_thumb-down_5x_left_k4a/cam-d.k4a_calibration.json
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| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5047338008880615, 0.49285370111465454, 0.4932085871696472, 0.49336764216423035, 0.916300356388092, 0.4960465431213379, 0.02894374169409275, 1.2540546655654907, 0.7451309561729431, 0.14445416629314423, 0, 0, 0.0001048803751473315, -3.213157469872385e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5008931159973145, 0.5065211653709412, 0.4799750745296478, 0.6401299834251404, 0.2669992744922638, -2.5442428588867188, 1.5562381744384766, 0.1468191295862198, -2.3516733646392822, 1.4714510440826416, 0, 0, -0.00016664333816152066, -0.00015272035670932382], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999952912330627, 0.002396829891949892, -0.0019247822929173708, -0.0021888604387640953, 0.9948223233222961, 0.1016061007976532, 0.0021583489142358303, -0.10160140693187714, 0.9948228597640991], "Translation": [-0.03204681724309921, -0.0020179927814751863, 0.0039457520470023155]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.0016760053113102913, 0, 0, 0, 0.039734695106744766, 0, 0, 0, 0.009237464517354965, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [1.0026402473449707, 0, 0, 0, -0.001462793443351984, 0, 0, 0, -0.00792436208575964, 0, 0, 0, -0.001475605764426291, 0, 0, 0, 0.9938718676567078, 0, 0, 0, -0.0009193980367854238, 0, 0, 0, -0.008014608174562454, 0, 0, 0, -0.0009217947372235358, 0, 0, 0, 0.9913489818572998, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [-0.005548615008592606, 0.11005167663097382, -0.9939103722572327, -0.9999809861183167, -0.003282322082668543, 0.0052190665155649185, -0.0026879669167101383, 0.9939204454421997, 0.11006779223680496], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.1857536882162094, 0, 0, 0, 0.08603720366954803, 0, 0, 0, -0.17794013023376465, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.995598554611206, 0, 0, 0, -0.0009547336958348751, 0, 0, 0, 0.0007287039770744741, 0, 0, 0, -0.0009675999754108489, 0, 0, 0, 0.9823611378669739, 0, 0, 0, 0.0013091510627418756, 0, 0, 0, 0.0007258445839397609, 0, 0, 0, 0.0012866744073107839, 0, 0, 0, 0.9995213747024536, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [-0.002978472737595439, 0.1075180247426033, -0.9941986799240112, -0.9999867081642151, -0.004508141428232193, 0.0025082777719944715, -0.004212303087115288, 0.994192898273468, 0.10753002017736435], "Translation": [-0.05103876814246178, 0.00360187329351902, 0.0012109954841434956]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000235402712", "FactoryCalDate": "6/25/2020 8:49:41 AM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
|
configs/p_001/p_001_grasp-edge_curled_thumb-down_5x_right.json
ADDED
|
@@ -0,0 +1,558 @@
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|
| 1 |
+
{
|
| 2 |
+
"camera_calibrations": {
|
| 3 |
+
"0": {
|
| 4 |
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"DepthToColor": [
|
| 5 |
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[
|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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-0.0335589
|
| 10 |
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],
|
| 11 |
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[
|
| 12 |
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-0.00105482,
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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],
|
| 17 |
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[
|
| 18 |
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-0.000965488,
|
| 19 |
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-0.100391,
|
| 20 |
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0.994948,
|
| 21 |
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|
| 22 |
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],
|
| 23 |
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[
|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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]
|
| 29 |
