diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..4254a5e63a3db4358e38832fc030a1eb2432e443 --- /dev/null +++ b/.gitattributes @@ -0,0 +1,61 @@ +*.7z filter=lfs diff=lfs merge=lfs -text +*.arrow filter=lfs diff=lfs merge=lfs -text +*.avro filter=lfs diff=lfs merge=lfs -text +*.bin filter=lfs diff=lfs merge=lfs -text +*.bz2 filter=lfs diff=lfs merge=lfs -text +*.ckpt filter=lfs diff=lfs merge=lfs -text +*.ftz filter=lfs diff=lfs merge=lfs -text +*.gz filter=lfs diff=lfs merge=lfs -text +*.h5 filter=lfs diff=lfs merge=lfs -text +*.joblib filter=lfs diff=lfs merge=lfs -text +*.lfs.* filter=lfs diff=lfs merge=lfs -text +*.lz4 filter=lfs diff=lfs merge=lfs -text +*.mds filter=lfs diff=lfs merge=lfs -text +*.mlmodel filter=lfs diff=lfs merge=lfs -text +*.model filter=lfs diff=lfs merge=lfs -text +*.msgpack filter=lfs diff=lfs merge=lfs -text +*.npy filter=lfs diff=lfs merge=lfs -text +*.npz filter=lfs diff=lfs merge=lfs -text +*.onnx filter=lfs diff=lfs merge=lfs -text +*.ot filter=lfs diff=lfs merge=lfs -text +*.parquet filter=lfs diff=lfs merge=lfs -text +*.pb filter=lfs diff=lfs merge=lfs -text +*.pickle filter=lfs diff=lfs merge=lfs -text +*.pkl filter=lfs diff=lfs merge=lfs -text +*.pt filter=lfs diff=lfs merge=lfs -text +*.pth filter=lfs diff=lfs merge=lfs -text +*.rar filter=lfs diff=lfs merge=lfs -text +*.safetensors filter=lfs diff=lfs merge=lfs -text +saved_model/**/* filter=lfs diff=lfs merge=lfs -text +*.tar.* filter=lfs diff=lfs merge=lfs -text +*.tar filter=lfs diff=lfs merge=lfs -text +*.tflite filter=lfs diff=lfs merge=lfs -text +*.tgz filter=lfs diff=lfs merge=lfs -text +*.wasm filter=lfs diff=lfs merge=lfs -text +*.xz filter=lfs diff=lfs merge=lfs -text +*.zip filter=lfs diff=lfs merge=lfs -text +*.zst filter=lfs diff=lfs merge=lfs -text +*tfevents* filter=lfs diff=lfs merge=lfs -text +# Audio files - uncompressed +*.pcm filter=lfs diff=lfs merge=lfs -text +*.sam filter=lfs diff=lfs merge=lfs -text +*.raw filter=lfs diff=lfs merge=lfs -text +# Audio files - compressed +*.aac filter=lfs diff=lfs merge=lfs -text +*.flac filter=lfs diff=lfs merge=lfs -text +*.mp3 filter=lfs diff=lfs merge=lfs -text +*.ogg filter=lfs diff=lfs merge=lfs -text +*.wav filter=lfs diff=lfs merge=lfs -text +# Image files - uncompressed +*.bmp filter=lfs diff=lfs merge=lfs -text +*.gif filter=lfs diff=lfs merge=lfs -text +*.png filter=lfs diff=lfs merge=lfs -text +*.tiff filter=lfs diff=lfs merge=lfs -text +# Image files - compressed +*.jpg filter=lfs diff=lfs merge=lfs -text +*.jpeg filter=lfs diff=lfs merge=lfs -text +*.webp filter=lfs diff=lfs merge=lfs -text +# Video files - compressed +*.mkv filter=lfs diff=lfs merge=lfs -text +*.mp4 filter=lfs diff=lfs merge=lfs -text +*.webm filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..c35617c762d591445a5ea7380aa95d31567f544b --- /dev/null +++ b/README.md @@ -0,0 +1,724 @@ +--- +license: cc-by-nc-4.0 +language: + - en +pretty_name: "SurgSync — Multi-modal dVRK Dataset (v1.0)" +size_categories: + - 100K **Project page:** **https://surgsync.github.io/** +> **Toolkit (reader / packer / unpacker, processing pipelines, full +> docs, code examples):** **https://github.com/jackzhy96/dvrk_multimodal_data_collection** + +This dataset card is intentionally a **summary only**. For schema +specifications, the loader API, packing / unpacking workflow, the +preprocessing pipelines (rectify, depth, optical flow, kinematic +heatmaps), and every command-line invocation, see the toolkit +repository linked above. + +--- + +## Dataset summary + +**SurgSync** is a multi-modal recording of the **da Vinci Research +Kit (dVRK) Patient Side Manipulator** performing six dry-lab and +ex-vivo surgical tasks. Each episode bundles synchronized stereo + side +video, per-arm kinematics (ECM, PSM1, PSM2), frame-level contact / +phase / step / gesture annotation, and full camera + hand-eye +calibration. The release is packed in the **SurgSync** archive +format — bit-exact FFV1 video plus columnar Parquet — and is fully +invertible back to its original raw layout via `surgsync unpack`. + +| | | +|---|---| +| **Episodes** | **205** | +| **Total frames** | **168,132** | +| **Total duration** | **≈ 6 h 37 m** of synchronized recordings (10 Hz master clock) | +| **Tasks** | **6** task partitions (see below) | +| **Recorder variants** | 109 online (real-time PSM Cartesian setpoints) + 96 offline (no Cartesian setpoint) | +| **Operator skill** | 74 Expert · 94 Intermediate · 37 Novice | +| **Case types** | 181 Ex-vivo · 20 Table-Top Phantom · 4 Clinical | +| **Raw image resolution** | 1920 × 1080 (stereo + side) | +| **Release size** | ≈ 670 GB on disk (3,912 SHA-256-tracked files) | +| **Format** | SurgSync release option **B** (raw FFV1 + per-modality parquets + calibration) | +| **schema / data version** | `1.0.0` / `1.0` | +| **License** | CC-BY-NC-4.0 | + +> ⚠ **v1.0 ships raw modalities only — derived modalities are +> user-generated.** Rectified H.264 video, FoundationStereo **depth**, +> RAFT **optical flow**, kinematic-projection **heatmaps**, and +> hand-eye-projected `measured_cp_calibrated` / `setpoint_cp_calibrated` +> columns are **not bundled in this release**, but the toolkit ships +> every preprocessing stage that produces them — run +> `scripts/run_all_stages.py` against the unpacked raw clips and you +> can generate the full option-C layout locally with whatever GPU / +> pipeline version you prefer. The raw FFV1 + parquets that v1.0 ships +> are the source of truth; the derived streams are deterministic +> functions of (raw inputs × pipeline version). See +> [§ This release vs. the dataset described on surgsync.github.io](#this-release-vs-the-dataset-described-on-surgsyncgithubio) +> for what shipping derived modalities would add, and +> [§ Limitations](#known-limitations--data-quality-notes) for the +> per-modality details. + +--- + +## Supported downstream tasks + +Beyond the workflow-recognition tasks the dataset was primarily +collected for (phase / step / gesture / contact annotation), +SurgSync's combination of synchronized stereo video, full PSM +kinematics, and hand-eye-calibrated arm-to-camera transforms also +enables several **instrument-centric vision tasks**. The table below +lists the level of ground-truth supervision each task gets from the +release as it stands, distinguishing what works directly off the v1.0 +bytes vs. what additional convenience comes from running the +toolkit's preprocessing pipeline yourself (see +[§ Limitations 2](#2-derived--preprocessed-streams-are-not-bundled-in-v10-but-the-toolkit-generates-them) +for the workflow). + +| Task | Ground-truth source | Out of the box (v1.0) | After local preprocessing | +|---|---|:--:|:--:| +| **Instrument 6-DoF pose estimation** | PSM `measured_cp` (per-arm Cartesian pose at the tool tip) combined with hand-eye calibration files (`PSM{1,2}-registration-{dVRK,open-cv}.json`) projects the tool tip into the stereo-left / stereo-right camera frame. Both PSMs annotated per-frame. | ✅ (compute it yourself by composing `PSM*.parquet:measured_cp.*` with the hand-eye JSON; see toolkit's hand-eye-mapping pipeline) | ✅ (`PSM*.parquet:measured_cp_calibrated.*` columns populated by `gen_kinematic_heatmap_handeye.py` — drop-in, no client-side composition) | +| **Instrument tracking** | Same pipeline as 6-DoF pose — projected tool-tip pose gives a per-frame 2D image-plane location for each PSM in both stereo views. Frame-level contact annotation (`annotation.parquet:contact.PSM{1,2}`) marks when each tool is interacting with tissue, useful for filtering / evaluating contact-aware trackers. | ✅ (same client-side composition as above) | ✅ (`preprocess/heatmap_PSM{1,2}_{left,right}.mkv` Gaussian heatmaps centered on the projected tool tip — drop-in supervision for tracker training) | +| **Instrument segmentation** | **No pixel-level masks ship in either form.** Running the toolkit's preprocessing locally adds the kinematic-projection heatmaps, which provide a localized prior (where the tool tip is) usable as a weak label for SAM-style mask propagation or as a self-supervised cue. Users who need pixel-precise masks should run an off-the-shelf model (SAM2, FoundationModelStereo segmentation heads) or hand-annotate a subset. | ⚠ Possible only via external models / hand annotation | ⚠ Heatmaps available as weak supervision; pixel-precise masks still external | +| **Surgical phase / step / gesture recognition** | Per-frame verbalized labels in `annotation.parquet` (`phase`, `step`, `gesture.PSM{1,2}`) on every episode. | ✅ | — (no change; already in v1.0) | +| **Action recognition / imitation learning** | Per-frame PSM joint and Cartesian state + setpoints (`PSM{1,2}.parquet:measured_js`, `setpoint_js`, `setpoint_cp` on online episodes) paired with stereo + side video gives a state ↔ action ↔ observation tuple at the 10 Hz master clock. | ✅ (online_data partition for setpoint_cp; both partitions for measured states + setpoint_js) | — (no change; already in v1.0) | +| **Stereo depth estimation** | Bit-exact stereo pairs (`video_raw/stereo_{left,right}.mkv`) + stereo calibration (`calibration/stereo_calib_params.json`). | ✅ for *running* a stereo model on the pairs | ✅ Pre-computed FoundationStereo `preprocess/depth.mkv` ground-truth-like reference becomes available | +| **Optical flow** | Bit-exact monocular streams in `video_raw/`. | ✅ for *running* a flow model | ✅ Pre-computed RAFT `preprocess/flow_{left,right}.mkv` shipped | +| **Contact / interaction detection** | Frame-level binary `annotation.parquet:contact.PSM{1,2}` on every episode (205/205 coverage). | ✅ | — (no change) | + +### Notes specific to the instrument-vision tasks + +- **Cameras and arms.** PSM1 and PSM2 are the two operative arms. + ECM is the endoscope arm — its kinematics give the camera's pose + in world frame, which is used by the hand-eye solver but isn't a + per-frame target itself. The stereo-left camera is the **master + clock reference**; stereo-right and side share the same master + timeline via per-modality `delta_to_master._ns` offsets on + `timestamp.parquet`. +- **Hand-eye calibration accuracy.** Two registration formats ship + per arm: `-registration-dVRK.json` (from the dVRK's own + calibration routine) and `-registration-open-cv.json` (from + an OpenCV-based solver). They are not byte-equivalent — pick the + one matching your downstream toolkit. See the hand-eye-mapping + module in the toolkit repo for the recommended composition order. +- **Per-task vision-task coverage.** Suturing (92 episodes, 90,068 + frames) and dissection (70 combined episodes, 64,890 frames) + dominate the release — pose / tracking models will see the most + varied tissue interactions there. `peg_transfer` (18 episodes, + table-top phantom) is closer to a controlled benchmark. +- **Two operative arms is the norm, not the exception.** Every + episode in v1.0 carries both PSM1 and PSM2; bimanual handoffs are + routinely present in `peg_transfer` and `tissue_manipulation`. + Single-arm subsets are not provided — filter by PSM activity + yourself if needed. + +--- + +## This release vs. the dataset described on surgsync.github.io + +The figures on the project page describe the **target / proposed** +dataset. This v1.0 release is a **subset**: nine episodes short and +without the derived modalities. The breakdown: + +### Episode count: 205 (this release) vs. 214 (proposed on surgsync.github.io) + +| Task group (project-page labels) | Proposed on surgsync.github.io | In this v1.0 release | Δ | How this release maps to the proposed groups | +|---|---:|---:|---:|---| +| Suturing & Knot Tying | 104 | 92 | **−12** | `single_interrupted_stitch` | +| Peg Transfer | 18 | 18 | 0 | `peg_transfer` | +| Tissue Manipulation | 21 | 25 | **+4** | `tissue_manipulation` (this release carries 4 extra clips beyond the project-page count) | +| Dissection | 71 | 70 | **−1** | `cold_cut_dissection` (61) + `cold_cut_dissection_intestine` (8) + `cold_cut_dissection_skin_peel` (1) | +| **Total** | **214** | **205** | **−9** | | + +### Recorder-variant split + +| | Proposed | This release | Δ | +|---|---:|---:|---:| +| Online-matching | 112 | 109 | **−3** | +| Offline-matching | 102 | 96 | **−6** | +| **Total** | **214** | **205** | **−9** | + +### Operator-skill split + +The project page reports Novice / Experienced / Professional; +this release uses Novice / Intermediate / Expert (same three buckets, +different labels): + +| | Proposed | This release | Δ | +|---|---:|---:|---:| +| Novice / Novice | 37 | 37 | 0 | +| Experienced / Intermediate | 95 | 94 | **−1** | +| Professional / Expert | 82 | 74 | **−8** | + +### Derived modalities planned by surgsync.github.io — **not bundled in v1.0, but reproducible locally** + +| Modality | Project page | v1.0 ships? | How to obtain | +|---|:--:|:--:|---| +| Stereo rectification (rectified H.264 video) | planned | ❌ | toolkit: `gen_rectify_resize.py` | +| Depth estimation (FoundationStereo) | planned | ❌ | toolkit: `gen_depth_estimate.py` (GPU + FoundationStereo weights) | +| Optical flow (RAFT) | planned | ❌ | toolkit: `gen_optical_flow_raft.py` (GPU) | +| Kinematic reprojection via Gaussian heatmap | planned | ❌ | toolkit: `gen_kinematic_heatmap_handeye.py` | +| Hand-eye-projected kinematics (`*_calibrated.*`) | planned | ❌ (columns exist in schema, NULL on every row) | side-effect of the kinematic-heatmap stage above | + +The source raw clips for v1.0 were not run through the preprocessing +pipeline upstream of packing, so the packer had nothing to encode for +those streams. Every episode's `episode_meta.json` reflects this: +`has_video_raw=true`, `has_preprocess=false`, `has_preview=false`, +`has_calibrated_kinematic=false`. + +**Users can generate these streams themselves.** The toolkit ships +every preprocessing stage as a Hydra-configured script under +`src/dvrk_data_processing/`. The end-to-end runner +`scripts/run_all_stages.py` chains rectify → kinematic heatmap → +depth → optical flow and emits a v1.1-equivalent `preprocess/` tree +next to the unpacked raw clips. Re-packing the augmented clips with +`surgsync build` then produces the option-C layout shown in +[§ Hypothetical layout *with* derived modalities](#hypothetical-layout-with-derived-modalities-v11-target). +Compute cost is GPU-bound (FoundationStereo dominates); end-to-end +processing of the full release takes ~1 day on a single high-end +consumer GPU. + +### Other diffs worth flagging + +- **Capture rate is by design, not a downsample artifact.** The + project page describes the native capture at **stereo 1080p @ 60 Hz** + and **side 1080p @ 30 Hz**. The packed release's per-frame master + clock is **10 Hz** — chosen as a deliberate **trade-off between + cross-modal time alignment and per-frame frequency**. At the native + rates, individual topics drift several ms apart between samples + (PSM kinematics at ~100 Hz, ECM at ~100 Hz, stereo-left header + stamps at 60 Hz, side at 30 Hz), and a strict nearest-neighbor join + would either reject many frames or accept high per-modality + deltas. At 10 Hz the worst-case master ↔ topic delta sits well + inside the alignment tolerance bands, so every shipped frame has + every modality populated within spec. If you need higher temporal + resolution for a downstream task, the native-rate samples are still + recoverable through `surgsync unpack` (which re-emits the raw + per-modality files at their original capture times). Native source + frequencies are preserved per-modality on + `PSM*.parquet:source_frequency_hz` and via the + `delta_to_master._ns` offsets on `timestamp.parquet`. +- **Subject demographics.** The project page references 13 human + subjects (3 female / 10 male) as operators. This release does **not** + ship per-episode operator identity — only the three-bucket skill + level — in line with anonymization for the public archive. + +--- + +## Tasks + +| Task partition (this release) | Episodes | Frames | +|---|---:|---:| +| `single_interrupted_stitch` | 92 | 90,068 | +| `cold_cut_dissection` | 61 | 55,595 | +| `tissue_manipulation` | 25 | 5,907 | +| `peg_transfer` | 18 | 7,267 | +| `cold_cut_dissection_intestine` | 8 | 7,176 | +| `cold_cut_dissection_skin_peel` | 1 | 2,119 | +| **Total** | **205** | **168,132** | + +Per-task vocabulary (phase / step / gesture id → English phrase) ships +in `meta/tasks.jsonl`. The packer **verbalizes** ids at pack time, so +the per-frame annotation parquet columns carry full text — see +[§ Limitations 1](#1-tasksjsonl-vocab-is-best-effort-not-a-closed-enumeration) +for caveats around strict id→text joins. + +--- + +## Modalities (what's in v1.0) + +- **Video** — `video_raw/{stereo_left, stereo_right, side}.mkv` + (FFV1, bit-exact, 1920 × 1080). Every episode has stereo; side is + present when a side camera was recorded. +- **Kinematics** — `ECM.parquet`, `PSM1.parquet`, `PSM2.parquet` with + measured / setpoint joint state, measured Cartesian pose / velocity, + and (PSM1/2 only, online episodes only) `setpoint_cp.