Deprecate legacy JHU SMARTS lscr path

Removes the legacy SMARTS offline_recorder_extracted subtree under Surgical/jhu/lscr/smarts and replaces it with a redirect README to the canonical lcsr SMARTS paths.

Surgical/jhu/lscr/smarts/README.md

@@ -0,0 +1,15 @@
+# Legacy SMARTS LSCR Path
+
+This legacy SMARTS namespace has been deprecated.
+
+- Legacy path: `Surgical/jhu/lscr/smarts/`
+- Canonical path: `Surgical/jhu/lcsr/smarts/`
+
+Use these canonical SMARTS paths instead:
+
+- Offline parent: `Surgical/jhu/lcsr/smarts/SurgSync-stitch-coldcut/`
+- Online parent: `Surgical/jhu/lcsr/smarts/SurgSync-multitask/`
+- Offline leaves: `.../SurgSync-stitch-coldcut/P1..P3`
+- Online leaves: `.../SurgSync-multitask/P1..P4`
+
+The former legacy subtree `Surgical/jhu/lscr/smarts/offline_recorder_extracted/...` has been removed after canonical publication under `lcsr`.

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/camera_calibration/left.yaml

@@ -1,46 +0,0 @@
-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

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/camera_calibration/right.yaml

@@ -1,46 +0,0 @@
-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

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/camera_calibration/stereo_calib_params.json

@@ -1,120 +0,0 @@
-{
-    "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
-        ]
-    ],
-    "T": [
-        [
-            -0.004170971469831339
-        ],
-        [
-            6.793494701915852e-05
-        ],
-        [
-            0.000307489335513621
-        ]
-    ],
-    "E": [
-        [
-            -5.357238182698847e-06,
-            -0.0003085069937523443,
-            6.292521979340946e-05
-        ],
-        [
-            -4.769770523679888e-05,
-            -6.47515897743312e-05,
-            0.0041815170517574655
-        ],
-        [
-            -6.213076140354249e-05,
-            -0.004170469753761368,
-            -7.028485343589046e-05
-        ]
-    ],
-    "F": [
-        [
-            2.042216620850013e-08,
-            1.1731593154221004e-06,
-            -0.0009252131876548991
-        ],
-        [
-            1.8134724916599428e-07,
-            2.455811627055598e-07,
-            -0.018998630874893223
-        ],
-        [
-            0.00016491277399706107,
-            0.01746486408726229,
-            1.0
-        ]
-    ],
-    "rms_left": 0.44338498338032545,
-    "rms_right": 0.44579442483158055,
-    "rms_stereo": 0.5312426825685321,
-    "baseline_m": 0.004182842078136359
-}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/hand_eye_calibration/PSM1-registration-dVRK.json

@@ -1 +0,0 @@
-{"name": "PSM1", "measured_cp": [[0.756424971880805, 0.4727462294770376, 0.45203126488149975, -0.10963041745044046], [-0.2920266745956184, 0.8624828261019016, -0.4133325489287075, 0.09113220154111948], [-0.5852706068475925, 0.1806498746042229, 0.7904580568036047, -0.024715453133760654], [0.0, 0.0, 0.0, 1.0]]}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/hand_eye_calibration/PSM1-registration-open-cv.json

@@ -1,3 +0,0 @@
-{
-"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]]}
-}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/hand_eye_calibration/PSM2-registration-dVRK.json

@@ -1 +0,0 @@
-{"name": "PSM2", "measured_cp": [[0.8707821536393257, -0.34970567032496236, -0.3456072699551167, 0.09797146709983753], [0.21706861340991404, 0.9041520665014405, -0.36795415164592554, 0.08504097206590117], [0.4411571805780308, 0.2453874177372262, 0.8632296086445947, -0.022011667446795363], [0.0, 0.0, 0.0, 1.0]]}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/hand_eye_calibration/PSM2-registration-open-cv.json