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],
|
| 30 |
+
"ImageSizeX": 1920,
|
| 31 |
+
"ImageSizeY": 1080,
|
| 32 |
+
"SerialNo": "000235402712",
|
| 33 |
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"cx": 961.2147827148438,
|
| 34 |
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"cy": 548.8905029296875,
|
| 35 |
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"fx": 921.5521240234375,
|
| 36 |
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"fy": 921.7871704101562,
|
| 37 |
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"k1": 0.2669992744922638,
|
| 38 |
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"k2": -2.5442428588867188,
|
| 39 |
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"k3": 1.5562381744384766,
|
| 40 |
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"k4": 0.1468191295862198,
|
| 41 |
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"k5": -2.3516733646392822,
|
| 42 |
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"k6": 1.4714510440826416,
|
| 43 |
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"p1": -0.00015272035670932382,
|
| 44 |
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"p2": -0.00016664333816152066,
|
| 45 |
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"p3": 0.0,
|
| 46 |
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"p4": 0.0
|
| 47 |
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},
|
| 48 |
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"1": {
|
| 49 |
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"DepthToColor": [
|
| 50 |
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[
|
| 51 |
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1.0,
|
| 52 |
+
7.8181e-05,
|
| 53 |
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0.000666065,
|
| 54 |
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-0.0321161
|
| 55 |
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],
|
| 56 |
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[
|
| 57 |
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-0.000145653,
|
| 58 |
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0.994794,
|
| 59 |
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0.101911,
|
| 60 |
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|
| 61 |
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],
|
| 62 |
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[
|
| 63 |
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-0.000654629,
|
| 64 |
+
-0.101911,
|
| 65 |
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|
| 503 |
+
"ModelViewMatrix": [
|
| 504 |
+
[
|
| 505 |
+
-0.995316,
|
| 506 |
+
0.0863496,
|
| 507 |
+
0.0434748,
|
| 508 |
+
-0.135768
|
| 509 |
+
],
|
| 510 |
+
[
|
| 511 |
+
0.00657291,
|
| 512 |
+
-0.388206,
|
| 513 |
+
0.921549,
|
| 514 |
+
17.718700000000002
|
| 515 |
+
],
|
| 516 |
+
[
|
| 517 |
+
0.0964523,
|
| 518 |
+
0.917518,
|
| 519 |
+
0.38582,
|
| 520 |
+
363.223
|
| 521 |
+
],
|
| 522 |
+
[
|
| 523 |
+
0.0,
|
| 524 |
+
0.0,
|
| 525 |
+
0.0,
|
| 526 |
+
1.0
|
| 527 |
+
]
|
| 528 |
+
],
|
| 529 |
+
"SerialNo": "000434300312",
|
| 530 |
+
"cx": 1273.2864990234375,
|
| 531 |
+
"cy": 739.634521484375,
|
| 532 |
+
"fx": 1837.281494140625,
|
| 533 |
+
"fy": 1836.9039306640625,
|
| 534 |
+
"k1": 0.3049771189689636,
|
| 535 |
+
"k2": -2.6113805770874023,
|
| 536 |
+
"k3": 1.6085880994796753,
|
| 537 |
+
"k4": 0.18434184789657593,
|
| 538 |
+
"k5": -2.4188356399536133,
|
| 539 |
+
"k6": 1.5230790376663208,
|
| 540 |
+
"p1": 0.0007276079268194735,
|
| 541 |
+
"p2": -0.0003869187203235924,
|
| 542 |
+
"p3": 0.0,
|
| 543 |
+
"p4": 0.0
|
| 544 |
+
}
|
| 545 |
+
},
|
| 546 |
+
"num_cameras": 8,
|
| 547 |
+
"participant": {
|
| 548 |
+
"id": "001",
|
| 549 |
+
"age": "28",
|
| 550 |
+
"height": "188",
|
| 551 |
+
"weight": "70",
|
| 552 |
+
"exposure": "10",
|
| 553 |
+
"light_tubes": "2",
|
| 554 |
+
"gender": "m",
|
| 555 |
+
"hand_side": "right",
|
| 556 |
+
"sequence_name": "grasp-edge_curled_thumb-down_5x_right"
|
| 557 |
+
}
|
| 558 |
+
}
|