*`. Jaw + position is carried for the PSMs. Units: m, rad, xyzw quaternions. +- **Annotations** — `annotation.parquet` with `contact.PSM{1,2}` + (int8 0/1), `gesture.PSM{1,2}` (verbalized text), `phase` + (verbalized text), `step` (verbalized text). +- **Calibration** — raw `left.yaml` / `right.yaml`, stereo extrinsics, + hand-eye `-registration-{dVRK,open-cv}.json` files, all copied + byte-exact from the source clip. +- **Release-level meta** — `meta/{dataset.json, tasks.jsonl, + episodes.parquet, episodes.jsonl, index.parquet, stats.parquet, + modalities.json, manifest.json}`. + +Full schema, column-by-column field descriptions, and the loader API +live in the toolkit repository. + +--- + +## Layout on disk + +### Packed release (this v1.0 — what HF actually ships) + +``` +/ +├── meta/ # release-level index + manifest +├── online_data/episodes///... # 109 episodes (with setpoint_cp) +├── offline_data/episodes///... # 96 episodes (no setpoint_cp) +├── README.md CHANGELOG.md # version-stamped docs +└── .logs/.jsonl # structured per-clip pack outcomes +``` + +Per episode: + +``` +/episodes/// +├── episode_meta.json modalities.json time_sync_stat.json +├── timestamp.parquet ECM.parquet PSM1.parquet PSM2.parquet annotation.parquet +├── video_raw/{stereo_left, stereo_right, side}.mkv # FFV1, bit-exact, 1920×1080 +├── calibration/ # camera intrinsics/extrinsics + hand-eye +└── .surgsync_complete.json +``` + +### After unpacking (`surgsync unpack --out `) + +The unpacker is **fully invertible**: every file in the original raw +clip layout is reconstructed from the packed parquets + MKVs. The +image bytes are **pixel** bit-exact (decoded ndarrays match +byte-for-byte); see [§ Limitations 10](#10-image-bytes--raw-image-bytes-after-unpack-pixel-bit-exact-not-byte) +for the PNG-encoder caveat. Per-episode layout produced by unpack: + +``` +/// +├── meta_data.json # operator skill, case type, tool inventory, ... +├── image/ +│ ├── left/.png # frame-aligned to master clock +│ ├── right/.png +│ └── side/.png # only when a side camera was recorded +├── kinematic/ +│ ├── ECM/.json # one file per frame, per arm +│ ├── PSM1/.json +│ └── PSM2/.json +├── annotation/ +│ ├── contact_detection/.json # {"PSM1": 0/1, "PSM2": 0/1} +│ ├── phase/.json # verbalized text (see note on id ↔ text mapping below) +│ ├── step/.json # verbalized text +│ └── gesture/.json # {"PSM1": "", "PSM2": ""} +├── time_syn/.json # per-frame per-topic master-clock deltas +├── camera_calibration/ +│ ├── left.yaml right.yaml stereo_calib_params.json +├── hand_eye_calibration/ +│ ├── PSM1-registration-dVRK.json PSM1-registration-open-cv.json +│ └── PSM2-registration-dVRK.json PSM2-registration-open-cv.json +└── .surgsync_unpacked.json # resume sentinel; presence means clip is done +``` + +Unpack is resume-friendly — re-running without `--force` skips clips +whose `.surgsync_unpacked.json` is present. The fidelity table for +every modality lives in `HOW_to_RUN_unpack.md` in the toolkit repo. + +**Note on `phase` / `step` / `gesture` formats.** The unpacked JSONs +carry **verbalized text** for these fields — the packer enriches at +pack time using `workflow_description.json`, and the unpacker writes +back whatever the parquet carries. Both numeric ids and verbalized +text are first-class — the **id ↔ text mapping ships with the release** +in `meta/tasks.jsonl` (per task) and `workflow_description.json` (the +master vocabulary), so consumers can convert in either direction +depending on what their downstream code prefers. Numeric ids are a +compact, convenient shorthand for annotation tools; verbalized text +is friendlier for LLM-style pipelines that consume natural-language +labels directly. + +```python +import json +tasks = {json.loads(line)["task"]: json.loads(line) + for line in open("meta/tasks.jsonl")} +# id → text (forward, what the packer uses): +step_id_to_text = tasks["single_interrupted_stitch"]["step_vocab"] +# text → id (inverse, for re-encoding): +step_text_to_id = {v: k for k, v in step_id_to_text.items()} +# Caveat: ~1.8% of step rows carry text outside the task's own +# step_vocab (see § Limitations 1) — use a global union lookup if +# you need strict round-tripping. +``` + +### Layout *with* derived modalities (after you run the preprocessing pipeline locally) + +The same per-episode tree gains a `video/`, `preprocess/`, and an +extra `calibration/rectify_params.json` once you run the toolkit's +preprocessing stages on the unpacked raw clips. **None of these +files are in the v1.0 release as shipped** (see +[§ Limitations 2](#2-no-rectified--depth--flow--heatmap--hand-eye-streams-in-v10)) — +they are produced locally by `scripts/run_all_stages.py` (or by +running each stage individually), then optionally re-packed via +`surgsync build` to emit an option-C release on your own disk. The +tree below shows what an episode looks like after that user-driven +processing pass, with `★ NEW` annotations on every file that the +preprocessing pipeline adds on top of v1.0: + +``` +/episodes/// +├── episode_meta.json modalities.json time_sync_stat.json +├── timestamp.parquet ECM.parquet PSM1.parquet PSM2.parquet annotation.parquet +│ # ⇧ PSM{1,2}.parquet gains non-NULL +│ # measured_cp_calibrated.* and +│ # setpoint_cp_calibrated.* columns +├── video_raw/{stereo_left, stereo_right, side}.mkv # unchanged from v1.0 +├── video/ # ★ NEW — rectified + resized H.264 +│ ├── stereo_left.mp4 # CRF 18, yuv420p, 512×288 +│ └── stereo_right.mp4 +├── preprocess/ # ★ NEW — derived per-frame streams +│ ├── depth.mkv # FoundationStereo colorized depth viz +│ ├── flow_left.mkv # RAFT optical flow (left), colorized +│ ├── flow_right.mkv # RAFT optical flow (right), colorized +│ ├── heatmap_PSM1_left.mkv # kinematic-projection Gaussian heatmap +│ ├── heatmap_PSM1_right.mkv # (one stream per PSM × camera side) +│ ├── heatmap_PSM2_left.mkv +│ └── heatmap_PSM2_right.mkv +├── calibration/ +│ ├── camera.json left.yaml right.yaml stereo_calib_params.json +│ ├── rectify_params.json # ★ NEW — P1/P2/Q at rectified resolution +│ └── hand_eye/PSM{1,2}-registration-{dVRK,open-cv}.json +└── .surgsync_complete.json +``` + +After a local preprocessing pass and a re-pack with `surgsync build`, +the release-level flags in each `episode_meta.json` flip from `false` +to `true` to reflect the new content: + +| Flag | v1.0 as shipped | After your local preprocessing + re-pack | +|---|:--:|:--:| +| `has_video_raw` | ✅ | ✅ | +| `has_preprocess` | ❌ | ✅ | +| `has_preview` | ❌ | ✅ | +| `has_calibrated_kinematic` | ❌ | ✅ | + +`meta/dataset.json:pipeline_versions.*` (`null` everywhere in v1.0) +will then carry the exact preprocessing-stage version that produced +each derived stream, so downstream users can pin against a specific +pipeline build for reproducibility. + +--- + +## Conventions + +| | | +|---|---| +| Master clock | `stereo_left_capture_ros_header_stamp` (per-clip, rebased to 0; absolute t0 in `episode_meta.json:master_t0_ns`) | +| Alignment policy | `nearest_neighbor_within_tolerance` | +| Alignment tolerance | online 2 ms; offline image_side 33 ms; offline kinematic `1000 / source_frequency_hz` | +| Frame index basis | master clock | +| Length / angle units | meters / radians | +| Quaternion order | xyzw (dVRK CRTK convention) | +| Master frame rate | 10 Hz (by design — a deliberate trade-off between cross-modal time alignment and per-frame frequency; see [§ Other diffs worth flagging](#other-diffs-worth-flagging)) | +| Raw image size | `[1920, 1080]` | +| Post-processing image size | `[512, 288]` (preprocessing-pipeline target — not present in v1.0) | + +--- + +## Known limitations + data-quality notes + +The data on disk is internally self-consistent (sums add up, SHAs +match), but several **vocabulary** and **convention** items need +up-front disclosure. + +### 1. `tasks.jsonl` vocab is best-effort, not a closed enumeration + +**41 of 205 episodes (~20%)** carry verbalized `phase` and/or `step` +text drawn from a different task's vocabulary than the episode's own +partition. Counts per task (from `meta/index.parquet`): + +| Task | Total frames | Orphan-phase rows | Cross-task step rows | Affected episodes | +|---|---:|---:|---:|---:| +| `single_interrupted_stitch` | 90,068 | **2,961** | **2,961** | 31 of 92 | +| `cold_cut_dissection` | 55,595 | 0 | 21 | 4 of 61 | +| `tissue_manipulation` | 5,907 | 1,868 | 0 | 6 of 25 | +| Others | 16,562 | 0 | 0 | 0 | +| **Total** | **168,132** | **4,829** | **2,982** | **41** | + +Root cause: `workflow_description.json` carries a shared +"exposure" phase (`phase_id=0`) that isn't routed to any task by +`_task_routing`, and the v1.0 packer's `verbalize_step(value)` is +task-agnostic. Consequence: + +- `meta/index.parquet` and per-episode `annotation.parquet` are the + **source of truth** for verbalized strings. +- `meta/tasks.jsonl` is **documentation, not a closed enumeration** — + strict `(task, step_id) → text` joins miss ~1.8% of step rows and + ~2.9% of phase rows. +- `meta/stats.parquet:phase.vocab_size = 7` but `tasks.jsonl` lists + only **6** phase strings — the gap is the orphan `phase_id=0`. + +**v1.1 plan:** engage the existing `verbalize_step(value, task)` +overload in the packer and surface `phase_id=0` explicitly. + +### 2. Derived / preprocessed streams are not bundled in v1.0 (but the toolkit generates them) + +v1.0 ships **only the raw modalities** — bit-exact stereo + side +FFV1, per-modality parquets, and calibration. The preprocessing-stage +outputs are absent on disk: + +- `video/stereo_left.mp4`, `video/stereo_right.mp4` (H.264 rectified) +- `preprocess/depth.mkv` +- `preprocess/flow_left.mkv`, `preprocess/flow_right.mkv` +- `preprocess/heatmap_PSM{1,2}_{left,right}.mkv` +- `calibration/rectify_params.json` +- `PSM{1,2}.parquet:measured_cp_calibrated.*` / + `setpoint_cp_calibrated.*` (columns exist in schema; NULL on every row) + +Per episode, `episode_meta.json` reflects this: `has_preprocess=false`, +`has_preview=false`, `has_calibrated_kinematic=false`, and +`meta/dataset.json:pipeline_versions.*` are all `null`. + +**This is intentional, not a data-quality failure.** The raw FFV1 + +parquets are the source of truth. Derived modalities are deterministic +functions of (raw inputs × pipeline version), and the toolkit ships +every stage that produces them: + +| Derived stream | Generator script (in the toolkit repo) | GPU? | +|---|---|:--:| +| Rectified H.264 video | `src/dvrk_data_processing/raw_image_processing/gen_rectify_resize.py` | no | +| Hand-eye-projected kinematics + heatmaps | `src/dvrk_data_processing/kinematic_mapping/gen_kinematic_heatmap_handeye.py` | no | +| Depth estimation | `src/dvrk_data_processing/depth_estimation/gen_depth_estimate.py` (FoundationStereo) | yes | +| Optical flow | `src/dvrk_data_processing/optical_flow/gen_optical_flow_raft.py` (RAFT) | yes | +| End-to-end runner | `scripts/run_all_stages.py` (chains all of the above) | yes | + +Workflow to obtain the full option-C layout on your own disk: + +1. `surgsync unpack --out ` — reconstruct the + raw clip tree from this v1.0 release. +2. `python scripts/run_all_stages.py path_config.data_dir=` — + generates `preprocess/` and rectified `video/` next to each clip. +3. `surgsync build --out ` — re-packs with + the derived streams included. + +Compute cost: FoundationStereo dominates. End-to-end processing of +the full v1.0 release runs ~1 day on a single high-end consumer GPU +(e.g. RTX 4090 / A6000). Skip the depth/flow stages and the runtime +drops to a few hours. + +### 3. ECM Cartesian setpoint is not shipped + +The packer's ECM schema carries `setpoint_js` only — no `setpoint_cp`. +The reader exposes the same; the unpacker cannot reproduce that block. +PSMs are unaffected. + +### 4. Gesture vocabulary is incomplete for 4 of 6 tasks + +`meta/tasks.jsonl` ships an empty `gesture_vocab: {}` for +`peg_transfer`, `tissue_manipulation`, `cold_cut_dissection_intestine`, +and `cold_cut_dissection_skin_peel`. **77 episodes have no decodable +gesture annotations** because their task's vocabulary has no entries. +`gesture.PSM{1,2}` columns are NULL on those episodes. +`meta/modalities.json:topics_present_in_n_episodes.annotation.gesture.PSM*` +reports the **128/205** coverage authoritatively; a further +**35 episodes** have *partial* gesture coverage. + +### 5. `single_interrupted_stitch.gesture_vocab["16"]` is a placeholder + +The suturing gesture vocab carries one entry whose text contains a +meta-comment: + +> `"Cut suture (We do NOT have this, but it should be defined) (Closing scissors or a cutting instrument to sever the suture tail at the target distance from the knot.)"` + +No frame in v1.0 uses gesture id `16` during suturing — harmless in +practice, but visible to anyone reading `tasks.jsonl`. + +### 6. Minor typos in `tasks.jsonl` + +- `cold_cut_dissection.phase_description` — `"surigal"` → `"surgical"`. +- `tissue_manipulation.step_vocab["45"]` — `"roposition"` → `"reposition"`. + +Cosmetic — text-as-data only. + +### 7. 8 suturing clips extend the gesture vocab with two ad-hoc codes (`'00'`, `'01'`) + +Eight `single_interrupted_stitch` clips carry the **literal strings** +`'00'` or `'01'` in `gesture.PSM{1,2}` instead of verbalized text. +These are not canonical gestures — the suturing `gesture_vocab` in +`meta/tasks.jsonl` only defines ids `1`–`18`. The two codes were used +ad-hoc by the annotators of these specific clips to mark motion-state +events, drawing their meanings from the **suturing step vocab**, where +the same texts already exist: + +- `"00"` ≈ `"bilateral pause (both hand not moving > 20 frames)"` +- `"01"` ≈ `"move camera"` + +**Affected clips and counts** (always paired across PSM1 and PSM2 — +identical literal on both arms on the same frame): + +| Partition | Clip | Frames in clip | `"00"` frames | `"01"` frames | +|---|---|---:|---:|---:| +| online_data | 0 | 314 | 0 | 31 | +| online_data | 1 | 157 | 0 | 35 | +| online_data | 11 | 452 | 0 | 28 | +| online_data | 35 | 1,129 | 36 | 0 | +| online_data | 38 | 1,181 | 28 | 0 | +| online_data | 42 | 712 | 66 | 0 | +| online_data | 43 | 1,041 | 70 | 0 | +| offline_data | 47 | 990 | 0 | 38 | +| **Total** | | **5,976** | **200** | **132** | + +That's **332 frames out of 168,132 (≈ 0.197 %)** across the entire +release, or **0.369 %** within the suturing partition (90,068 frames). +Each affected clip uses **either** `"00"` **or** `"01"`, never both — +i.e. an annotator chose one motion-state code consistently for the +clip and used it alongside the canonical 18-gesture vocab on the +remaining frames. + +**Why this is contained, not systematic.** An empirical scan of all +92 suturing clips shows: + +- Only **8 / 92 clips** carry `"00"` or `"01"`. +- **Zero** clips have the other suturing step ids (`"11"`–`"15"`) + leaking into the gesture column — which rules out a copy-paste-step- + into-gesture-field bug. Only the two motion-state codes leak. +- All 8 affected clips also carry the **canonical verbalized gestures** + on the majority of frames, so the literals coexist with valid data. + +**Recommended consumer recipe.** Either filter the rows, or post-map +the two literals at load time: + +```python +GESTURE_AD_HOC = { + "00": "bilateral pause (both hand not moving > 20 frames)", + "01": "move camera", +} +g = df["gesture.PSM1"].map(lambda v: GESTURE_AD_HOC.get(v, v)) +``` + +**Status.** Deferred to v1.1: promote `"00"` / `"01"` into the canonical +suturing `gesture_vocab` (and decide whether they are suturing-only or +task-agnostic motion-state codes), so the packer's verbalizer can +resolve them at pack time rather than relying on a downstream patch. +The v1.0 data on disk is otherwise correct. + +### 8. `duration_s` is `float32` + +`episodes.parquet:duration_s` is the real first-to-last +`master_timestamp_ns` delta in seconds, stored as `float32`. Values +exhibit sub-millisecond noise (e.g. `162.599999904`, `112.699997`, +`90.000000`) — not an off-by-one error. For exact frame timing use +`index.parquet:master_timestamp_ns` (int64 ns). Don't compute +`int(duration_s * 10) == length_frames`. + +### 9. CUDA non-determinism in preprocessing-derived streams (future) + +When preprocessing IS run (not in v1.0), depth and optical-flow +outputs depend on GPU/driver. Two builds against the same raw clip +pixel-match within encoder tolerance but are not byte-exact across +machines. Irrelevant to v1.0; relevant to any v1.1+ re-pack that +includes the derived modalities. + +### 10. Image bytes ≠ raw image bytes after unpack (pixel bit-exact, not byte) + +The pack→unpack round-trip is **pixel** bit-exact (decoded ndarrays +match byte-for-byte). PNG file bytes differ because cv2's encoder +picks different compression filters than whatever produced the +original. The toolkit ships `scripts/verify_unpack_vs_raw.py` (pixel +comparison) for round-trip checks. + +### 11. `meta/manifest.json` excludes a small known set + +The SHA-256 manifest covers 3,912 of the 4,123 files on disk. The 211 +untracked files are intentional: 205 × `.surgsync_complete.json` +per-episode sentinels, the manifest itself, `README.md` / +`CHANGELOG.md` (stamped *after* the manifest), and 1 × `.logs/*.jsonl` +operational log. + +### 12. `stats.parquet` uses reservoir-sampled percentiles + +`meta/stats.parquet:q01` and `:q99` come from a 10,000-sample reservoir +per column. Expect ±0.5% error — fine for ImageNet-style normalization +presets, **not** for tight outlier detection. Re-running +`build_stats()` produces slightly different `q01`/`q99` because of RNG. + +--- + +## Citation + +```bibtex +@inproceedings{zhou2026surgsync, + author = {Zhou, Haoying and Liu, Chang and Wu, Yimeng and Wu, Junlin + and Wu, Zijian and Lee, Yu Chung and Martuscelli, Sara + and Salcudean, Septimiu E. and Fischer, Gregory S. + and Kazanzides, Peter}, + title = {{SurgSync}: Time-Synchronized Multi-modal Data Collection + Framework and Dataset for Surgical Robotics}, + booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, + year = {2026}, +} +``` + +External