@@ -1,3 +0,0 @@
-{
-"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]]}
-}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/camera_calibration/left.yaml

@@ -1,46 +0,0 @@
-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

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/camera_calibration/right.yaml

@@ -1,46 +0,0 @@
-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

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/camera_calibration/stereo_calib_params.json

@@ -1,120 +0,0 @@
-{
-    "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,
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-            0.08490118988336033
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-            0.9962693035308504
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-    "T": [
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-    "E": [
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-            -6.213076140354249e-05,
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-            -7.028485343589046e-05
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-    "F": [
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-            -0.0009252131876548991
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-    "rms_left": 0.44338498338032545,
-    "rms_right": 0.44579442483158055,
-    "rms_stereo": 0.5312426825685321,
-    "baseline_m": 0.004182842078136359
-}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/hand_eye_calibration/PSM1-registration-dVRK.json

@@ -1 +0,0 @@
-{"name": "PSM1", "measured_cp": [[0.756424971880805, 0.4727462294770376, 0.45203126488149975, -0.10963041745044046], [-0.2920266745956184, 0.8624828261019016, -0.4133325489287075, 0.09113220154111948], [-0.5852706068475925, 0.1806498746042229, 0.7904580568036047, -0.024715453133760654], [0.0, 0.0, 0.0, 1.0]]}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/hand_eye_calibration/PSM1-registration-open-cv.json

@@ -1,3 +0,0 @@
-{
-"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]]}
-}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/hand_eye_calibration/PSM2-registration-dVRK.json

@@ -1 +0,0 @@
-{"name": "PSM2", "measured_cp": [[0.8707821536393257, -0.34970567032496236, -0.3456072699551167, 0.09797146709983753], [0.21706861340991404, 0.9041520665014405, -0.36795415164592554, 0.08504097206590117], [0.4411571805780308, 0.2453874177372262, 0.8632296086445947, -0.022011667446795363], [0.0, 0.0, 0.0, 1.0]]}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/hand_eye_calibration/PSM2-registration-open-cv.json

@@ -1,3 +0,0 @@
-{
-"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]]}
-}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/camera_calibration/left.yaml

@@ -1,46 +0,0 @@
-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

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/camera_calibration/right.yaml

@@ -1,46 +0,0 @@
-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

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/camera_calibration/stereo_calib_params.json

@@ -1,120 +0,0 @@
-{
-    "cameraMatrixL": [
-        [
-            1175.9318104257968,
-            0.0,
-            953.4400649317635
-        ],
-        [
-            0.0,
-            1178.829539428327,
-            531.6113782903312
-        ],
-        [
-            0.0,
-            0.0,
-            1.0
-        ]
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Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/hand_eye_calibration/PSM1-registration-dVRK.json

@@ -1 +0,0 @@
-{"name": "PSM1", "measured_cp": [[0.756424971880805, 0.4727462294770376, 0.45203126488149975, -0.10963041745044046], [-0.2920266745956184, 0.8624828261019016, -0.4133325489287075, 0.09113220154111948], [-0.5852706068475925, 0.1806498746042229, 0.7904580568036047, -0.024715453133760654], [0.0, 0.0, 0.0, 1.0]]}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/hand_eye_calibration/PSM1-registration-open-cv.json

@@ -1,3 +0,0 @@
-{
-"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]]}
-}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/hand_eye_calibration/PSM2-registration-dVRK.json

@@ -1 +0,0 @@
-{"name": "PSM2", "measured_cp": [[0.8707821536393257, -0.34970567032496236, -0.3456072699551167, 0.09797146709983753], [0.21706861340991404, 0.9041520665014405, -0.36795415164592554, 0.08504097206590117], [0.4411571805780308, 0.2453874177372262, 0.8632296086445947, -0.022011667446795363], [0.0, 0.0, 0.0, 1.0]]}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/hand_eye_calibration/PSM2-registration-open-cv.json

