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n1robotics
/
G1_Brainco_StackCups_Dataset

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
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pandas
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License:
Dataset card Data Studio Files
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1
n1robotics commited on
Commit
44fbe69
·
verified ·
1 Parent(s): 332c4bc

Add camera intrinsics, extrinsics, and depth scale to info.json metadata

Browse files
Files changed (1) hide show
  1. meta/info.json +100 -4
meta/info.json CHANGED
@@ -454,7 +454,36 @@
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  "video.is_depth_map": false,
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  "video.fps": 30,
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  "video.channels": 3,
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- "has_audio": false
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  }
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  },
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  "observation.images.surround_camera": {
@@ -477,7 +506,36 @@
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  "video.is_depth_map": false,
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  "video.fps": 30,
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  "video.channels": 3,
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- "has_audio": false
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  }
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  },
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  "observation.images.head_camera_depth_rgb": {
@@ -500,7 +558,26 @@
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  "video.is_depth_map": false,
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  "video.fps": 30,
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  "video.channels": 3,
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- "has_audio": false
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  }
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  },
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  "observation.images.surround_camera_depth_rgb": {
@@ -523,7 +600,26 @@
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  "video.is_depth_map": false,
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  "video.fps": 30,
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  "video.channels": 3,
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- "has_audio": false
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  }
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  },
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  "timestamp": {
 
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  "video.is_depth_map": false,
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  "video.fps": 30,
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  "video.channels": 3,
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+ "has_audio": false,
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+ "camera.serial_number": 243722075296,
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+ "camera.frame": "head_camera",
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+ "camera.color_intrinsics": {
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+ "width": 1280,
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+ "height": 720,
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+ "fx": 907.4019775390625,
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+ "fy": 906.6517333984375,
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+ "ppx": 649.86669921875,
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+ "ppy": 371.685546875,
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+ "distortion_model": "distortion.inverse_brown_conrady",
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+ "distortion_coeffs": [0.0, 0.0, 0.0, 0.0, 0.0]
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+ },
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+ "camera.depth_intrinsics": {
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+ "width": 1280,
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+ "height": 720,
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+ "fx": 644.34619140625,
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+ "fy": 644.34619140625,
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+ "ppx": 643.0235595703125,
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+ "ppy": 368.7783508300781,
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+ "distortion_model": "distortion.brown_conrady",
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+ "distortion_coeffs": [0.0, 0.0, 0.0, 0.0, 0.0]
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+ },
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+ "camera.depth_scale": 0.0010000000474974513,
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+ "camera.extrinsics": [
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+ [1.0, 0.0, 0.0, 0.0],
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+ [0.0, 1.0, 0.0, 0.0],
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+ [0.0, 0.0, 1.0, 0.0],
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+ [0.0, 0.0, 0.0, 1.0]
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+ ]
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  }
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  },
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  "observation.images.surround_camera": {
 
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  "video.is_depth_map": false,
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  "video.fps": 30,
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  "video.channels": 3,
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+ "has_audio": false,
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+ "camera.serial_number": "412622271947",
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+ "camera.frame": "head_camera",
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+ "camera.color_intrinsics": {
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+ "width": 480,
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+ "height": 270,
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+ "fx": 245.12429809570312,
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+ "fy": 244.83944702148438,
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+ "ppx": 236.88888549804688,
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+ "ppy": 133.22251892089844,
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+ "distortion_model": "distortion.inverse_brown_conrady",
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+ "distortion_coeffs": [-0.04931531473994255, 0.05275367572903633, 0.0006613964796997607, 0.0009297583601437509, -0.016682423651218414]
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+ },
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+ "camera.depth_intrinsics": {
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+ "width": 480,
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+ "height": 270,
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+ "fx": 243.4656524658203,
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+ "fy": 243.4656524658203,
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+ "ppx": 238.748779296875,
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+ "ppy": 132.400146484375,
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+ "distortion_model": "distortion.brown_conrady",
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+ "distortion_coeffs": [0.0, 0.0, 0.0, 0.0, 0.0]
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+ },
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+ "camera.depth_scale": 9.999999747378752e-05,
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+ "camera.extrinsics": [
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+ [-0.9964454633676177, -0.0593658490591889, 0.059767336393517424, 0.07152230267522033],
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+ [0.03508235090409829, 0.35259220848825745, 0.9351192240395956, -0.5367607603505948],
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+ [-0.07658764384113147, 0.9338920871700627, -0.3492562130184793, 0.7599105938829176],
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+ [0.0, 0.0, 0.0, 1.0]
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+ ]
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  }
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  },
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  "observation.images.head_camera_depth_rgb": {
 
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  "video.is_depth_map": false,
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  "video.fps": 30,
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  "video.channels": 3,
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+ "has_audio": false,
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+ "camera.serial_number": 243722075296,
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+ "camera.frame": "head_camera",
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+ "camera.depth_intrinsics": {
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+ "width": 1280,
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+ "height": 720,
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+ "fx": 644.34619140625,
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+ "fy": 644.34619140625,
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+ "ppx": 643.0235595703125,
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+ "ppy": 368.7783508300781,
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+ "distortion_model": "distortion.brown_conrady",
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+ "distortion_coeffs": [0.0, 0.0, 0.0, 0.0, 0.0]
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+ },
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+ "camera.depth_scale": 0.0010000000474974513,
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+ "camera.extrinsics": [
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+ [1.0, 0.0, 0.0, 0.0],
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+ [0.0, 1.0, 0.0, 0.0],
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+ [0.0, 0.0, 1.0, 0.0],
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+ [0.0, 0.0, 0.0, 1.0]
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+ ]
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  }
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  },
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  "observation.images.surround_camera_depth_rgb": {
 
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  "video.is_depth_map": false,
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  "video.fps": 30,
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  "video.channels": 3,
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+ "has_audio": false,
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+ "camera.serial_number": "412622271947",
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+ "camera.frame": "head_camera",
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+ "camera.depth_intrinsics": {
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+ "width": 480,
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+ "height": 270,
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+ "fx": 243.4656524658203,
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+ "fy": 243.4656524658203,
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+ "ppx": 238.748779296875,
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+ "ppy": 132.400146484375,
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+ "distortion_model": "distortion.brown_conrady",
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+ "distortion_coeffs": [0.0, 0.0, 0.0, 0.0, 0.0]
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+ },
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+ "camera.depth_scale": 9.999999747378752e-05,
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+ "camera.extrinsics": [
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+ [-0.9964454633676177, -0.0593658490591889, 0.059767336393517424, 0.07152230267522033],
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+ [0.03508235090409829, 0.35259220848825745, 0.9351192240395956, -0.5367607603505948],
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+ [-0.07658764384113147, 0.9338920871700627, -0.3492562130184793, 0.7599105938829176],
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+ [0.0, 0.0, 0.0, 1.0]
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+ ]
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  }
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  },
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  "timestamp": {