backbones used by the (future) preprocessing pipeline — cite +separately if you rely on derived streams: + +```bibtex +@inproceedings{wen2025foundationstereo, + title = {FoundationStereo: Zero-Shot Stereo Matching}, + author = {Wen, Bowen and Trepte, Matthew and Aribido, Joseph and Kautz, Jan and Gallo, Orazio and Birchfield, Stan}, + booktitle = {CVPR}, + year = {2025} +} +@inproceedings{teed2020raft, + title = {{RAFT}: Recurrent All-Pairs Field Transforms for Optical Flow}, + author = {Teed, Zachary and Deng, Jia}, + booktitle = {ECCV}, + year = {2020} +} +``` + +--- + +## Maintainer / contact + +**Haoying (Jack) Zhou** — `hzhou62@jh.edu` / `hzhou6@wpi.edu` · +[github.com/jackzhy96](https://github.com/jackzhy96) · +project page **https://surgsync.github.io/**. + +For questions about the data format, the loader API, or this specific +release, open an issue on the +[toolkit repository](https://github.com/jackzhy96/dvrk_multimodal_data_collection). + +--- + +## License + +Released under **Creative Commons Attribution-NonCommercial 4.0 +International (CC-BY-NC-4.0)**. The dVRK recordings follow the same +licensing terms as the raw source data; contact the maintainer for +clarifications on specific clinical sub-partitions. + +The accompanying **SurgSync toolkit** (reader, packer, unpacker, +processing pipelines) is released under its own license — see +`LICENSE` in the +[toolkit repository](https://github.com/jackzhy96/dvrk_multimodal_data_collection). diff --git a/meta/dataset.json b/meta/dataset.json new file mode 100644 index 0000000000000000000000000000000000000000..81ced25e059664239283b693de89245755ba331f --- /dev/null +++ b/meta/dataset.json @@ -0,0 +1,81 @@ +{ + "name": "SurgSync", + "schema_version": "1.0.0", + "data_version": "1.0", + "release_option": "B", + "created_at_utc": "2026-05-24T02:36:14.099143+00:00", + "modalities": { + "video": [ + "stereo_left", + "stereo_right", + "side" + ], + "preprocess": [ + "depth", + "flow_left", + "flow_right", + "heatmap_PSM1_left", + "heatmap_PSM1_right", + "heatmap_PSM2_left", + "heatmap_PSM2_right" + ], + "state": [ + "ECM", + "PSM1", + "PSM2" + ], + "action": [ + "PSM1", + "PSM2" + ], + "annotation": [ + "contact", + "gesture", + "phase", + "step" + ] + }, + "conventions": { + "master_clock": "stereo_left_capture_ros_header_stamp", + "alignment_policy": "nearest_neighbor_within_tolerance", + "alignment_tol_ms": { + "online": 2.0, + "offline": { + "image_side": 33.0, + "kinematic": "1000/source_frequency_hz" + } + }, + "frame_index_basis": "master_clock", + "quaternion_order": "xyzw", + "length_unit": "m", + "angle_unit": "rad", + "image_size_raw": [ + 1920, + 1080 + ], + "image_size_postprocess": [ + 512, + 288 + ], + "bimanual_action_concat": false, + "image_normalization": "imagenet" + }, + "pipeline_versions": { + "rectify_resize": null, + "kinematic_handeye": null, + "depth_estimation": null, + "optical_flow_raft": null + }, + "tasks": [ + "cold_cut_dissection", + "cold_cut_dissection_intestine", + "cold_cut_dissection_skin_peel", + "peg_transfer", + "single_interrupted_stitch", + "tissue_manipulation" + ], + "tasks_jsonl_path": "meta/tasks.jsonl", + "episodes_index_path": "meta/episodes.parquet", + "frames_index_path": "meta/index.parquet", + "manifest_path": "meta/manifest.json" +} \ No newline at end of file diff --git a/meta/episodes.jsonl b/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cbccd1194ebde07751dc514831c0ffb60d8458c6 --- /dev/null +++ b/meta/episodes.jsonl @@ -0,0 +1,205 @@ +{"episode_id": "offline_data_0_1763665236598048449", "task": "single_interrupted_stitch", "length_frames": 1627, "duration_s": 162.599999904, "recorder_variant": "offline", "sync_policy": "nearest_interp", "source_clip": "data/offline_data/0/", "operator_skill_level": "Intermediate", "case_type": "Ex-vivo", "tool.PSM1": "Large_Needle_Driver", "tool.PSM2": "Large_Needle_Driver", "failure_episodes_json": "[]", "recovery_episodes_json": "[]", "image_size.width": 1920, "image_size.height": 1080, 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- 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/offline_data/episodes/cold_cut_dissection/16/calibration/right.yaml b/offline_data/episodes/cold_cut_dissection/16/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/offline_data/episodes/cold_cut_dissection/16/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 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0000000000000000000000000000000000000000..ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616 --- /dev/null +++ b/offline_data/episodes/cold_cut_dissection/21/calibration/hand_eye/PSM2-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM2", "measured_cp": [[0.8587456895779936, -0.3766174320771962, -0.34744085897717, 0.10036020698569735], [0.23231997148995967, 0.8905382830651395, -0.3911125122548462, 0.08321928354211638], [0.45670917603888733, 0.2551487335868466, 0.8522416630691718, -0.02822751940458962], [0.0, 0.0, 0.0, 1.0]]} diff --git a/offline_data/episodes/cold_cut_dissection/21/calibration/hand_eye/PSM2-registration-open-cv.json b/offline_data/episodes/cold_cut_dissection/21/calibration/hand_eye/PSM2-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..8d2c89f92c15fd667b22d632fc8f6348ef580727 --- /dev/null +++ b/offline_data/episodes/cold_cut_dissection/21/calibration/hand_eye/PSM2-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.8311478792176615, 0.3993865009163199, 0.38688968163780335, -0.10074966902760027], [0.5130078698729394, 0.8191826653072345, 0.25644236449651664, 0.04790655090218514], [-0.21451370194095182, 0.4116189788456718, -0.8857503530530675, -0.10969633485400077], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/offline_data/episodes/cold_cut_dissection/21/calibration/left.yaml b/offline_data/episodes/cold_cut_dissection/21/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/offline_data/episodes/cold_cut_dissection/21/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/offline_data/episodes/cold_cut_dissection/21/calibration/right.yaml b/offline_data/episodes/cold_cut_dissection/21/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/offline_data/episodes/cold_cut_dissection/21/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 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b/offline_data/episodes/cold_cut_dissection/21/calibration/stereo_calib_params.json @@ -0,0 +1,120 @@ +{ + "cameraMatrixL": [ + [ + 1175.9318104257968, + 0.0, + 953.4400649317635 + ], + [ + 0.0, + 1178.829539428327, + 531.6113782903312 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "distCoeffsL": [ + [ + -0.019781771124869636, + -0.03955841810275026, + -0.0017663372223640362, + -0.003287906819938256, + 0.0395035486931128 + ] + ], + "cameraMatrixR": [ + [ + 1178.6272335909316, + 0.0, + 936.1201431988873 + ], + [ + 0.0, + 1181.7451697852755, + 524.5390674149788 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "distCoeffsR": [ + [ + -0.01273349574944207, + -0.059868924661268766, + -0.004528006292720679, + -0.007905615610660825, + 0.07007120636163403 + ] + ], + "R": [ + [ + 0.9963893755659492, + 1.4686300819203289e-05, + 0.08490118988336033 + ], + [ + -0.001332758585425542, + 0.9998794732146515, + 0.015468122010892043 + ], + [ + -0.08489072984637848, + -0.01552542522134053, + 0.9962693035308504 + ] + ], + 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0000000000000000000000000000000000000000..ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616 --- /dev/null +++ b/offline_data/episodes/cold_cut_dissection/36/calibration/hand_eye/PSM2-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM2", "measured_cp": [[0.8587456895779936, -0.3766174320771962, -0.34744085897717, 0.10036020698569735], [0.23231997148995967, 0.8905382830651395, -0.3911125122548462, 0.08321928354211638], [0.45670917603888733, 0.2551487335868466, 0.8522416630691718, -0.02822751940458962], [0.0, 0.0, 0.0, 1.0]]} diff --git a/offline_data/episodes/cold_cut_dissection/36/calibration/hand_eye/PSM2-registration-open-cv.json b/offline_data/episodes/cold_cut_dissection/36/calibration/hand_eye/PSM2-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..8d2c89f92c15fd667b22d632fc8f6348ef580727 --- /dev/null +++ b/offline_data/episodes/cold_cut_dissection/36/calibration/hand_eye/PSM2-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.8311478792176615, 0.3993865009163199, 0.38688968163780335, -0.10074966902760027], [0.5130078698729394, 0.8191826653072345, 0.25644236449651664, 0.04790655090218514], [-0.21451370194095182, 0.4116189788456718, -0.8857503530530675, -0.10969633485400077], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/offline_data/episodes/cold_cut_dissection/36/calibration/left.yaml b/offline_data/episodes/cold_cut_dissection/36/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/offline_data/episodes/cold_cut_dissection/36/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/offline_data/episodes/cold_cut_dissection/36/calibration/right.yaml b/offline_data/episodes/cold_cut_dissection/36/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/offline_data/episodes/cold_cut_dissection/36/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1178.6272335909316 + - 0.0 + - 936.1201431988873 + - 0.0 + - 1181.7451697852755 + - 524.5390674149788 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.01273349574944207 + - -0.059868924661268766 + - -0.004528006292720679 + - -0.007905615610660825 + - 0.07007120636163403 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/offline_data/episodes/cold_cut_dissection/36/calibration/stereo_calib_params.json b/offline_data/episodes/cold_cut_dissection/36/calibration/stereo_calib_params.json new file mode 100644 index 0000000000000000000000000000000000000000..72c538daaec4b5663a3b4294089e4448119ab1fd --- /dev/null +++ b/offline_data/episodes/cold_cut_dissection/36/calibration/stereo_calib_params.json @@ -0,0 +1,120 @@ +{ + "cameraMatrixL": [ + [ + 1175.9318104257968, + 0.0, + 953.4400649317635 + ], + [ + 0.0, + 1178.829539428327, + 531.6113782903312 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "distCoeffsL": [ + [ + -0.019781771124869636, + -0.03955841810275026, + -0.0017663372223640362, + -0.003287906819938256, + 0.0395035486931128 + ] + ], + "cameraMatrixR": [ + [ + 1178.6272335909316, + 0.0, + 936.1201431988873 + ], + [ + 0.0, + 1181.7451697852755, + 524.5390674149788 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "distCoeffsR": [ + [ + -0.01273349574944207, + -0.059868924661268766, + -0.004528006292720679, + -0.007905615610660825, + 0.07007120636163403 + ] + ], + "R": [ + [ + 0.9963893755659492, + 1.4686300819203289e-05, + 0.08490118988336033 + ], + [ + -0.001332758585425542, + 0.9998794732146515, + 0.015468122010892043 + ], + [ + -0.08489072984637848, + -0.01552542522134053, + 0.9962693035308504 + ] + ], + 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--- /dev/null +++ b/offline_data/episodes/cold_cut_dissection/67/calibration/stereo_calib_params.json @@ -0,0 +1,120 @@ +{ + "cameraMatrixL": [ + [ + 1175.9318104257968, + 0.0, + 953.4400649317635 + ], + [ + 0.0, + 1178.829539428327, + 531.6113782903312 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "distCoeffsL": [ + [ + -0.019781771124869636, + -0.03955841810275026, + -0.0017663372223640362, + -0.003287906819938256, + 0.0395035486931128 + ] + ], + "cameraMatrixR": [ + [ + 1178.6272335909316, + 0.0, + 936.1201431988873 + ], + [ + 0.0, + 1181.7451697852755, + 524.5390674149788 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "distCoeffsR": [ + [ + -0.01273349574944207, + -0.059868924661268766, + -0.004528006292720679, + -0.007905615610660825, + 0.07007120636163403 + ] + ], + "R": [ + [ + 0.9963893755659492, + 1.4686300819203289e-05, + 0.08490118988336033 + ], + [ + -0.001332758585425542, + 0.9998794732146515, + 0.015468122010892043 + ], + [ + -0.08489072984637848, + -0.01552542522134053, + 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0000000000000000000000000000000000000000..6699a2a965569917510de0256275121f093b274c --- /dev/null +++ b/offline_data/episodes/cold_cut_dissection/81/calibration/hand_eye/PSM2-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM2", "measured_cp": [[0.7283344880773098, -0.4977953228385934, -0.4708807598927596, 0.10336786676896466], [0.29350070796675637, 0.8476004711576489, -0.44207553168699987, 0.08458510460405869], [0.619181885959348, 0.18377501966630672, 0.7634399349303603, -0.03625425250880279], [0.0, 0.0, 0.0, 1.0]]} diff --git a/offline_data/episodes/cold_cut_dissection/81/calibration/hand_eye/PSM2-registration-open-cv.json b/offline_data/episodes/cold_cut_dissection/81/calibration/hand_eye/PSM2-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..dc8cd6a15969fe988e50e40c77b456ccb525829b --- /dev/null +++ b/offline_data/episodes/cold_cut_dissection/81/calibration/hand_eye/PSM2-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7274943217838366, 0.4986223423109325, 0.47130433004655736, -0.10333956749625978], [0.6196611861620562, 0.7724056180180423, 0.1393182529979448, 0.04276470042548103], [-0.2945709186876882, 0.3934022381768118, -0.8708976133053562, -0.1053416909015108], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/offline_data/episodes/cold_cut_dissection/81/calibration/left.yaml b/offline_data/episodes/cold_cut_dissection/81/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/offline_data/episodes/cold_cut_dissection/81/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/offline_data/episodes/cold_cut_dissection/81/calibration/right.yaml b/offline_data/episodes/cold_cut_dissection/81/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/offline_data/episodes/cold_cut_dissection/81/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 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0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1178.6272335909316 + - 0.0 + - 936.1201431988873 + - 0.0 + - 1181.7451697852755 + - 524.5390674149788 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.01273349574944207 + - -0.059868924661268766 + - -0.004528006292720679 + - -0.007905615610660825 + - 0.07007120636163403 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/offline_data/episodes/cold_cut_dissection/9/calibration/stereo_calib_params.json b/offline_data/episodes/cold_cut_dissection/9/calibration/stereo_calib_params.json new file mode 100644 index 0000000000000000000000000000000000000000..72c538daaec4b5663a3b4294089e4448119ab1fd --- /dev/null +++ b/offline_data/episodes/cold_cut_dissection/9/calibration/stereo_calib_params.json @@ -0,0 +1,120 @@ 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a/offline_data/episodes/cold_cut_dissection_skin_peel/71/calibration/hand_eye/PSM1-registration-open-cv.json b/offline_data/episodes/cold_cut_dissection_skin_peel/71/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..72c8db363162bb0d18c56bf7f798e3e31715719d --- /dev/null +++ b/offline_data/episodes/cold_cut_dissection_skin_peel/71/calibration/hand_eye/PSM1-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.5872477235886231, -0.5992245181671211, -0.544123228659981, 0.1063402814913337], [-0.7441367399917113, 0.6641699448054805, 0.07168540026806774, 0.04958442591016526], [0.3184346453112294, 0.4469991736507648, -0.8359372676349854, -0.11298312034197831], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/offline_data/episodes/cold_cut_dissection_skin_peel/71/calibration/hand_eye/PSM2-registration-dVRK.json b/offline_data/episodes/cold_cut_dissection_skin_peel/71/calibration/hand_eye/PSM2-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..d985b6dafbde51ca12a1efc090ddc3de64ac47a6 --- /dev/null +++ b/offline_data/episodes/cold_cut_dissection_skin_peel/71/calibration/hand_eye/PSM2-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM2", "measured_cp": [[0.5891253121244849, -0.5560931633020664, -0.58625230092762, 0.09843416625784816], [0.34176188303178495, 0.8289131468478919, -0.44283384049696756, 0.08611920470334603], [0.732209110787892, 0.060525934205320917, 0.6783851629920694, -0.01287370842124766], [0.0, 0.0, 0.0, 1.0]]} diff --git a/offline_data/episodes/cold_cut_dissection_skin_peel/71/calibration/hand_eye/PSM2-registration-open-cv.json b/offline_data/episodes/cold_cut_dissection_skin_peel/71/calibration/hand_eye/PSM2-registration-open-cv.json new file mode 100644 index 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b/offline_data/episodes/single_interrupted_stitch/25/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/25/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - 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rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/offline_data/episodes/single_interrupted_stitch/26/calibration/right.yaml b/offline_data/episodes/single_interrupted_stitch/26/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/26/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 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b/offline_data/episodes/single_interrupted_stitch/27/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1178.6272335909316 + - 0.0 + - 936.1201431988873 + - 0.0 + - 1181.7451697852755 + - 524.5390674149788 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.01273349574944207 + - -0.059868924661268766 + - -0.004528006292720679 + - -0.007905615610660825 + - 0.07007120636163403 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git 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a/offline_data/episodes/single_interrupted_stitch/3/calibration/hand_eye/PSM1-registration-open-cv.json