@@ -1,3 +0,0 @@
-{
-"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]]}
-}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/camera_calibration/left.yaml

@@ -1,46 +0,0 @@
-R_stereo:
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-  rows: 3
-T_stereo:
-  cols: 1
-  data:
-  - -0.004170971469831339
-  - 0.000067934947019158
-  - 0.000307489335513621
-  rows: 3
-camera_matrix:
-  cols: 3
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-  rows: 3
-camera_name: stereo_left
-distortion_coefficients:
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-distortion_model: plumb_bob
-image_height: 1080
-image_width: 1920

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/camera_calibration/right.yaml

@@ -1,46 +0,0 @@
-R_stereo:
-  cols: 3
-  data:
-  - 0.9963893755659492
-  - 0.0000146863008192
-  - 0.0849011898833603
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-  rows: 3
-T_stereo:
-  cols: 1
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-  - -0.004170971469831339
-  - 0.000067934947019158
-  - 0.000307489335513621
-  rows: 3
-camera_matrix:
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-camera_name: stereo_left
-distortion_coefficients:
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-distortion_model: plumb_bob
-image_height: 1080
-image_width: 1920

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/camera_calibration/stereo_calib_params.json

@@ -1,120 +0,0 @@
-{
-    "cameraMatrixL": [
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-    "distCoeffsL": [
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-    "cameraMatrixR": [
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-            0.0,
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-}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/hand_eye_calibration/PSM1-registration-dVRK.json

@@ -1 +0,0 @@
-{"name": "PSM1", "measured_cp": [[0.756424971880805, 0.4727462294770376, 0.45203126488149975, -0.10963041745044046], [-0.2920266745956184, 0.8624828261019016, -0.4133325489287075, 0.09113220154111948], [-0.5852706068475925, 0.1806498746042229, 0.7904580568036047, -0.024715453133760654], [0.0, 0.0, 0.0, 1.0]]}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/hand_eye_calibration/PSM1-registration-open-cv.json

@@ -1,3 +0,0 @@
-{
-"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]]}
-}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/hand_eye_calibration/PSM2-registration-dVRK.json

@@ -1 +0,0 @@
-{"name": "PSM2", "measured_cp": [[0.8707821536393257, -0.34970567032496236, -0.3456072699551167, 0.09797146709983753], [0.21706861340991404, 0.9041520665014405, -0.36795415164592554, 0.08504097206590117], [0.4411571805780308, 0.2453874177372262, 0.8632296086445947, -0.022011667446795363], [0.0, 0.0, 0.0, 1.0]]}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/hand_eye_calibration/PSM2-registration-open-cv.json

@@ -1,3 +0,0 @@
-{
-"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]]}
-}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/camera_calibration/left.yaml

@@ -1,46 +0,0 @@
-R_stereo:
-  cols: 3
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-T_stereo:
-  cols: 1
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-  - -0.004170971469831339
-  - 0.000067934947019158
-  - 0.000307489335513621
-  rows: 3
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-camera_name: stereo_left
-distortion_coefficients:
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-distortion_model: plumb_bob
-image_height: 1080
-image_width: 1920

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/camera_calibration/right.yaml

@@ -1,46 +0,0 @@
-R_stereo:
-  cols: 3
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-  - 0.9963893755659492
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-  - -0.004170971469831339
-  - 0.000067934947019158
-  - 0.000307489335513621
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-camera_name: stereo_left
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-  rows: 1
-distortion_model: plumb_bob
-image_height: 1080
-image_width: 1920

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/camera_calibration/stereo_calib_params.json

@@ -1,120 +0,0 @@
-{
-    "cameraMatrixL": [
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-            0.0,
-            953.4400649317635
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-    "cameraMatrixR": [
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-            936.1201431988873
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-}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/hand_eye_calibration/PSM1-registration-dVRK.json

