diff --git a/Surgical/jhu/lscr/smarts/README.md b/Surgical/jhu/lscr/smarts/README.md new file mode 100644 index 0000000000000000000000000000000000000000..17d3c0e30d22fb86c94e544cdc31c2384650c75f --- /dev/null +++ b/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`. diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index b6852ced969ec52f90b929b5718946b4466991e8..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index b02dbe15fc5f4424f3b6ed9abd09f760bcbedb9d..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 62dd01c8a67f7313f5a539c2e4873568e52e00f5..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index e3274342a45db4a78d86b53927215d72523c0b63..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-000/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index b6852ced969ec52f90b929b5718946b4466991e8..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index b02dbe15fc5f4424f3b6ed9abd09f760bcbedb9d..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 62dd01c8a67f7313f5a539c2e4873568e52e00f5..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index e3274342a45db4a78d86b53927215d72523c0b63..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-001/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index b6852ced969ec52f90b929b5718946b4466991e8..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index b02dbe15fc5f4424f3b6ed9abd09f760bcbedb9d..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 62dd01c8a67f7313f5a539c2e4873568e52e00f5..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index e3274342a45db4a78d86b53927215d72523c0b63..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-002/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index b6852ced969ec52f90b929b5718946b4466991e8..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index b02dbe15fc5f4424f3b6ed9abd09f760bcbedb9d..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 62dd01c8a67f7313f5a539c2e4873568e52e00f5..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index e3274342a45db4a78d86b53927215d72523c0b63..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-003/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index b6852ced969ec52f90b929b5718946b4466991e8..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index b02dbe15fc5f4424f3b6ed9abd09f760bcbedb9d..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 62dd01c8a67f7313f5a539c2e4873568e52e00f5..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index e3274342a45db4a78d86b53927215d72523c0b63..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-004/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index b6852ced969ec52f90b929b5718946b4466991e8..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index b02dbe15fc5f4424f3b6ed9abd09f760bcbedb9d..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 62dd01c8a67f7313f5a539c2e4873568e52e00f5..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index e3274342a45db4a78d86b53927215d72523c0b63..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-005/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-006/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-007/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-007/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-007/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-007/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-007/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-007/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-007/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-007/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-007/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-007/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-007/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-007/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-007/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-007/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-007/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-007/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-007/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-007/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-007/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-007/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-007/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-008/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-008/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-008/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-008/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-008/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-008/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-008/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-008/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-008/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-008/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-008/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-008/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-008/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-008/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-008/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-008/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-008/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-008/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-008/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-008/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-008/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-009/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-009/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-009/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-009/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-009/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-009/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-009/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-009/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-009/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-009/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-009/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-009/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-009/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-009/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-009/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-009/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-009/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-009/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-009/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-009/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-009/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-010/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-010/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-010/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-010/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-010/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-010/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-010/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-010/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-010/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-010/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-010/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-010/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-010/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-010/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-010/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-010/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-010/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-010/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-010/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-010/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-010/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-011/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-011/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-011/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-011/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-011/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-011/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-011/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-011/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-011/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-011/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-011/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-011/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-011/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-011/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-011/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-011/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-011/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-011/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-011/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-011/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-011/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-012/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-012/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-012/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-012/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-012/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-012/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-012/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-012/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-012/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-012/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-012/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-012/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-012/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-012/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-012/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-012/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-012/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-012/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-012/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-012/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-012/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-013/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-013/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-013/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-013/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-013/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-013/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-013/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-013/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-013/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-013/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-013/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-013/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-013/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-013/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-013/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-013/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-013/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-013/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-013/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-013/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-013/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-014/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-014/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-014/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-014/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-014/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-014/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-014/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-014/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-014/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-014/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-014/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-014/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-014/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-014/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-014/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-014/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-014/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-014/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-014/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-014/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-014/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-015/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-015/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-015/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-015/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-015/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-015/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-015/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-015/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-015/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-015/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-015/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-015/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-015/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-015/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-015/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-015/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-015/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-015/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-015/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-015/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-015/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-016/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-016/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-016/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-016/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-016/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-016/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-016/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-016/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-016/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-016/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-016/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-016/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-016/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-016/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-016/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-016/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-016/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-016/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-016/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-016/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-016/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-017/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-017/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-017/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-017/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-017/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-017/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-017/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-017/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-017/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-017/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-017/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-017/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-017/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-017/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-017/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-017/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-017/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-017/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-017/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-017/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-017/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-018/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-018/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-018/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-018/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-018/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