b/offline_data/episodes/single_interrupted_stitch/3/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..b02dbe15fc5f4424f3b6ed9abd09f760bcbedb9d --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/3/calibration/hand_eye/PSM1-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7242446026865754, -0.4992040060032644, -0.4756733289450425, 0.10850470163048995], [-0.6492306748133703, 0.7260854716623935, 0.22649374985234305, 0.053742276493041224], [0.23231290614329117, 0.4728585922145147, -0.8499620376276621, -0.10575727013413598], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/offline_data/episodes/single_interrupted_stitch/3/calibration/hand_eye/PSM2-registration-dVRK.json 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+++ b/offline_data/episodes/single_interrupted_stitch/3/calibration/hand_eye/PSM2-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.893317358273918, 0.31863030098354245, 0.3169524076287285, -0.09883664209853212], [0.42166141849640026, 0.8382469504111748, 0.3457509194173886, 0.04177200851054326], [-0.15551766960096214, 0.44251189975129845, -0.8831746560111339, -0.10879486261903044], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/offline_data/episodes/single_interrupted_stitch/3/calibration/left.yaml b/offline_data/episodes/single_interrupted_stitch/3/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/3/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 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a/offline_data/episodes/single_interrupted_stitch/44/calibration/left.yaml b/offline_data/episodes/single_interrupted_stitch/44/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/44/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - 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+ "files": { + "left": "left.yaml", + "right": "right.yaml", + "stereo_calib_params": "stereo_calib_params.json" + } +} \ No newline at end of file diff --git a/offline_data/episodes/single_interrupted_stitch/45/calibration/hand_eye/PSM1-registration-dVRK.json b/offline_data/episodes/single_interrupted_stitch/45/calibration/hand_eye/PSM1-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..245ac3d5854d939c38aca46a80970b9f650630a2 --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/45/calibration/hand_eye/PSM1-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM1", "measured_cp": [[0.6412983250938588, 0.5615880802358231, 0.522833899406738, -0.10729729394555436], [-0.3397741123695972, 0.818799850679242, -0.462731409233373, 0.09176732131872677], [-0.6879607625404698, 0.119103453622023, 0.7159080643071725, -0.022784216962428994], [0.0, 0.0, 0.0, 1.0]]} diff --git a/offline_data/episodes/single_interrupted_stitch/45/calibration/hand_eye/PSM1-registration-open-cv.json b/offline_data/episodes/single_interrupted_stitch/45/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..01db39cc58129b6fe2763e5dd581c8222a2e88ae --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/45/calibration/hand_eye/PSM1-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.6800103743359525, -0.5453754298328726, -0.4900525801687902, 0.10699287647650496], [-0.682091944298651, 0.7157238904232331, 0.14996630354955678, 0.048992752026028014], [0.2689544019315633, 0.4362395594304136, -0.8586958579553036, -0.10155933862134851], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/offline_data/episodes/single_interrupted_stitch/45/calibration/hand_eye/PSM2-registration-dVRK.json 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+++ b/offline_data/episodes/single_interrupted_stitch/45/calibration/hand_eye/PSM2-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.8311478792176615, 0.3993865009163199, 0.38688968163780335, -0.10074966902760027], [0.5130078698729394, 0.8191826653072345, 0.25644236449651664, 0.04790655090218514], [-0.21451370194095182, 0.4116189788456718, -0.8857503530530675, -0.10969633485400077], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/offline_data/episodes/single_interrupted_stitch/45/calibration/left.yaml b/offline_data/episodes/single_interrupted_stitch/45/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/45/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/offline_data/episodes/single_interrupted_stitch/45/calibration/right.yaml b/offline_data/episodes/single_interrupted_stitch/45/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/45/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1178.6272335909316 + - 0.0 + - 936.1201431988873 + - 0.0 + - 1181.7451697852755 + - 524.5390674149788 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.01273349574944207 + - -0.059868924661268766 + - -0.004528006292720679 + - -0.007905615610660825 + - 0.07007120636163403 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/offline_data/episodes/single_interrupted_stitch/45/calibration/stereo_calib_params.json b/offline_data/episodes/single_interrupted_stitch/45/calibration/stereo_calib_params.json new file mode 100644 index 0000000000000000000000000000000000000000..72c538daaec4b5663a3b4294089e4448119ab1fd --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/45/calibration/stereo_calib_params.json @@ -0,0 +1,120 @@ +{ + "cameraMatrixL": [ + [ + 1175.9318104257968, + 0.0, + 953.4400649317635 + ], + [ + 0.0, + 1178.829539428327, + 531.6113782903312 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "distCoeffsL": [ + [ + -0.019781771124869636, + -0.03955841810275026, + -0.0017663372223640362, + -0.003287906819938256, + 0.0395035486931128 + ] + ], + "cameraMatrixR": [ + [ + 1178.6272335909316, + 0.0, + 936.1201431988873 + ], + [ + 0.0, + 1181.7451697852755, + 524.5390674149788 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "distCoeffsR": [ + [ + -0.01273349574944207, + -0.059868924661268766, + 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a/offline_data/episodes/single_interrupted_stitch/49/calibration/hand_eye/PSM1-registration-open-cv.json b/offline_data/episodes/single_interrupted_stitch/49/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..01db39cc58129b6fe2763e5dd581c8222a2e88ae --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/49/calibration/hand_eye/PSM1-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.6800103743359525, -0.5453754298328726, -0.4900525801687902, 0.10699287647650496], [-0.682091944298651, 0.7157238904232331, 0.14996630354955678, 0.048992752026028014], [0.2689544019315633, 0.4362395594304136, -0.8586958579553036, -0.10155933862134851], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/offline_data/episodes/single_interrupted_stitch/49/calibration/hand_eye/PSM2-registration-dVRK.json b/offline_data/episodes/single_interrupted_stitch/49/calibration/hand_eye/PSM2-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616 --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/49/calibration/hand_eye/PSM2-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM2", "measured_cp": [[0.8587456895779936, -0.3766174320771962, -0.34744085897717, 0.10036020698569735], [0.23231997148995967, 0.8905382830651395, -0.3911125122548462, 0.08321928354211638], [0.45670917603888733, 0.2551487335868466, 0.8522416630691718, -0.02822751940458962], [0.0, 0.0, 0.0, 1.0]]} diff --git a/offline_data/episodes/single_interrupted_stitch/49/calibration/hand_eye/PSM2-registration-open-cv.json b/offline_data/episodes/single_interrupted_stitch/49/calibration/hand_eye/PSM2-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..8d2c89f92c15fd667b22d632fc8f6348ef580727 --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/49/calibration/hand_eye/PSM2-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.8311478792176615, 0.3993865009163199, 0.38688968163780335, -0.10074966902760027], [0.5130078698729394, 0.8191826653072345, 0.25644236449651664, 0.04790655090218514], [-0.21451370194095182, 0.4116189788456718, -0.8857503530530675, -0.10969633485400077], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/offline_data/episodes/single_interrupted_stitch/49/calibration/left.yaml b/offline_data/episodes/single_interrupted_stitch/49/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/49/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/offline_data/episodes/single_interrupted_stitch/49/calibration/right.yaml b/offline_data/episodes/single_interrupted_stitch/49/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/49/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1178.6272335909316 + - 0.0 + - 936.1201431988873 + - 0.0 + - 1181.7451697852755 + - 524.5390674149788 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.01273349574944207 + - -0.059868924661268766 + - -0.004528006292720679 + - -0.007905615610660825 + - 0.07007120636163403 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/offline_data/episodes/single_interrupted_stitch/49/calibration/stereo_calib_params.json b/offline_data/episodes/single_interrupted_stitch/49/calibration/stereo_calib_params.json new file mode 100644 index 0000000000000000000000000000000000000000..72c538daaec4b5663a3b4294089e4448119ab1fd --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/49/calibration/stereo_calib_params.json @@ -0,0 +1,120 @@ +{ + "cameraMatrixL": [ + [ + 1175.9318104257968, + 0.0, + 953.4400649317635 + ], + [ + 0.0, + 1178.829539428327, + 531.6113782903312 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "distCoeffsL": [ + [ + -0.019781771124869636, + -0.03955841810275026, + -0.0017663372223640362, + -0.003287906819938256, + 0.0395035486931128 + ] + ], + "cameraMatrixR": [ + [ + 1178.6272335909316, + 0.0, + 936.1201431988873 + ], + [ + 0.0, + 1181.7451697852755, + 524.5390674149788 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "distCoeffsR": [ + [ + -0.01273349574944207, + -0.059868924661268766, + 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a/offline_data/episodes/single_interrupted_stitch/50/calibration/hand_eye/PSM1-registration-dVRK.json b/offline_data/episodes/single_interrupted_stitch/50/calibration/hand_eye/PSM1-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..245ac3d5854d939c38aca46a80970b9f650630a2 --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/50/calibration/hand_eye/PSM1-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM1", "measured_cp": [[0.6412983250938588, 0.5615880802358231, 0.522833899406738, -0.10729729394555436], [-0.3397741123695972, 0.818799850679242, -0.462731409233373, 0.09176732131872677], [-0.6879607625404698, 0.119103453622023, 0.7159080643071725, -0.022784216962428994], [0.0, 0.0, 0.0, 1.0]]} diff --git a/offline_data/episodes/single_interrupted_stitch/50/calibration/hand_eye/PSM1-registration-open-cv.json b/offline_data/episodes/single_interrupted_stitch/50/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 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a/offline_data/episodes/single_interrupted_stitch/53/calibration/hand_eye/PSM1-registration-open-cv.json b/offline_data/episodes/single_interrupted_stitch/53/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..01db39cc58129b6fe2763e5dd581c8222a2e88ae --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/53/calibration/hand_eye/PSM1-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.6800103743359525, -0.5453754298328726, -0.4900525801687902, 0.10699287647650496], [-0.682091944298651, 0.7157238904232331, 0.14996630354955678, 0.048992752026028014], [0.2689544019315633, 0.4362395594304136, -0.8586958579553036, -0.10155933862134851], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/offline_data/episodes/single_interrupted_stitch/53/calibration/hand_eye/PSM2-registration-dVRK.json 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b/offline_data/episodes/single_interrupted_stitch/53/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1178.6272335909316 + - 0.0 + - 936.1201431988873 + - 0.0 + - 1181.7451697852755 + - 524.5390674149788 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.01273349574944207 + - -0.059868924661268766 + - -0.004528006292720679 + - -0.007905615610660825 + - 0.07007120636163403 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git 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a/offline_data/episodes/single_interrupted_stitch/61/calibration/left.yaml b/offline_data/episodes/single_interrupted_stitch/61/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/61/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - 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+ "files": { + "left": "left.yaml", + "right": "right.yaml", + "stereo_calib_params": "stereo_calib_params.json" + } +} \ No newline at end of file diff --git a/offline_data/episodes/single_interrupted_stitch/62/calibration/hand_eye/PSM1-registration-dVRK.json b/offline_data/episodes/single_interrupted_stitch/62/calibration/hand_eye/PSM1-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..0638b85522aeffbdf9ce7518c24a10c147a6b69c --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/62/calibration/hand_eye/PSM1-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM1", "measured_cp": [[0.7400682409361157, 0.4829603716057678, 0.4680259375463507, -0.1129729662953598], [-0.2980726621747403, 0.8593801848445516, -0.4154736886502043, 0.08431570790252957], [-0.6028695437835494, 0.16797314474332717, 0.7799572653826945, -0.021836177929322964], [0.0, 0.0, 0.0, 1.0]]} diff --git a/offline_data/episodes/single_interrupted_stitch/62/calibration/hand_eye/PSM1-registration-open-cv.json b/offline_data/episodes/single_interrupted_stitch/62/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..d912c9134ad770c9e38f1d6e45411fab5fae7e04 --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/62/calibration/hand_eye/PSM1-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7423078557462991, -0.4803921949998852, -0.46712138281235055, 0.11312864274834433], [-0.6140692387802089, 0.7666937620870298, 0.18734899295360954, 0.04994021955559726], [0.2681380563836941, 0.4259155011971614, -0.8641168720484194, -0.11278248842385126], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/offline_data/episodes/single_interrupted_stitch/62/calibration/hand_eye/PSM2-registration-dVRK.json 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b/offline_data/episodes/single_interrupted_stitch/62/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1178.6272335909316 + - 0.0 + - 936.1201431988873 + - 0.0 + - 1181.7451697852755 + - 524.5390674149788 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.01273349574944207 + - -0.059868924661268766 + - -0.004528006292720679 + - -0.007905615610660825 + - 0.07007120636163403 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git 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a/offline_data/episodes/single_interrupted_stitch/65/calibration/left.yaml b/offline_data/episodes/single_interrupted_stitch/65/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/65/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - 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a/offline_data/episodes/single_interrupted_stitch/66/calibration/hand_eye/PSM1-registration-open-cv.json b/offline_data/episodes/single_interrupted_stitch/66/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..d912c9134ad770c9e38f1d6e45411fab5fae7e04 --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/66/calibration/hand_eye/PSM1-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7423078557462991, -0.4803921949998852, -0.46712138281235055, 0.11312864274834433], [-0.6140692387802089, 0.7666937620870298, 0.18734899295360954, 0.04994021955559726], [0.2681380563836941, 0.4259155011971614, -0.8641168720484194, -0.11278248842385126], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/offline_data/episodes/single_interrupted_stitch/66/calibration/hand_eye/PSM2-registration-dVRK.json b/offline_data/episodes/single_interrupted_stitch/66/calibration/hand_eye/PSM2-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..b326e65ea544fa2d250a8e9379027ea0284b576f --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/66/calibration/hand_eye/PSM2-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM2", "measured_cp": [[0.7391686568954916, -0.47419539836319, -0.4782974188039183, 0.10389983179710886], [0.2906218122676692, 0.8651900283083359, -0.40863819834919624, 0.07717451445609103], [0.6075925105673793, 0.16304888557422587, 0.7773328772253444, -0.018226464698815906], [0.0, 0.0, 0.0, 1.0]]} diff --git a/offline_data/episodes/single_interrupted_stitch/66/calibration/hand_eye/PSM2-registration-open-cv.json b/offline_data/episodes/single_interrupted_stitch/66/calibration/hand_eye/PSM2-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..36ff3d788719e861b77ce621f2522893f9ab144c --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/66/calibration/hand_eye/PSM2-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7377081615767132, 0.4755831349599948, 0.47917361163228667, -0.10383450809623034], [0.610820441942161, 0.7724833522560213, 0.17368896969261804, 0.048500499311862046], [-0.2875500931119467, 0.4208208077423494, -0.8603631743179082, -0.12019543290681702], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/offline_data/episodes/single_interrupted_stitch/66/calibration/left.yaml b/offline_data/episodes/single_interrupted_stitch/66/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/66/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/offline_data/episodes/single_interrupted_stitch/66/calibration/right.yaml b/offline_data/episodes/single_interrupted_stitch/66/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/66/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1178.6272335909316 + - 0.0 + - 936.1201431988873 + - 0.0 + - 1181.7451697852755 + - 524.5390674149788 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.01273349574944207 + - -0.059868924661268766 + - -0.004528006292720679 + - -0.007905615610660825 + - 0.07007120636163403 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/offline_data/episodes/single_interrupted_stitch/66/calibration/stereo_calib_params.json b/offline_data/episodes/single_interrupted_stitch/66/calibration/stereo_calib_params.json new file mode 100644 index 0000000000000000000000000000000000000000..72c538daaec4b5663a3b4294089e4448119ab1fd --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/66/calibration/stereo_calib_params.json @@ -0,0 +1,120 @@ +{ + "cameraMatrixL": [ + [ + 1175.9318104257968, + 0.0, + 953.4400649317635 + ], + [ + 0.0, + 1178.829539428327, + 531.6113782903312 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "distCoeffsL": [ + [ + -0.019781771124869636, + -0.03955841810275026, + -0.0017663372223640362, + -0.003287906819938256, + 0.0395035486931128 + ] + ], + "cameraMatrixR": [ + [ + 1178.6272335909316, + 0.0, + 936.1201431988873 + ], + [ + 0.0, + 1181.7451697852755, + 524.5390674149788 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "distCoeffsR": [ + [ + -0.01273349574944207, + -0.059868924661268766, + 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a/offline_data/episodes/single_interrupted_stitch/72/calibration/left.yaml b/offline_data/episodes/single_interrupted_stitch/72/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/72/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - 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a/offline_data/episodes/single_interrupted_stitch/76/calibration/hand_eye/PSM1-registration-open-cv.json b/offline_data/episodes/single_interrupted_stitch/76/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..72c8db363162bb0d18c56bf7f798e3e31715719d --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/76/calibration/hand_eye/PSM1-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.5872477235886231, -0.5992245181671211, -0.544123228659981, 0.1063402814913337], [-0.7441367399917113, 0.6641699448054805, 0.07168540026806774, 0.04958442591016526], [0.3184346453112294, 0.4469991736507648, -0.8359372676349854, -0.11298312034197831], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/offline_data/episodes/single_interrupted_stitch/76/calibration/hand_eye/PSM2-registration-dVRK.json 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b/offline_data/episodes/single_interrupted_stitch/86/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/86/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - 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a/offline_data/episodes/single_interrupted_stitch/87/calibration/hand_eye/PSM1-registration-dVRK.json b/offline_data/episodes/single_interrupted_stitch/87/calibration/hand_eye/PSM1-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..32161f4406f0c87342875acbb8141bfe248d9dc2 --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/87/calibration/hand_eye/PSM1-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM1", "measured_cp": [[0.7026280257045909, 0.5023072778638288, 0.5039853729023271, -0.11143774825896038], [-0.298456616064416, 0.8510131823480204, -0.43208819909513013, 0.09065483775566142], [-0.6459392431350222, 0.15317950931807284, 0.7478626425375372, -0.03720005102713275], [0.0, 0.0, 0.0, 1.0]]} diff --git a/offline_data/episodes/single_interrupted_stitch/87/calibration/hand_eye/PSM1-registration-open-cv.json b/offline_data/episodes/single_interrupted_stitch/87/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 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b/offline_data/episodes/single_interrupted_stitch/88/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/offline_data/episodes/single_interrupted_stitch/88/calibration/right.yaml 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a/offline_data/episodes/single_interrupted_stitch/91/calibration/left.yaml b/offline_data/episodes/single_interrupted_stitch/91/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/91/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - 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0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/offline_data/episodes/single_interrupted_stitch/92/calibration/right.yaml b/offline_data/episodes/single_interrupted_stitch/92/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/92/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1178.6272335909316 + - 0.0 + - 936.1201431988873 + - 0.0 + - 1181.7451697852755 + - 524.5390674149788 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.01273349574944207 + - -0.059868924661268766 + - -0.004528006292720679 + - -0.007905615610660825 + - 0.07007120636163403 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/offline_data/episodes/single_interrupted_stitch/92/calibration/stereo_calib_params.json b/offline_data/episodes/single_interrupted_stitch/92/calibration/stereo_calib_params.json new file mode 100644 index 0000000000000000000000000000000000000000..72c538daaec4b5663a3b4294089e4448119ab1fd --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/92/calibration/stereo_calib_params.json @@ -0,0 +1,120 @@ +{ + "cameraMatrixL": [ + [ + 1175.9318104257968, + 0.0, + 953.4400649317635 + ], + [ + 0.0, + 1178.829539428327, + 531.6113782903312 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "distCoeffsL": [ + [ + -0.019781771124869636, + -0.03955841810275026, + -0.0017663372223640362, + -0.003287906819938256, + 0.0395035486931128 + ] + ], + "cameraMatrixR": [ + [ + 1178.6272335909316, + 0.0, + 936.1201431988873 + ], + [ + 0.0, + 1181.7451697852755, + 524.5390674149788 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "distCoeffsR": [ + [ + -0.01273349574944207, + -0.059868924661268766, + 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a/offline_data/episodes/single_interrupted_stitch/93/calibration/left.yaml b/offline_data/episodes/single_interrupted_stitch/93/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/offline_data/episodes/single_interrupted_stitch/93/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - 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0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/cold_cut_dissection/51/calibration/hand_eye/PSM2-registration-dVRK.json b/online_data/episodes/cold_cut_dissection/51/calibration/hand_eye/PSM2-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..38ef08f789ebe627e96e935a90995c59b2fb8c2c --- /dev/null +++ b/online_data/episodes/cold_cut_dissection/51/calibration/hand_eye/PSM2-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM2", "measured_cp": [[0.49805898858408726, -0.6943846516115132, -0.5193911815741143, 0.0986850531912642], [0.4254451608688783, 0.7176006343806398, -0.5514034318262425, 0.2521974092980179], [0.7556015212953523, 0.053658970758496884, 0.6528300359766612, -0.26641295274336824], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/cold_cut_dissection/51/calibration/hand_eye/PSM2-registration-open-cv.json b/online_data/episodes/cold_cut_dissection/51/calibration/hand_eye/PSM2-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..b590d04267afd29a92d727ad331cabc1c3b0a53d --- /dev/null +++ b/online_data/episodes/cold_cut_dissection/51/calibration/hand_eye/PSM2-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.5508846669357633, 0.6582170044132934, 0.5131047250184549, -0.09757585630864928], [0.7630149984934493, 0.6463050801369497, -0.009892192032724288, 0.032817034708707754], [-0.3381333994285609, 0.3860571440737262, -0.8582690054409072, 0.09341424040179845], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/cold_cut_dissection/51/calibration/left.yaml b/online_data/episodes/cold_cut_dissection/51/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/cold_cut_dissection/51/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 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0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/online_data/episodes/cold_cut_dissection/51/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1178.6272335909316 + - 0.0 + - 936.1201431988873 + - 0.0 + - 1181.7451697852755 + - 524.5390674149788 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.01273349574944207 + - -0.059868924661268766 + - -0.004528006292720679 + - -0.007905615610660825 + - 0.07007120636163403 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 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index 0000000000000000000000000000000000000000..b590d04267afd29a92d727ad331cabc1c3b0a53d --- /dev/null +++ b/online_data/episodes/cold_cut_dissection/56/calibration/hand_eye/PSM2-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.5508846669357633, 0.6582170044132934, 0.5131047250184549, -0.09757585630864928], [0.7630149984934493, 0.6463050801369497, -0.009892192032724288, 0.032817034708707754], [-0.3381333994285609, 0.3860571440737262, -0.8582690054409072, 0.09341424040179845], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/cold_cut_dissection/56/calibration/left.yaml b/online_data/episodes/cold_cut_dissection/56/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/cold_cut_dissection/56/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/cold_cut_dissection/56/calibration/right.yaml b/online_data/episodes/cold_cut_dissection/56/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/online_data/episodes/cold_cut_dissection/56/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1178.6272335909316 + - 0.0 + - 936.1201431988873 + - 0.0 + - 1181.7451697852755 + - 524.5390674149788 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.01273349574944207 + - -0.059868924661268766 + - -0.004528006292720679 + - -0.007905615610660825 + - 0.07007120636163403 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 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a/online_data/episodes/cold_cut_dissection/64/calibration/hand_eye/PSM1-registration-dVRK.json b/online_data/episodes/cold_cut_dissection/64/calibration/hand_eye/PSM1-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..f791790634687e8d143d7efd8c9e31787c8472dc --- /dev/null +++ b/online_data/episodes/cold_cut_dissection/64/calibration/hand_eye/PSM1-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM1", "measured_cp": [[0.32899140153325523, 0.6355001064897604, 0.6985014476496733, -0.08452406185072746], [-0.38422518152647445, 0.7657647182952193, -0.5157280350099189, 0.2177012938886311], [-0.8626329854568128, -0.09871175647179645, 0.49610515169278424, -0.2871893735064685], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/cold_cut_dissection/64/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/cold_cut_dissection/64/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 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a/online_data/episodes/cold_cut_dissection/65/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/cold_cut_dissection/65/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..652f826777fe54e54509198d9e3aa7ffd03146e5 --- /dev/null +++ b/online_data/episodes/cold_cut_dissection/65/calibration/hand_eye/PSM1-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.31050373288519084, -0.6593781727992011, -0.6846954484297016, 0.07933648529294039], [-0.8512573207842946, 0.5134287652326351, -0.10840607382816077, -0.00942778179120639], [0.4230229375288152, 0.5491915223923973, -0.7207220449360591, 0.08450334760759758], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/cold_cut_dissection/65/calibration/hand_eye/PSM2-registration-dVRK.json b/online_data/episodes/cold_cut_dissection/65/calibration/hand_eye/PSM2-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..38ef08f789ebe627e96e935a90995c59b2fb8c2c --- /dev/null +++ b/online_data/episodes/cold_cut_dissection/65/calibration/hand_eye/PSM2-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM2", "measured_cp": [[0.49805898858408726, -0.6943846516115132, -0.5193911815741143, 0.0986850531912642], [0.4254451608688783, 0.7176006343806398, -0.5514034318262425, 0.2521974092980179], [0.7556015212953523, 0.053658970758496884, 0.6528300359766612, -0.26641295274336824], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/cold_cut_dissection/65/calibration/hand_eye/PSM2-registration-open-cv.json b/online_data/episodes/cold_cut_dissection/65/calibration/hand_eye/PSM2-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..b590d04267afd29a92d727ad331cabc1c3b0a53d --- /dev/null +++ b/online_data/episodes/cold_cut_dissection/65/calibration/hand_eye/PSM2-registration-open-cv.json @@ -0,0 +1,3 @@ +{ 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a/online_data/episodes/cold_cut_dissection_intestine/62/calibration/hand_eye/PSM1-registration-dVRK.json b/online_data/episodes/cold_cut_dissection_intestine/62/calibration/hand_eye/PSM1-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..f904832b270927626b5ccffd6de74935bea4bc52 --- /dev/null +++ b/online_data/episodes/cold_cut_dissection_intestine/62/calibration/hand_eye/PSM1-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM1", "measured_cp": [[0.3448671832695809, 0.6262908629782491, 0.6991611980463923, -0.1179514974306047], [-0.3652479511001238, 0.7756906578402613, -0.514682365694129, 0.21945168767550965], [-0.8646736726192538, -0.07787013733969507, 0.49626170675343306, -0.2728368829427279], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/cold_cut_dissection_intestine/62/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/cold_cut_dissection_intestine/62/calibration/hand_eye/PSM1-registration-open-cv.json new 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[[-0.47681004744748734, 0.660818050288126, 0.579630643657255, -0.08121824089594826], [0.8094117866566695, 0.5872301296898118, -0.0036516305597424146, 0.060059900254624876], [-0.34278964143390034, 0.4674187407431228, -0.8148711447386819, 0.10826579299735636], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/cold_cut_dissection_intestine/62/calibration/left.yaml b/online_data/episodes/cold_cut_dissection_intestine/62/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/cold_cut_dissection_intestine/62/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 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a/online_data/episodes/peg_transfer/101/calibration/hand_eye/PSM1-registration-dVRK.json b/online_data/episodes/peg_transfer/101/calibration/hand_eye/PSM1-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..f791790634687e8d143d7efd8c9e31787c8472dc --- /dev/null +++ b/online_data/episodes/peg_transfer/101/calibration/hand_eye/PSM1-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM1", "measured_cp": [[0.32899140153325523, 0.6355001064897604, 0.6985014476496733, -0.08452406185072746], [-0.38422518152647445, 0.7657647182952193, -0.5157280350099189, 0.2177012938886311], [-0.8626329854568128, -0.09871175647179645, 0.49610515169278424, -0.2871893735064685], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/peg_transfer/101/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/peg_transfer/101/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 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b/online_data/episodes/peg_transfer/102/calibration/hand_eye/PSM2-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM2", "measured_cp": [[0.4929135215147189, -0.6508374600793335, -0.5774485785465575, 0.08141674429061561], [0.4523251937542408, 0.7586220502169115, -0.46892910340463845, 0.25119720417638464], [0.7432618511689849, -0.030053044474261985, 0.6683252465040362, -0.25069010569467876], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/peg_transfer/102/calibration/hand_eye/PSM2-registration-open-cv.json b/online_data/episodes/peg_transfer/102/calibration/hand_eye/PSM2-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..1accdf35e5700fa1657c53291e53b86029a530e6 --- /dev/null +++ b/online_data/episodes/peg_transfer/102/calibration/hand_eye/PSM2-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.47681004744748734, 0.660818050288126, 0.579630643657255, -0.08121824089594826], 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+ - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/peg_transfer/102/calibration/right.yaml b/online_data/episodes/peg_transfer/102/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/online_data/episodes/peg_transfer/102/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - 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0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/peg_transfer/103/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/peg_transfer/103/calibration/right.yaml b/online_data/episodes/peg_transfer/103/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/online_data/episodes/peg_transfer/103/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1178.6272335909316 + - 0.0 + - 936.1201431988873 + - 0.0 + - 1181.7451697852755 + - 524.5390674149788 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.01273349574944207 + - -0.059868924661268766 + 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a/online_data/episodes/peg_transfer/104/calibration/hand_eye/PSM2-registration-dVRK.json b/online_data/episodes/peg_transfer/104/calibration/hand_eye/PSM2-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..05a1f2b8fac36070935ede7925b325ca15f078bf --- /dev/null +++ b/online_data/episodes/peg_transfer/104/calibration/hand_eye/PSM2-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM2", "measured_cp": [[0.4929135215147189, -0.6508374600793335, -0.5774485785465575, 