configs/p_001/p_001_grasp-edge_curled_thumb-down_5x_right_k4a/cam-1.k4a_calibration.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"CalibrationInformation": {"Cameras": [{"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.5027486085891724, 0.5015245676040649, 0.4912012815475464, 0.49126216769218445, 5.000342845916748, 3.5339455604553223, 0.18954341113567352, 5.326869010925293, 5.201754093170166, 0.9838049411773682, 0, 0, 6.154234142741188e-05, -6.795406807214022e-05], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationD0", "Purpose": "CALIBRATION_CameraPurposeDepth", "MetricRadius": 1.739999771118164, "Rt": {"Rotation": [1, 0, 0, 0, 1, 0, 0, 0, 1], "Translation": [0, 0, 0]}, "SensorHeight": 1024, "SensorWidth": 1024, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}, {"Intrinsics": {"ModelParameterCount": 14, "ModelParameters": [0.49905863404273987, 0.5082863569259644, 0.47463715076446533, 0.6325480937957764, 0.7326370477676392, -2.72086763381958, 1.4870834350585938, 0.6140478253364563, -2.567448139190674, 1.4290717840194702, 0, 0, -0.0004336950369179249, 0.0009995442815124989], "ModelType": "CALIBRATION_LensDistortionModelBrownConrady"}, "Location": "CALIBRATION_CameraLocationPV0", "Purpose": "CALIBRATION_CameraPurposePhotoVideo", "MetricRadius": 0, "Rt": {"Rotation": [0.9999976754188538, 2.55601435128483e-06, 0.0021641161292791367, -0.000223385461140424, 0.9947795271873474, 0.10204733163118362, -0.002152557484805584, -0.10204757750034332, 0.9947772026062012], "Translation": [-0.03202905133366585, -0.0019228613236919045, 0.004025778267532587]}, "SensorHeight": 3072, "SensorWidth": 4096, "Shutter": "CALIBRATION_ShutterTypeUndefined", "ThermalAdjustmentParams": {"Params": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]}}], "InertialSensors": [{"BiasTemperatureModel": [-0.007132411003112793, 0, 0, 0, 0.020348532125353813, 0, 0, 0, 0.004264947026968002, 0, 0, 0], "BiasUncertainty": [9.999999747378752e-05, 9.999999747378752e-05, 9.999999747378752e-05], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [1.0102620124816895, 0, 0, 0, 0.006478835828602314, 0, 0, 0, 0.0014253131812438369, 0, 0, 0, 0.006554477382451296, 0, 0, 0, 0.9986021518707275, 0, 0, 0, -0.001029757666401565, 0, 0, 0, 0.0014374135062098503, 0, 0, 0, -0.0010265150340273976, 0, 0, 0, 1.0017164945602417, 0, 0, 0], "ModelTypeMask": 16, "Noise": [0.0009500000160187483, 0.0009500000160187483, 0.0009500000160187483, 0, 0, 0], "Rt": {"Rotation": [-0.0024115650448948145, 0.11078017204999924, -0.9938420057296753, -0.9999914169311523, -0.0036204673815518618, 0.0020229255314916372, -0.0033740727230906487, 0.993838369846344, 0.11078795045614243], "Translation": [0, 0, 0]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Gyro", "TemperatureBounds": [5, 60], "TemperatureC": 0}, {"BiasTemperatureModel": [0.04600289463996887, 0, 0, 0, -0.0028773199301213026, 0, 0, 0, -0.12138088047504425, 0, 0, 0], "BiasUncertainty": [0.009999999776482582, 0.009999999776482582, 0.009999999776482582], "Id": "CALIBRATION_InertialSensorId_LSM6DSM", "MixingMatrixTemperatureModel": [0.9897992610931396, 0, 0, 0, -0.0004411204718053341, 0, 0, 0, -0.00045816777856089175, 0, 0, 0, -0.00043888582149520516, 0, 0, 0, 0.9948402047157288, 0, 0, 0, 0.0011742449132725596, 0, 0, 0, -0.00045692245475947857, 0, 0, 0, 0.0011770158307626843, 0, 0, 0, 0.9924981594085693, 0, 0, 0], "ModelTypeMask": 56, "Noise": [0.010700000450015068, 0.010700000450015068, 0.010700000450015068, 0, 0, 0], "Rt": {"Rotation": [0.001254075556062162, 0.10841873288154602, -0.9941045045852661, -0.9999935626983643, -0.0031998788472265005, -0.001610488980077207, -0.003355621127411723, 0.9941001534461975, 0.10841402411460876], "Translation": [-0.05109700933098793, 0.0034552812576293945, 0.0017027963185682893]}, "SecondOrderScaling": [0, 0, 0, 0, 0, 0, 0, 0, 0], "SensorType": "CALIBRATION_InertialSensorType_Accelerometer", "TemperatureBounds": [5, 60], "TemperatureC": 0}], "Metadata": {"SerialId": "000377404412", "FactoryCalDate": "10/24/2020 1:20:50 PM GMT", "Version": {"Major": 1, "Minor": 2}, "DeviceName": "AzureKinect-PV", "Notes": "PV0_max_radius_invalid"}}}
|