-018/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-018/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-018/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-018/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-018/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-018/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-018/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-018/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-018/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-018/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-018/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-018/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-018/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-018/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-018/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-018/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-019/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-019/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-019/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-019/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-019/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-019/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-019/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-019/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-019/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-019/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-019/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-019/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-019/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-019/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-019/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-019/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-019/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-019/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-019/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-019/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-019/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-020/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-020/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-020/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-020/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-020/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-020/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-020/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-020/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-020/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-020/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-020/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-020/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-020/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-020/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-020/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-020/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-020/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-020/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-020/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-020/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-020/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-021/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-021/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-021/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-021/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-021/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-021/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-021/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-021/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-021/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-021/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-021/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-021/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-021/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-021/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-021/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-021/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-021/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-021/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-021/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-021/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-021/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-022/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-022/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-022/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-022/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-022/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-022/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-022/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-022/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-022/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-022/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-022/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-022/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-022/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-022/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-022/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-022/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-022/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-022/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-022/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-022/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-022/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-023/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-023/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-023/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-023/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-023/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-023/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-023/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-023/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-023/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-023/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-023/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-023/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-023/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-023/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-023/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-023/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-023/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-023/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-023/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-023/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-023/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-024/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-024/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-024/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-024/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-024/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-024/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-024/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-024/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-024/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-024/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-024/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-024/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-024/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-024/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-024/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-024/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-024/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-024/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-024/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-024/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-024/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-025/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-025/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-025/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-025/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-025/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-025/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-025/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-025/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-025/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-025/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-025/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-025/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-025/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-025/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-025/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-025/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-025/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-025/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-025/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-025/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-025/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-026/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-026/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-026/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-026/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-026/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-026/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-026/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-026/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-026/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-026/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-026/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-026/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-026/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-026/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-026/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-026/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-026/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-026/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-026/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-026/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-026/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-027/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-027/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-027/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-027/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-027/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-027/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-027/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-027/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-027/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-027/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-027/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-027/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-027/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-027/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-027/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-027/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-027/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-027/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-027/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-027/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-027/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-028/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-028/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-028/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-028/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-028/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-028/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-028/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-028/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-028/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-028/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-028/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-028/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-028/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-028/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-028/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-028/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-028/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-028/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-028/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-028/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-028/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-029/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-029/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-029/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-029/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-029/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-029/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-029/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-029/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-029/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-029/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-029/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-029/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-029/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-029/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-029/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-029/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-029/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-029/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-029/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-029/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-029/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-030/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-030/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-030/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-030/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-030/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-030/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-030/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-030/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-030/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-030/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-030/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-030/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-030/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-030/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-030/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-030/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-030/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-030/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-030/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-030/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-030/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-031/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-031/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-031/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-031/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-031/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-031/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-031/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-031/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-031/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-031/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-031/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-031/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-031/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-031/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-031/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-031/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-031/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-031/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-031/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-031/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-031/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-032