0.08141674429061561], [0.4523251937542408, 0.7586220502169115, -0.46892910340463845, 0.25119720417638464], [0.7432618511689849, -0.030053044474261985, 0.6683252465040362, -0.25069010569467876], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/peg_transfer/104/calibration/hand_eye/PSM2-registration-open-cv.json b/online_data/episodes/peg_transfer/104/calibration/hand_eye/PSM2-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..1accdf35e5700fa1657c53291e53b86029a530e6 --- /dev/null +++ b/online_data/episodes/peg_transfer/104/calibration/hand_eye/PSM2-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.47681004744748734, 0.660818050288126, 0.579630643657255, -0.08121824089594826], [0.8094117866566695, 0.5872301296898118, -0.0036516305597424146, 0.060059900254624876], [-0.34278964143390034, 0.4674187407431228, -0.8148711447386819, 0.10826579299735636], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/peg_transfer/104/calibration/left.yaml b/online_data/episodes/peg_transfer/104/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/peg_transfer/104/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/peg_transfer/104/calibration/right.yaml b/online_data/episodes/peg_transfer/104/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/online_data/episodes/peg_transfer/104/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1178.6272335909316 + - 0.0 + - 936.1201431988873 + - 0.0 + - 1181.7451697852755 + - 524.5390674149788 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.01273349574944207 + - -0.059868924661268766 + - -0.004528006292720679 + - -0.007905615610660825 + - 0.07007120636163403 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/peg_transfer/104/calibration/stereo_calib_params.json 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a/online_data/episodes/peg_transfer/107/calibration/hand_eye/PSM2-registration-open-cv.json b/online_data/episodes/peg_transfer/107/calibration/hand_eye/PSM2-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..1accdf35e5700fa1657c53291e53b86029a530e6 --- /dev/null +++ b/online_data/episodes/peg_transfer/107/calibration/hand_eye/PSM2-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.47681004744748734, 0.660818050288126, 0.579630643657255, -0.08121824089594826], [0.8094117866566695, 0.5872301296898118, -0.0036516305597424146, 0.060059900254624876], [-0.34278964143390034, 0.4674187407431228, -0.8148711447386819, 0.10826579299735636], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/peg_transfer/107/calibration/left.yaml b/online_data/episodes/peg_transfer/107/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/peg_transfer/107/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/peg_transfer/107/calibration/right.yaml b/online_data/episodes/peg_transfer/107/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/online_data/episodes/peg_transfer/107/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1178.6272335909316 + - 0.0 + - 936.1201431988873 + - 0.0 + - 1181.7451697852755 + - 524.5390674149788 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.01273349574944207 + - -0.059868924661268766 + 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a/online_data/episodes/peg_transfer/108/calibration/hand_eye/PSM2-registration-dVRK.json b/online_data/episodes/peg_transfer/108/calibration/hand_eye/PSM2-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..05a1f2b8fac36070935ede7925b325ca15f078bf --- /dev/null +++ b/online_data/episodes/peg_transfer/108/calibration/hand_eye/PSM2-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM2", "measured_cp": [[0.4929135215147189, -0.6508374600793335, -0.5774485785465575, 0.08141674429061561], [0.4523251937542408, 0.7586220502169115, -0.46892910340463845, 0.25119720417638464], [0.7432618511689849, -0.030053044474261985, 0.6683252465040362, -0.25069010569467876], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/peg_transfer/108/calibration/hand_eye/PSM2-registration-open-cv.json b/online_data/episodes/peg_transfer/108/calibration/hand_eye/PSM2-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..1accdf35e5700fa1657c53291e53b86029a530e6 --- /dev/null +++ b/online_data/episodes/peg_transfer/108/calibration/hand_eye/PSM2-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.47681004744748734, 0.660818050288126, 0.579630643657255, -0.08121824089594826], [0.8094117866566695, 0.5872301296898118, -0.0036516305597424146, 0.060059900254624876], [-0.34278964143390034, 0.4674187407431228, -0.8148711447386819, 0.10826579299735636], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/peg_transfer/108/calibration/left.yaml b/online_data/episodes/peg_transfer/108/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/peg_transfer/108/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/peg_transfer/108/calibration/right.yaml b/online_data/episodes/peg_transfer/108/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ 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a/online_data/episodes/peg_transfer/93/calibration/hand_eye/PSM2-registration-dVRK.json b/online_data/episodes/peg_transfer/93/calibration/hand_eye/PSM2-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..05a1f2b8fac36070935ede7925b325ca15f078bf --- /dev/null +++ b/online_data/episodes/peg_transfer/93/calibration/hand_eye/PSM2-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM2", "measured_cp": [[0.4929135215147189, -0.6508374600793335, -0.5774485785465575, 0.08141674429061561], [0.4523251937542408, 0.7586220502169115, -0.46892910340463845, 0.25119720417638464], [0.7432618511689849, -0.030053044474261985, 0.6683252465040362, -0.25069010569467876], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/peg_transfer/93/calibration/hand_eye/PSM2-registration-open-cv.json b/online_data/episodes/peg_transfer/93/calibration/hand_eye/PSM2-registration-open-cv.json new file mode 100644 index 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a/online_data/episodes/peg_transfer/94/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/peg_transfer/94/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..652f826777fe54e54509198d9e3aa7ffd03146e5 --- /dev/null +++ b/online_data/episodes/peg_transfer/94/calibration/hand_eye/PSM1-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.31050373288519084, -0.6593781727992011, -0.6846954484297016, 0.07933648529294039], [-0.8512573207842946, 0.5134287652326351, -0.10840607382816077, -0.00942778179120639], [0.4230229375288152, 0.5491915223923973, -0.7207220449360591, 0.08450334760759758], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/peg_transfer/94/calibration/hand_eye/PSM2-registration-dVRK.json b/online_data/episodes/peg_transfer/94/calibration/hand_eye/PSM2-registration-dVRK.json new file mode 100644 index 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a/online_data/episodes/peg_transfer/95/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/peg_transfer/95/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..652f826777fe54e54509198d9e3aa7ffd03146e5 --- /dev/null +++ b/online_data/episodes/peg_transfer/95/calibration/hand_eye/PSM1-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.31050373288519084, -0.6593781727992011, -0.6846954484297016, 0.07933648529294039], [-0.8512573207842946, 0.5134287652326351, -0.10840607382816077, -0.00942778179120639], [0.4230229375288152, 0.5491915223923973, -0.7207220449360591, 0.08450334760759758], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/peg_transfer/95/calibration/hand_eye/PSM2-registration-dVRK.json b/online_data/episodes/peg_transfer/95/calibration/hand_eye/PSM2-registration-dVRK.json new file mode 100644 index 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a/online_data/episodes/peg_transfer/96/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/peg_transfer/96/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..652f826777fe54e54509198d9e3aa7ffd03146e5 --- /dev/null +++ b/online_data/episodes/peg_transfer/96/calibration/hand_eye/PSM1-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.31050373288519084, -0.6593781727992011, -0.6846954484297016, 0.07933648529294039], [-0.8512573207842946, 0.5134287652326351, -0.10840607382816077, -0.00942778179120639], [0.4230229375288152, 0.5491915223923973, -0.7207220449360591, 0.08450334760759758], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/peg_transfer/96/calibration/hand_eye/PSM2-registration-dVRK.json b/online_data/episodes/peg_transfer/96/calibration/hand_eye/PSM2-registration-dVRK.json new file mode 100644 index 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a/online_data/episodes/peg_transfer/97/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/peg_transfer/97/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..652f826777fe54e54509198d9e3aa7ffd03146e5 --- /dev/null +++ b/online_data/episodes/peg_transfer/97/calibration/hand_eye/PSM1-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.31050373288519084, -0.6593781727992011, -0.6846954484297016, 0.07933648529294039], [-0.8512573207842946, 0.5134287652326351, -0.10840607382816077, -0.00942778179120639], [0.4230229375288152, 0.5491915223923973, -0.7207220449360591, 0.08450334760759758], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/peg_transfer/97/calibration/hand_eye/PSM2-registration-dVRK.json b/online_data/episodes/peg_transfer/97/calibration/hand_eye/PSM2-registration-dVRK.json new file mode 100644 index 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a/online_data/episodes/peg_transfer/98/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/peg_transfer/98/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..652f826777fe54e54509198d9e3aa7ffd03146e5 --- /dev/null +++ b/online_data/episodes/peg_transfer/98/calibration/hand_eye/PSM1-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.31050373288519084, -0.6593781727992011, -0.6846954484297016, 0.07933648529294039], [-0.8512573207842946, 0.5134287652326351, -0.10840607382816077, -0.00942778179120639], [0.4230229375288152, 0.5491915223923973, -0.7207220449360591, 0.08450334760759758], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/peg_transfer/98/calibration/hand_eye/PSM2-registration-dVRK.json b/online_data/episodes/peg_transfer/98/calibration/hand_eye/PSM2-registration-dVRK.json new file mode 100644 index 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a/online_data/episodes/peg_transfer/99/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/peg_transfer/99/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..652f826777fe54e54509198d9e3aa7ffd03146e5 --- /dev/null +++ b/online_data/episodes/peg_transfer/99/calibration/hand_eye/PSM1-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.31050373288519084, -0.6593781727992011, -0.6846954484297016, 0.07933648529294039], [-0.8512573207842946, 0.5134287652326351, -0.10840607382816077, -0.00942778179120639], [0.4230229375288152, 0.5491915223923973, -0.7207220449360591, 0.08450334760759758], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/peg_transfer/99/calibration/hand_eye/PSM2-registration-dVRK.json b/online_data/episodes/peg_transfer/99/calibration/hand_eye/PSM2-registration-dVRK.json new file mode 100644 index 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3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/single_interrupted_stitch/12/calibration/right.yaml b/online_data/episodes/single_interrupted_stitch/12/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/12/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1178.6272335909316 + - 0.0 + - 936.1201431988873 + - 0.0 + - 1181.7451697852755 + - 524.5390674149788 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.01273349574944207 + - -0.059868924661268766 + - -0.004528006292720679 + - -0.007905615610660825 + - 0.07007120636163403 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/single_interrupted_stitch/12/calibration/stereo_calib_params.json b/online_data/episodes/single_interrupted_stitch/12/calibration/stereo_calib_params.json new file mode 100644 index 0000000000000000000000000000000000000000..72c538daaec4b5663a3b4294089e4448119ab1fd --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/12/calibration/stereo_calib_params.json @@ -0,0 +1,120 @@ +{ + "cameraMatrixL": [ + [ + 1175.9318104257968, + 0.0, + 953.4400649317635 + ], + [ + 0.0, + 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a/online_data/episodes/single_interrupted_stitch/13/calibration/left.yaml b/online_data/episodes/single_interrupted_stitch/13/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/13/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + 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a/online_data/episodes/single_interrupted_stitch/17/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/single_interrupted_stitch/17/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..652f826777fe54e54509198d9e3aa7ffd03146e5 --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/17/calibration/hand_eye/PSM1-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.31050373288519084, -0.6593781727992011, -0.6846954484297016, 0.07933648529294039], [-0.8512573207842946, 0.5134287652326351, -0.10840607382816077, -0.00942778179120639], [0.4230229375288152, 0.5491915223923973, -0.7207220449360591, 0.08450334760759758], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/single_interrupted_stitch/17/calibration/hand_eye/PSM2-registration-dVRK.json 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+++ b/online_data/episodes/single_interrupted_stitch/17/calibration/hand_eye/PSM2-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.5508846669357633, 0.6582170044132934, 0.5131047250184549, -0.09757585630864928], [0.7630149984934493, 0.6463050801369497, -0.009892192032724288, 0.032817034708707754], [-0.3381333994285609, 0.3860571440737262, -0.8582690054409072, 0.09341424040179845], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/single_interrupted_stitch/17/calibration/left.yaml b/online_data/episodes/single_interrupted_stitch/17/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/17/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 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b/online_data/episodes/single_interrupted_stitch/19/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1178.6272335909316 + - 0.0 + - 936.1201431988873 + - 0.0 + - 1181.7451697852755 + - 524.5390674149788 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.01273349574944207 + - -0.059868924661268766 + - -0.004528006292720679 + - -0.007905615610660825 + - 0.07007120636163403 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git 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a/online_data/episodes/single_interrupted_stitch/20/calibration/left.yaml b/online_data/episodes/single_interrupted_stitch/20/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/20/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + 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+++ b/online_data/episodes/single_interrupted_stitch/23/calibration/hand_eye/PSM2-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.5508846669357633, 0.6582170044132934, 0.5131047250184549, -0.09757585630864928], [0.7630149984934493, 0.6463050801369497, -0.009892192032724288, 0.032817034708707754], [-0.3381333994285609, 0.3860571440737262, -0.8582690054409072, 0.09341424040179845], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/single_interrupted_stitch/23/calibration/left.yaml b/online_data/episodes/single_interrupted_stitch/23/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/23/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 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b/online_data/episodes/single_interrupted_stitch/23/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1178.6272335909316 + - 0.0 + - 936.1201431988873 + - 0.0 + - 1181.7451697852755 + - 524.5390674149788 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.01273349574944207 + - -0.059868924661268766 + - -0.004528006292720679 + - -0.007905615610660825 + - 0.07007120636163403 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git 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"files": { + "left": "left.yaml", + "right": "right.yaml", + "stereo_calib_params": "stereo_calib_params.json" + } +} \ No newline at end of file diff --git a/online_data/episodes/single_interrupted_stitch/24/calibration/hand_eye/PSM1-registration-dVRK.json b/online_data/episodes/single_interrupted_stitch/24/calibration/hand_eye/PSM1-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..f791790634687e8d143d7efd8c9e31787c8472dc --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/24/calibration/hand_eye/PSM1-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM1", "measured_cp": [[0.32899140153325523, 0.6355001064897604, 0.6985014476496733, -0.08452406185072746], [-0.38422518152647445, 0.7657647182952193, -0.5157280350099189, 0.2177012938886311], [-0.8626329854568128, -0.09871175647179645, 0.49610515169278424, -0.2871893735064685], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/single_interrupted_stitch/24/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/single_interrupted_stitch/24/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..652f826777fe54e54509198d9e3aa7ffd03146e5 --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/24/calibration/hand_eye/PSM1-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.31050373288519084, -0.6593781727992011, -0.6846954484297016, 0.07933648529294039], [-0.8512573207842946, 0.5134287652326351, -0.10840607382816077, -0.00942778179120639], [0.4230229375288152, 