@@ -1 +0,0 @@
-{"name": "PSM1", "measured_cp": [[0.756424971880805, 0.4727462294770376, 0.45203126488149975, -0.10963041745044046], [-0.2920266745956184, 0.8624828261019016, -0.4133325489287075, 0.09113220154111948], [-0.5852706068475925, 0.1806498746042229, 0.7904580568036047, -0.024715453133760654], [0.0, 0.0, 0.0, 1.0]]}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/hand_eye_calibration/PSM1-registration-open-cv.json

@@ -1,3 +0,0 @@
-{
-"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]]}
-}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/hand_eye_calibration/PSM2-registration-dVRK.json

@@ -1 +0,0 @@
-{"name": "PSM2", "measured_cp": [[0.8707821536393257, -0.34970567032496236, -0.3456072699551167, 0.09797146709983753], [0.21706861340991404, 0.9041520665014405, -0.36795415164592554, 0.08504097206590117], [0.4411571805780308, 0.2453874177372262, 0.8632296086445947, -0.022011667446795363], [0.0, 0.0, 0.0, 1.0]]}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/hand_eye_calibration/PSM2-registration-open-cv.json

@@ -1,3 +0,0 @@
-{
-"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]]}
-}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/camera_calibration/left.yaml

@@ -1,46 +0,0 @@
-R_stereo:
-  cols: 3
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-  - 0.0000146863008192
-  - 0.0849011898833603
-  - -0.0013327585854255
-  - 0.9998794732146515
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-  - -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
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-  rows: 3
-camera_name: stereo_left
-distortion_coefficients:
-  cols: 1
-  data:
-  - -0.019781771124869636
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-  rows: 1
-distortion_model: plumb_bob
-image_height: 1080
-image_width: 1920

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/camera_calibration/right.yaml

@@ -1,46 +0,0 @@
-R_stereo:
-  cols: 3
-  data:
-  - 0.9963893755659492
-  - 0.0000146863008192
-  - 0.0849011898833603
-  - -0.0013327585854255
-  - 0.9998794732146515
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-  - -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
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-  rows: 3
-camera_name: stereo_left
-distortion_coefficients:
-  cols: 1
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-  rows: 1
-distortion_model: plumb_bob
-image_height: 1080
-image_width: 1920

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/camera_calibration/stereo_calib_params.json

@@ -1,120 +0,0 @@
-{
-    "cameraMatrixL": [
-        [
-            1175.9318104257968,
-            0.0,
-            953.4400649317635
-        ],
-        [
-            0.0,
-            1178.829539428327,
-            531.6113782903312
-        ],
-        [
-            0.0,
-            0.0,
-            1.0
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-    ],
-    "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
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-    ],
-    "distCoeffsR": [
-        [
-            -0.01273349574944207,
-            -0.059868924661268766,
-            -0.004528006292720679,
-            -0.007905615610660825,
-            0.07007120636163403
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-    ],
-    "R": [
-        [
-            0.9963893755659492,
-            1.4686300819203289e-05,
-            0.08490118988336033
-        ],
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-            0.9998794732146515,
-            0.015468122010892043
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-        [
-            -0.08489072984637848,
-            -0.01552542522134053,
-            0.9962693035308504
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-    ],
-    "T": [
-        [
-            -0.004170971469831339
-        ],
-        [
-            6.793494701915852e-05
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-        [
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-    "E": [
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-            -5.357238182698847e-06,
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-            6.292521979340946e-05
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-        [
-            -4.769770523679888e-05,
-            -6.47515897743312e-05,
-            0.0041815170517574655
-        ],
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-            -6.213076140354249e-05,
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-    "F": [
-        [
-            2.042216620850013e-08,
-            1.1731593154221004e-06,
-            -0.0009252131876548991
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-            1.8134724916599428e-07,
-            2.455811627055598e-07,
-            -0.018998630874893223
-        ],
-        [
-            0.00016491277399706107,
-            0.01746486408726229,
-            1.0
-        ]
-    ],
-    "rms_left": 0.44338498338032545,
-    "rms_right": 0.44579442483158055,
-    "rms_stereo": 0.5312426825685321,
-    "baseline_m": 0.004182842078136359
-}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/hand_eye_calibration/PSM1-registration-dVRK.json