/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-032/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-032/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-032/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-032/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-032/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-032/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-032/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-032/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-032/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-032/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-032/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-032/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-032/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-032/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-032/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-032/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-032/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-032/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-032/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-032/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-033/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-033/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-033/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-033/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-033/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-033/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-033/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-033/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-033/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-033/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-033/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-033/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-033/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-033/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-033/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-033/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-033/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-033/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-033/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-033/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-033/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-034/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-034/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-034/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-034/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-034/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-034/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-034/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-034/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-034/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-034/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-034/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-034/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-034/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-034/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-034/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-034/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-034/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-034/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-034/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-034/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-034/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-035/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-035/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-035/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-035/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-035/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-035/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-035/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-035/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-035/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-035/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-035/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-035/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-035/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-035/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-035/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-035/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-035/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-035/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-035/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-035/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-035/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-036/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-036/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-036/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-036/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-036/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-036/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-036/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-036/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-036/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-036/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-036/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-036/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-036/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-036/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-036/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-036/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-036/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-036/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-036/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-036/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-036/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-037/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-037/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-037/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-037/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-037/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-037/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-037/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-037/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-037/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-037/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-037/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-037/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-037/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-037/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-037/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-037/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-037/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-037/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-037/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-037/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-037/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-038/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-038/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-038/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-038/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-038/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-038/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-038/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-038/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-038/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-038/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-038/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-038/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-038/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-038/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-038/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-038/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-038/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-038/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-038/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-038/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-038/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-039/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-039/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-039/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-039/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-039/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-039/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-039/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-039/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-039/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-039/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-039/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-039/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-039/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-039/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-039/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-039/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-039/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-039/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-039/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-039/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-039/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-040/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-040/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-040/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-040/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-040/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-040/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-040/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-040/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-040/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-040/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-040/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-040/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-040/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-040/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-040/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-040/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-040/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-040/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-040/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-040/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-040/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-041/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-041/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-041/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-041/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-041/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-041/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-041/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-041/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-041/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-041/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-041/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-041/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-041/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-041/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-041/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-041/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-041/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-041/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-041/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-041/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-041/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-042/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-042/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-042/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-042/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-042/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-042/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-042/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-042/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-042/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-042/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-042/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-042/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-042/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-042/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-042/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-042/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-042/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-042/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-042/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-042/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-042/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-043/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-043/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-043/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-043/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-043/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-043/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-043/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-043/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-043/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-043/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-043/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-043/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-043/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-043/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-043/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-043/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-043/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-043/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-043/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-043/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-043/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-044/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-044/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-044/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-044/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-044/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-044/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-044/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-044/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-044/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-044/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-044/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-044/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-044/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-044/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-044/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-044/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-044/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-044/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-044/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-044/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-044/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-045/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-045/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-045/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-045/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-045/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-045/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-045/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-045/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-045/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-045/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-045/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-045/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-045/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-045/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-045/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-045/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-045/