0.5491915223923973, -0.7207220449360591, 0.08450334760759758], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/single_interrupted_stitch/24/calibration/hand_eye/PSM2-registration-dVRK.json b/online_data/episodes/single_interrupted_stitch/24/calibration/hand_eye/PSM2-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..38ef08f789ebe627e96e935a90995c59b2fb8c2c --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/24/calibration/hand_eye/PSM2-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM2", "measured_cp": [[0.49805898858408726, -0.6943846516115132, -0.5193911815741143, 0.0986850531912642], [0.4254451608688783, 0.7176006343806398, -0.5514034318262425, 0.2521974092980179], [0.7556015212953523, 0.053658970758496884, 0.6528300359766612, -0.26641295274336824], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/single_interrupted_stitch/24/calibration/hand_eye/PSM2-registration-open-cv.json b/online_data/episodes/single_interrupted_stitch/24/calibration/hand_eye/PSM2-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..b590d04267afd29a92d727ad331cabc1c3b0a53d --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/24/calibration/hand_eye/PSM2-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.5508846669357633, 0.6582170044132934, 0.5131047250184549, -0.09757585630864928], [0.7630149984934493, 0.6463050801369497, -0.009892192032724288, 0.032817034708707754], [-0.3381333994285609, 0.3860571440737262, -0.8582690054409072, 0.09341424040179845], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/single_interrupted_stitch/24/calibration/left.yaml b/online_data/episodes/single_interrupted_stitch/24/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/24/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 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b/online_data/episodes/single_interrupted_stitch/24/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1178.6272335909316 + - 0.0 + - 936.1201431988873 + - 0.0 + - 1181.7451697852755 + - 524.5390674149788 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.01273349574944207 + - -0.059868924661268766 + - -0.004528006292720679 + - -0.007905615610660825 + - 0.07007120636163403 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git 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a/online_data/episodes/single_interrupted_stitch/29/calibration/left.yaml b/online_data/episodes/single_interrupted_stitch/29/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/29/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + 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b/online_data/episodes/single_interrupted_stitch/3/calibration/hand_eye/PSM2-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..a6b8621c0bfa9d0e19481d07144c425648786aae --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/3/calibration/hand_eye/PSM2-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.1272351365100726, 0.7844330235015168, 0.6070222826861722, -0.06419840418543594], [0.9015948470284415, 0.34656757914220193, -0.2588776639636462, 0.04209805266367996], [-0.41344643165593276, 0.5143498271874717, -0.7513363450700311, 0.09233662268238352], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/single_interrupted_stitch/3/calibration/left.yaml b/online_data/episodes/single_interrupted_stitch/3/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/3/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/single_interrupted_stitch/3/calibration/right.yaml b/online_data/episodes/single_interrupted_stitch/3/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/3/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1178.6272335909316 + - 0.0 + - 936.1201431988873 + - 0.0 + - 1181.7451697852755 + - 524.5390674149788 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.01273349574944207 + - -0.059868924661268766 + - -0.004528006292720679 + - 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a/online_data/episodes/single_interrupted_stitch/30/calibration/hand_eye/PSM1-registration-dVRK.json b/online_data/episodes/single_interrupted_stitch/30/calibration/hand_eye/PSM1-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..f904832b270927626b5ccffd6de74935bea4bc52 --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/30/calibration/hand_eye/PSM1-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM1", "measured_cp": [[0.3448671832695809, 0.6262908629782491, 0.6991611980463923, -0.1179514974306047], [-0.3652479511001238, 0.7756906578402613, -0.514682365694129, 0.21945168767550965], [-0.8646736726192538, -0.07787013733969507, 0.49626170675343306, -0.2728368829427279], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/single_interrupted_stitch/30/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/single_interrupted_stitch/30/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 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3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/single_interrupted_stitch/30/calibration/right.yaml b/online_data/episodes/single_interrupted_stitch/30/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/30/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + 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a/online_data/episodes/single_interrupted_stitch/34/calibration/left.yaml b/online_data/episodes/single_interrupted_stitch/34/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/34/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + 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b/online_data/episodes/single_interrupted_stitch/35/calibration/hand_eye/PSM2-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..1accdf35e5700fa1657c53291e53b86029a530e6 --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/35/calibration/hand_eye/PSM2-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.47681004744748734, 0.660818050288126, 0.579630643657255, -0.08121824089594826], [0.8094117866566695, 0.5872301296898118, -0.0036516305597424146, 0.060059900254624876], [-0.34278964143390034, 0.4674187407431228, -0.8148711447386819, 0.10826579299735636], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/single_interrupted_stitch/35/calibration/left.yaml b/online_data/episodes/single_interrupted_stitch/35/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/35/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/single_interrupted_stitch/35/calibration/right.yaml b/online_data/episodes/single_interrupted_stitch/35/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/35/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1178.6272335909316 + - 0.0 + - 936.1201431988873 + - 0.0 + - 1181.7451697852755 + - 524.5390674149788 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.01273349574944207 + - -0.059868924661268766 + - -0.004528006292720679 + - 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data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/single_interrupted_stitch/36/calibration/right.yaml b/online_data/episodes/single_interrupted_stitch/36/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/36/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 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a/online_data/episodes/single_interrupted_stitch/37/calibration/left.yaml b/online_data/episodes/single_interrupted_stitch/37/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/37/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + 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a/online_data/episodes/single_interrupted_stitch/39/calibration/hand_eye/PSM1-registration-dVRK.json b/online_data/episodes/single_interrupted_stitch/39/calibration/hand_eye/PSM1-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..f904832b270927626b5ccffd6de74935bea4bc52 --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/39/calibration/hand_eye/PSM1-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM1", "measured_cp": [[0.3448671832695809, 0.6262908629782491, 0.6991611980463923, -0.1179514974306047], [-0.3652479511001238, 0.7756906578402613, -0.514682365694129, 0.21945168767550965], [-0.8646736726192538, -0.07787013733969507, 0.49626170675343306, -0.2728368829427279], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/single_interrupted_stitch/39/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/single_interrupted_stitch/39/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 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diff --git a/online_data/episodes/single_interrupted_stitch/4/calibration/hand_eye/PSM2-registration-open-cv.json b/online_data/episodes/single_interrupted_stitch/4/calibration/hand_eye/PSM2-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..a6b8621c0bfa9d0e19481d07144c425648786aae --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/4/calibration/hand_eye/PSM2-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.1272351365100726, 0.7844330235015168, 0.6070222826861722, -0.06419840418543594], [0.9015948470284415, 0.34656757914220193, -0.2588776639636462, 0.04209805266367996], [-0.41344643165593276, 0.5143498271874717, -0.7513363450700311, 0.09233662268238352], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/single_interrupted_stitch/4/calibration/left.yaml b/online_data/episodes/single_interrupted_stitch/4/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/4/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/single_interrupted_stitch/4/calibration/right.yaml b/online_data/episodes/single_interrupted_stitch/4/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/4/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1178.6272335909316 + - 0.0 + - 936.1201431988873 + - 0.0 + - 1181.7451697852755 + - 524.5390674149788 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - 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b/online_data/episodes/single_interrupted_stitch/6/calibration/hand_eye/PSM2-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.47681004744748734, 0.660818050288126, 0.579630643657255, -0.08121824089594826], [0.8094117866566695, 0.5872301296898118, -0.0036516305597424146, 0.060059900254624876], [-0.34278964143390034, 0.4674187407431228, -0.8148711447386819, 0.10826579299735636], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/single_interrupted_stitch/6/calibration/left.yaml b/online_data/episodes/single_interrupted_stitch/6/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/6/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 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b/online_data/episodes/single_interrupted_stitch/6/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1178.6272335909316 + - 0.0 + - 936.1201431988873 + - 0.0 + - 1181.7451697852755 + - 524.5390674149788 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.01273349574944207 + - -0.059868924661268766 + - -0.004528006292720679 + - -0.007905615610660825 + - 0.07007120636163403 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/single_interrupted_stitch/6/calibration/stereo_calib_params.json b/online_data/episodes/single_interrupted_stitch/6/calibration/stereo_calib_params.json new file mode 100644 index 0000000000000000000000000000000000000000..72c538daaec4b5663a3b4294089e4448119ab1fd --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/6/calibration/stereo_calib_params.json @@ -0,0 +1,120 @@ +{ + "cameraMatrixL": [ + [ + 1175.9318104257968, + 0.0, + 953.4400649317635 + ], + [ + 0.0, + 1178.829539428327, + 531.6113782903312 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "distCoeffsL": [ + [ + -0.019781771124869636, + -0.03955841810275026, + -0.0017663372223640362, + -0.003287906819938256, + 0.0395035486931128 + ] + ], + "cameraMatrixR": [ + [ + 1178.6272335909316, + 0.0, + 936.1201431988873 + ], + [ + 0.0, + 1181.7451697852755, + 524.5390674149788 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "distCoeffsR": [ + [ + -0.01273349574944207, + -0.059868924661268766, + 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a/online_data/episodes/single_interrupted_stitch/7/calibration/left.yaml b/online_data/episodes/single_interrupted_stitch/7/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/single_interrupted_stitch/7/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - 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--- /dev/null +++ b/online_data/episodes/tissue_manipulation/68/calibration/hand_eye/PSM2-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM2", "measured_cp": [[0.2499889877885394, -0.7567786225026243, -0.6039798196194066, 0.05798806282893834], [0.427812640557255, 0.645925482103956, -0.6322630909267125, 0.20244947856206535], [0.8686091471794953, -0.10033139135785048, 0.48523371826812206, -0.19490095241980995], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/tissue_manipulation/68/calibration/hand_eye/PSM2-registration-open-cv.json b/online_data/episodes/tissue_manipulation/68/calibration/hand_eye/PSM2-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..a6b8621c0bfa9d0e19481d07144c425648786aae --- /dev/null +++ b/online_data/episodes/tissue_manipulation/68/calibration/hand_eye/PSM2-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.1272351365100726, 0.7844330235015168, 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- 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/tissue_manipulation/68/calibration/right.yaml b/online_data/episodes/tissue_manipulation/68/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/online_data/episodes/tissue_manipulation/68/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1178.6272335909316 + - 0.0 + - 936.1201431988873 + - 0.0 + - 1181.7451697852755 + - 524.5390674149788 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.01273349574944207 + - -0.059868924661268766 + - -0.004528006292720679 + - -0.007905615610660825 + - 0.07007120636163403 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/tissue_manipulation/68/calibration/stereo_calib_params.json b/online_data/episodes/tissue_manipulation/68/calibration/stereo_calib_params.json new file mode 100644 index 0000000000000000000000000000000000000000..72c538daaec4b5663a3b4294089e4448119ab1fd --- /dev/null +++ b/online_data/episodes/tissue_manipulation/68/calibration/stereo_calib_params.json @@ -0,0 +1,120 @@ 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--- /dev/null +++ b/online_data/episodes/tissue_manipulation/69/calibration/hand_eye/PSM2-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM2", "measured_cp": [[0.2499889877885394, -0.7567786225026243, -0.6039798196194066, 0.05798806282893834], [0.427812640557255, 0.645925482103956, -0.6322630909267125, 0.20244947856206535], [0.8686091471794953, -0.10033139135785048, 0.48523371826812206, -0.19490095241980995], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/tissue_manipulation/69/calibration/hand_eye/PSM2-registration-open-cv.json b/online_data/episodes/tissue_manipulation/69/calibration/hand_eye/PSM2-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..a6b8621c0bfa9d0e19481d07144c425648786aae --- /dev/null +++ b/online_data/episodes/tissue_manipulation/69/calibration/hand_eye/PSM2-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.1272351365100726, 0.7844330235015168, 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--- /dev/null +++ b/online_data/episodes/tissue_manipulation/73/calibration/hand_eye/PSM2-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM2", "measured_cp": [[0.04652534750354357, -0.7316453108291487, -0.6800959720373251, 0.11466108831426922], [0.4298109036911352, 0.6292486328599456, -0.6475405354972769, 0.21126553892830136], [0.9017194569864209, -0.2621856159014227, 0.3437451435387965, -0.2749422838678431], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/tissue_manipulation/73/calibration/hand_eye/PSM2-registration-open-cv.json b/online_data/episodes/tissue_manipulation/73/calibration/hand_eye/PSM2-registration-open-cv.json new file mode 100644 index 0000000000000000000000000000000000000000..d77deb003b71ce0ee3af3b48233f7517e82d3fd8 --- /dev/null +++ b/online_data/episodes/tissue_manipulation/73/calibration/hand_eye/PSM2-registration-open-cv.json @@ -0,0 +1,3 @@ +{ +"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.059974112054775465, 0.8096493173577685, 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0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1178.6272335909316 + - 0.0 + - 936.1201431988873 + - 0.0 + - 1181.7451697852755 + - 524.5390674149788 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.01273349574944207 + - -0.059868924661268766 + - -0.004528006292720679 + - -0.007905615610660825 + - 0.07007120636163403 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/tissue_manipulation/73/calibration/stereo_calib_params.json b/online_data/episodes/tissue_manipulation/73/calibration/stereo_calib_params.json new file mode 100644 index 0000000000000000000000000000000000000000..72c538daaec4b5663a3b4294089e4448119ab1fd --- /dev/null +++ b/online_data/episodes/tissue_manipulation/73/calibration/stereo_calib_params.json @@ -0,0 +1,120 @@ 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a/online_data/episodes/tissue_manipulation/74/calibration/hand_eye/PSM1-registration-dVRK.json b/online_data/episodes/tissue_manipulation/74/calibration/hand_eye/PSM1-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..d129f26657e6883d925dab8e227ae1bc0179fd6e --- /dev/null +++ b/online_data/episodes/tissue_manipulation/74/calibration/hand_eye/PSM1-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM1", "measured_cp": [[0.2655540090826171, 0.6157551594893789, 0.7418400446338544, -0.10495575538987288], [-0.36256897064709254, 