@@ -1 +0,0 @@
-{"name": "PSM1", "measured_cp": [[0.756424971880805, 0.4727462294770376, 0.45203126488149975, -0.10963041745044046], [-0.2920266745956184, 0.8624828261019016, -0.4133325489287075, 0.09113220154111948], [-0.5852706068475925, 0.1806498746042229, 0.7904580568036047, -0.024715453133760654], [0.0, 0.0, 0.0, 1.0]]}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/hand_eye_calibration/PSM1-registration-open-cv.json

@@ -1,3 +0,0 @@
-{
-"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]]}
-}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/hand_eye_calibration/PSM2-registration-dVRK.json

@@ -1 +0,0 @@
-{"name": "PSM2", "measured_cp": [[0.8707821536393257, -0.34970567032496236, -0.3456072699551167, 0.09797146709983753], [0.21706861340991404, 0.9041520665014405, -0.36795415164592554, 0.08504097206590117], [0.4411571805780308, 0.2453874177372262, 0.8632296086445947, -0.022011667446795363], [0.0, 0.0, 0.0, 1.0]]}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/hand_eye_calibration/PSM2-registration-open-cv.json

@@ -1,3 +0,0 @@
-{
-"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]]}
-}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/camera_calibration/left.yaml

@@ -1,46 +0,0 @@
-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

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/camera_calibration/right.yaml

@@ -1,46 +0,0 @@
-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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-  - 0.07007120636163403
-  rows: 1
-distortion_model: plumb_bob
-image_height: 1080
-image_width: 1920

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/camera_calibration/stereo_calib_params.json

@@ -1,120 +0,0 @@
-{
-    "cameraMatrixL": [
-        [
-            1175.9318104257968,
-            0.0,
-            953.4400649317635
-        ],
-        [
-            0.0,
-            1178.829539428327,
-            531.6113782903312
-        ],
-        [
-            0.0,
-            0.0,
-            1.0
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-    ],
-    "distCoeffsL": [
-        [
-            -0.019781771124869636,
-            -0.03955841810275026,
-            -0.0017663372223640362,
-            -0.003287906819938256,
-            0.0395035486931128
-        ]
-    ],
-    "cameraMatrixR": [
-        [
-            1178.6272335909316,
-            0.0,
-            936.1201431988873
-        ],
-        [
-            0.0,
-            1181.7451697852755,
-            524.5390674149788
-        ],
-        [
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-            0.0,
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-    ],
-    "distCoeffsR": [
-        [
-            -0.01273349574944207,
-            -0.059868924661268766,
-            -0.004528006292720679,
-            -0.007905615610660825,
-            0.07007120636163403
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-    "R": [
-        [
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-            1.4686300819203289e-05,
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-    "T": [
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-        [
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-        [
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-    "E": [
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-    "F": [
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-            2.042216620850013e-08,
-            1.1731593154221004e-06,
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-    "rms_left": 0.44338498338032545,
-    "rms_right": 0.44579442483158055,
-    "rms_stereo": 0.5312426825685321,
-    "baseline_m": 0.004182842078136359
-}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/hand_eye_calibration/PSM1-registration-dVRK.json

@@ -1 +0,0 @@
-{"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]]}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/hand_eye_calibration/PSM1-registration-open-cv.json

@@ -1,3 +0,0 @@
-{
-"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]]}
-}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/hand_eye_calibration/PSM2-registration-dVRK.json

@@ -1 +0,0 @@
-{"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]]}

Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/hand_eye_calibration/PSM2-registration-open-cv.json

@@ -1,3 +0,0 @@
-{
-"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]]}
-}