0.7767648324180018, -0.514956441500193, 0.20459200736118896], [-0.8933223437170131, -0.13221943382439524, 0.42952672970968775, -0.28320081238862105], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/tissue_manipulation/74/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/tissue_manipulation/74/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 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[-0.352212918607344, 0.5301099732299789, -0.7713167159139036, 0.14127957570943764], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/tissue_manipulation/74/calibration/left.yaml b/online_data/episodes/tissue_manipulation/74/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/tissue_manipulation/74/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/tissue_manipulation/74/calibration/right.yaml b/online_data/episodes/tissue_manipulation/74/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/online_data/episodes/tissue_manipulation/74/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 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a/online_data/episodes/tissue_manipulation/76/calibration/hand_eye/PSM1-registration-dVRK.json b/online_data/episodes/tissue_manipulation/76/calibration/hand_eye/PSM1-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..d129f26657e6883d925dab8e227ae1bc0179fd6e --- /dev/null +++ b/online_data/episodes/tissue_manipulation/76/calibration/hand_eye/PSM1-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM1", "measured_cp": [[0.2655540090826171, 0.6157551594893789, 0.7418400446338544, -0.10495575538987288], [-0.36256897064709254, 0.7767648324180018, -0.514956441500193, 0.20459200736118896], [-0.8933223437170131, -0.13221943382439524, 0.42952672970968775, -0.28320081238862105], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/tissue_manipulation/76/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/tissue_manipulation/76/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 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a/online_data/episodes/tissue_manipulation/77/calibration/hand_eye/PSM1-registration-dVRK.json b/online_data/episodes/tissue_manipulation/77/calibration/hand_eye/PSM1-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..d129f26657e6883d925dab8e227ae1bc0179fd6e --- /dev/null +++ b/online_data/episodes/tissue_manipulation/77/calibration/hand_eye/PSM1-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM1", "measured_cp": [[0.2655540090826171, 0.6157551594893789, 0.7418400446338544, -0.10495575538987288], [-0.36256897064709254, 0.7767648324180018, -0.514956441500193, 0.20459200736118896], [-0.8933223437170131, -0.13221943382439524, 0.42952672970968775, -0.28320081238862105], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/tissue_manipulation/77/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/tissue_manipulation/77/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 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rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/tissue_manipulation/77/calibration/right.yaml b/online_data/episodes/tissue_manipulation/77/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/online_data/episodes/tissue_manipulation/77/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 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a/online_data/episodes/tissue_manipulation/78/calibration/hand_eye/PSM1-registration-dVRK.json b/online_data/episodes/tissue_manipulation/78/calibration/hand_eye/PSM1-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..d129f26657e6883d925dab8e227ae1bc0179fd6e --- /dev/null +++ b/online_data/episodes/tissue_manipulation/78/calibration/hand_eye/PSM1-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM1", "measured_cp": [[0.2655540090826171, 0.6157551594893789, 0.7418400446338544, -0.10495575538987288], [-0.36256897064709254, 0.7767648324180018, -0.514956441500193, 0.20459200736118896], [-0.8933223437170131, -0.13221943382439524, 0.42952672970968775, -0.28320081238862105], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/tissue_manipulation/78/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/tissue_manipulation/78/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 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rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/tissue_manipulation/78/calibration/right.yaml b/online_data/episodes/tissue_manipulation/78/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/online_data/episodes/tissue_manipulation/78/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 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a/online_data/episodes/tissue_manipulation/79/calibration/hand_eye/PSM1-registration-dVRK.json b/online_data/episodes/tissue_manipulation/79/calibration/hand_eye/PSM1-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..e54435dd7da5b2fb59d34154863a1bd9494f21eb --- /dev/null +++ b/online_data/episodes/tissue_manipulation/79/calibration/hand_eye/PSM1-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM1", "measured_cp": [[0.5826722220007107, 0.5168544220449331, 0.6271798690338793, -0.09408199320495435], [-0.2942951222920677, 0.8535284955884226, -0.4299761484241437, 0.18751620093217264], [-0.7575509637666982, 0.06595918155315388, 0.6494350804083397, -0.20038474839172313], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/tissue_manipulation/79/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/tissue_manipulation/79/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 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[-0.41344643165593276, 0.5143498271874717, -0.7513363450700311, 0.09233662268238352], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/tissue_manipulation/79/calibration/left.yaml b/online_data/episodes/tissue_manipulation/79/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/tissue_manipulation/79/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/tissue_manipulation/79/calibration/right.yaml b/online_data/episodes/tissue_manipulation/79/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/online_data/episodes/tissue_manipulation/79/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 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a/online_data/episodes/tissue_manipulation/82/calibration/hand_eye/PSM1-registration-dVRK.json b/online_data/episodes/tissue_manipulation/82/calibration/hand_eye/PSM1-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..e54435dd7da5b2fb59d34154863a1bd9494f21eb --- /dev/null +++ b/online_data/episodes/tissue_manipulation/82/calibration/hand_eye/PSM1-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM1", "measured_cp": [[0.5826722220007107, 0.5168544220449331, 0.6271798690338793, -0.09408199320495435], [-0.2942951222920677, 0.8535284955884226, -0.4299761484241437, 0.18751620093217264], [-0.7575509637666982, 0.06595918155315388, 0.6494350804083397, -0.20038474839172313], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/tissue_manipulation/82/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/tissue_manipulation/82/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 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rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/tissue_manipulation/82/calibration/right.yaml b/online_data/episodes/tissue_manipulation/82/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/online_data/episodes/tissue_manipulation/82/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 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a/online_data/episodes/tissue_manipulation/83/calibration/hand_eye/PSM1-registration-dVRK.json b/online_data/episodes/tissue_manipulation/83/calibration/hand_eye/PSM1-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..e54435dd7da5b2fb59d34154863a1bd9494f21eb --- /dev/null +++ b/online_data/episodes/tissue_manipulation/83/calibration/hand_eye/PSM1-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM1", "measured_cp": [[0.5826722220007107, 0.5168544220449331, 0.6271798690338793, -0.09408199320495435], [-0.2942951222920677, 0.8535284955884226, -0.4299761484241437, 0.18751620093217264], [-0.7575509637666982, 0.06595918155315388, 0.6494350804083397, -0.20038474839172313], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/tissue_manipulation/83/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/tissue_manipulation/83/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 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[-0.41344643165593276, 0.5143498271874717, -0.7513363450700311, 0.09233662268238352], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/tissue_manipulation/83/calibration/left.yaml b/online_data/episodes/tissue_manipulation/83/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/tissue_manipulation/83/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/tissue_manipulation/83/calibration/right.yaml b/online_data/episodes/tissue_manipulation/83/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/online_data/episodes/tissue_manipulation/83/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 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a/online_data/episodes/tissue_manipulation/84/calibration/hand_eye/PSM1-registration-dVRK.json b/online_data/episodes/tissue_manipulation/84/calibration/hand_eye/PSM1-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..e54435dd7da5b2fb59d34154863a1bd9494f21eb --- /dev/null +++ b/online_data/episodes/tissue_manipulation/84/calibration/hand_eye/PSM1-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM1", "measured_cp": [[0.5826722220007107, 0.5168544220449331, 0.6271798690338793, -0.09408199320495435], [-0.2942951222920677, 0.8535284955884226, -0.4299761484241437, 0.18751620093217264], [-0.7575509637666982, 0.06595918155315388, 0.6494350804083397, -0.20038474839172313], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/tissue_manipulation/84/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/tissue_manipulation/84/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 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[-0.41344643165593276, 0.5143498271874717, -0.7513363450700311, 0.09233662268238352], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/tissue_manipulation/84/calibration/left.yaml b/online_data/episodes/tissue_manipulation/84/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/tissue_manipulation/84/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/tissue_manipulation/84/calibration/right.yaml b/online_data/episodes/tissue_manipulation/84/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/online_data/episodes/tissue_manipulation/84/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 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a/online_data/episodes/tissue_manipulation/86/calibration/hand_eye/PSM1-registration-dVRK.json b/online_data/episodes/tissue_manipulation/86/calibration/hand_eye/PSM1-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..e54435dd7da5b2fb59d34154863a1bd9494f21eb --- /dev/null +++ b/online_data/episodes/tissue_manipulation/86/calibration/hand_eye/PSM1-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM1", "measured_cp": [[0.5826722220007107, 0.5168544220449331, 0.6271798690338793, -0.09408199320495435], [-0.2942951222920677, 0.8535284955884226, -0.4299761484241437, 0.18751620093217264], [-0.7575509637666982, 0.06595918155315388, 0.6494350804083397, -0.20038474839172313], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/tissue_manipulation/86/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/tissue_manipulation/86/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 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a/online_data/episodes/tissue_manipulation/87/calibration/hand_eye/PSM1-registration-dVRK.json b/online_data/episodes/tissue_manipulation/87/calibration/hand_eye/PSM1-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..e54435dd7da5b2fb59d34154863a1bd9494f21eb --- /dev/null +++ b/online_data/episodes/tissue_manipulation/87/calibration/hand_eye/PSM1-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM1", "measured_cp": [[0.5826722220007107, 0.5168544220449331, 0.6271798690338793, -0.09408199320495435], [-0.2942951222920677, 0.8535284955884226, -0.4299761484241437, 0.18751620093217264], [-0.7575509637666982, 0.06595918155315388, 0.6494350804083397, -0.20038474839172313], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/tissue_manipulation/87/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/tissue_manipulation/87/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 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a/online_data/episodes/tissue_manipulation/88/calibration/hand_eye/PSM1-registration-dVRK.json b/online_data/episodes/tissue_manipulation/88/calibration/hand_eye/PSM1-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..e54435dd7da5b2fb59d34154863a1bd9494f21eb --- /dev/null +++ b/online_data/episodes/tissue_manipulation/88/calibration/hand_eye/PSM1-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM1", "measured_cp": [[0.5826722220007107, 0.5168544220449331, 0.6271798690338793, -0.09408199320495435], [-0.2942951222920677, 0.8535284955884226, -0.4299761484241437, 0.18751620093217264], [-0.7575509637666982, 0.06595918155315388, 0.6494350804083397, -0.20038474839172313], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/tissue_manipulation/88/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/tissue_manipulation/88/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 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rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/tissue_manipulation/88/calibration/right.yaml b/online_data/episodes/tissue_manipulation/88/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/online_data/episodes/tissue_manipulation/88/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 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a/online_data/episodes/tissue_manipulation/89/calibration/hand_eye/PSM1-registration-dVRK.json b/online_data/episodes/tissue_manipulation/89/calibration/hand_eye/PSM1-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..e54435dd7da5b2fb59d34154863a1bd9494f21eb --- /dev/null +++ b/online_data/episodes/tissue_manipulation/89/calibration/hand_eye/PSM1-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM1", "measured_cp": [[0.5826722220007107, 0.5168544220449331, 0.6271798690338793, -0.09408199320495435], [-0.2942951222920677, 0.8535284955884226, -0.4299761484241437, 0.18751620093217264], [-0.7575509637666982, 0.06595918155315388, 0.6494350804083397, -0.20038474839172313], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/tissue_manipulation/89/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/tissue_manipulation/89/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 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[-0.41344643165593276, 0.5143498271874717, -0.7513363450700311, 0.09233662268238352], [0.0, 0.0, 0.0, 1.0]]} +} diff --git a/online_data/episodes/tissue_manipulation/89/calibration/left.yaml b/online_data/episodes/tissue_manipulation/89/calibration/left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184cb896cc4527da265a8b9273b81330549db98a --- /dev/null +++ b/online_data/episodes/tissue_manipulation/89/calibration/left.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 + rows: 3 +camera_matrix: + cols: 3 + data: + - 1175.931810425796 + - 0.0 + - 953.4400649317635 + - 0.0 + - 1178.829539428327 + - 531.6113782903312 + - 0.0 + - 0.0 + - 1.0 + rows: 3 +camera_name: stereo_left +distortion_coefficients: + cols: 1 + data: + - -0.019781771124869636 + - -0.03955841810275026 + - -0.0017663372223640362 + - -0.003287906819938256 + - 0.0395035486931128 + rows: 1 +distortion_model: plumb_bob +image_height: 1080 +image_width: 1920 diff --git a/online_data/episodes/tissue_manipulation/89/calibration/right.yaml b/online_data/episodes/tissue_manipulation/89/calibration/right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b434e2a185b808b6aed9ac2a88addd6c66d8d056 --- /dev/null +++ b/online_data/episodes/tissue_manipulation/89/calibration/right.yaml @@ -0,0 +1,46 @@ +R_stereo: + cols: 3 + data: + - 0.9963893755659492 + - 0.0000146863008192 + - 0.0849011898833603 + - -0.0013327585854255 + - 0.9998794732146515 + - 0.0154681220108920 + - -0.0848907298463785 + - -0.0155254252213405 + - 0.9962693035308504 + rows: 3 +T_stereo: + cols: 1 + data: + - -0.004170971469831339 + - 0.000067934947019158 + - 0.000307489335513621 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a/online_data/episodes/tissue_manipulation/90/calibration/hand_eye/PSM1-registration-dVRK.json b/online_data/episodes/tissue_manipulation/90/calibration/hand_eye/PSM1-registration-dVRK.json new file mode 100644 index 0000000000000000000000000000000000000000..e54435dd7da5b2fb59d34154863a1bd9494f21eb --- /dev/null +++ b/online_data/episodes/tissue_manipulation/90/calibration/hand_eye/PSM1-registration-dVRK.json @@ -0,0 +1 @@ +{"name": "PSM1", "measured_cp": [[0.5826722220007107, 0.5168544220449331, 0.6271798690338793, -0.09408199320495435], [-0.2942951222920677, 0.8535284955884226, -0.4299761484241437, 0.18751620093217264], [-0.7575509637666982, 0.06595918155315388, 0.6494350804083397, -0.20038474839172313], [0.0, 0.0, 0.0, 1.0]]} diff --git a/online_data/episodes/tissue_manipulation/90/calibration/hand_eye/PSM1-registration-open-cv.json b/online_data/episodes/tissue_manipulation/90/calibration/hand_eye/PSM1-registration-open-cv.json new file mode 100644 index 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