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-045/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-045/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-045/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-045/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-046/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-046/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-046/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-046/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-046/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-046/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-046/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-046/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-046/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-046/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-046/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-046/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-046/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-046/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-046/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-046/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-046/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-046/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-046/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-046/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-046/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-047/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-047/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-047/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-047/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-047/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-047/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-047/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-047/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-047/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-047/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-047/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-047/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-047/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-047/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-047/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-047/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-047/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-047/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-047/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-047/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-047/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-048/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-048/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-048/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-048/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-048/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-048/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-048/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-048/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-048/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-048/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-048/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-048/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-048/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-048/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-048/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-048/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-048/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-048/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-048/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-048/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-048/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-049/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-049/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-049/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-049/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-049/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-049/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-049/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-049/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-049/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-049/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-049/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-049/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-049/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-049/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-049/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-049/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-049/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-049/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-049/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-049/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-049/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-050/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-050/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-050/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-050/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-050/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-050/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-050/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-050/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-050/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-050/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-050/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-050/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-050/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-050/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-050/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-050/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-050/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-050/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-050/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-050/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-050/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-051/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-051/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-051/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-051/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-051/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-051/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-051/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-051/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-051/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-051/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-051/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-051/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-051/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-051/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-051/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-051/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-051/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-051/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-051/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-051/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-051/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-052/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-052/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-052/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-052/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-052/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-052/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-052/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-052/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-052/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-052/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-052/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-052/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-052/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-052/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-052/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-052/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-052/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-052/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-052/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-052/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-052/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-053/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-053/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-053/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-053/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-053/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-053/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-053/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-053/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-053/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-053/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-053/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 245ac3d5854d939c38aca46a80970b9f650630a2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-053/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-053/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-053/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 01db39cc58129b6fe2763e5dd581c8222a2e88ae..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-053/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-053/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-053/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index ac7d3ac1439e0e6b78d03d86ae5bd6545b59a616..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-053/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -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]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-053/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-053/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 8d2c89f92c15fd667b22d632fc8f6348ef580727..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part1/calibrations/case-053/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -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]]} -} diff --git 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traces using non-energy surigal instruments", "instruction_text": "finalize_clean_up: finalize the cold-cut dissection and clear the cut tissue piece as needed", "duration_s": 3.5, "length": 36, "user_id": "13", "user_description": "An orthopedist with robotics surgery experience, Male, D.A.Z", "skill_level": "Expert", "data_collection_scenario": "Ex-vivo", "tool_type": {"PSM1": "Curved_Scissors", "PSM2": "Prograsp_Forceps"}} -{"episode_index": 4300, "episode_id": "episode_004300", "episode_chunk": 43, "case_id": "case-043", "task_index": 2, "task": "perform cold-cut dissection on ex-vivo tissue by cutting along pre-defined traces using non-energy surigal instruments", "instruction_text": "grasp_tissue: reach to the tissue and establish an initial grasp to begin cold-cut dissection", "duration_s": 2.5999999046325684, "length": 27, "user_id": "13", "user_description": "An orthopedist with robotics surgery experience, Male, D.A.Z", "skill_level": "Expert", "data_collection_scenario": "Ex-vivo", "tool_type": {"PSM1": "Curved_Scissors", "PSM2": "Prograsp_Forceps"}} -{"episode_index": 4301, "episode_id": "episode_004301", "episode_chunk": 43, "case_id": "case-043", "task_index": 2, "task": "perform cold-cut dissection on ex-vivo tissue by cutting along pre-defined traces using non-energy surigal instruments", "instruction_text": "create_tension: apply tension to the tissue to prepare for cold-cut dissection; reapply or increase tension as needed before or during the subsequent cutting", "duration_s": 1.8999998569488525, "length": 20, "user_id": "13", "user_description": "An orthopedist with robotics surgery experience, Male, D.A.Z", "skill_level": "Expert", "data_collection_scenario": "Ex-vivo", "tool_type": {"PSM1": "Curved_Scissors", "PSM2": "Prograsp_Forceps"}} -{"episode_index": 4302, "episode_id": "episode_004302", "episode_chunk": 43, "case_id": "case-043", "task_index": 2, "task": "perform cold-cut dissection on ex-vivo tissue by cutting along pre-defined 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"Expert", "data_collection_scenario": "Ex-vivo", "tool_type": {"PSM1": "Curved_Scissors", "PSM2": "Prograsp_Forceps"}} -{"episode_index": 4304, "episode_id": "episode_004304", "episode_chunk": 43, "case_id": "case-043", "task_index": 2, "task": "perform cold-cut dissection on ex-vivo tissue by cutting along pre-defined traces using non-energy surigal instruments", "instruction_text": "cold_cut: perform cold-cut dissection using non-energy instruments, following the pre-defined marker trace when available", "duration_s": 35.5, "length": 356, "user_id": "13", "user_description": "An orthopedist with robotics surgery experience, Male, D.A.Z", "skill_level": "Expert", "data_collection_scenario": "Ex-vivo", "tool_type": {"PSM1": "Curved_Scissors", "PSM2": "Prograsp_Forceps"}} -{"episode_index": 4305, "episode_id": "episode_004305", "episode_chunk": 43, "case_id": "case-043", "task_index": 2, "task": "perform cold-cut dissection on ex-vivo tissue by cutting along pre-defined traces using non-energy surigal instruments", "instruction_text": "finalize_clean_up: finalize the cold-cut dissection and clear the cut tissue piece as needed", "duration_s": 2.5, "length": 26, "user_id": "13", "user_description": "An orthopedist with robotics surgery experience, Male, D.A.Z", "skill_level": "Expert", "data_collection_scenario": "Ex-vivo", "tool_type": {"PSM1": "Curved_Scissors", "PSM2": "Prograsp_Forceps"}} -{"episode_index": 4400, "episode_id": "episode_004400", "episode_chunk": 44, "case_id": "case-044", "task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "pick_and_reorient_needle: pick up the suturing needle and reorient it to the desired pose; use both arms if needed", "duration_s": 5.5, "length": 56, "user_id": "13", "user_description": "An orthopedist with robotics surgery experience, Male, D.A.Z", "skill_level": "Expert", "data_collection_scenario": "Ex-vivo", "tool_type": {"PSM1": "Large_Needle_Driver", "PSM2": "Large_Needle_Driver"}} -{"episode_index": 4401, "episode_id": "episode_004401", "episode_chunk": 44, "case_id": "case-044", "task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "needle_entry_bite: align the suturing needle for entry and drive it into the tissue (occasionally silicon suturing training phantom) until the needle tip is fully inside", "duration_s": 2.4000000953674316, "length": 25, "user_id": "13", "user_description": "An orthopedist with robotics surgery experience, Male, D.A.Z", "skill_level": "Expert", "data_collection_scenario": "Ex-vivo", "tool_type": {"PSM1": "Large_Needle_Driver", "PSM2": "Large_Needle_Driver"}} -{"episode_index": 4402, "episode_id": "episode_004402", "episode_chunk": 44, "case_id": "case-044", "task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "needle_drive_through: drive the suturing needle through the tissue (occasionally silicon suturing training phantom) until the needle tip emerges on the opposite side", "duration_s": 11.400000095367432, "length": 115, "user_id": "13", "user_description": "An orthopedist with robotics surgery experience, Male, D.A.Z", "skill_level": "Expert", "data_collection_scenario": "Ex-vivo", "tool_type": {"PSM1": "Large_Needle_Driver", "PSM2": "Large_Needle_Driver"}} -{"episode_index": 4403, "episode_id": "episode_004403", "episode_chunk": 44, "case_id": "case-044", "task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "needle_pull_out: pull the suturing 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D.A.Z", "skill_level": "Expert", "data_collection_scenario": "Ex-vivo", "tool_type": {"PSM1": "Large_Needle_Driver", "PSM2": "Large_Needle_Driver"}} -{"episode_index": 4405, "episode_id": "episode_004405", "episode_chunk": 44, "case_id": "case-044", "task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "knot_tying_throw1: tie the first knot throw for the simple interrupted stitch; typically a double throw, but use a single throw as needed", "duration_s": 33.30000019073486, "length": 334, "user_id": "13", "user_description": "An orthopedist with robotics surgery experience, Male, D.A.Z", "skill_level": "Expert", "data_collection_scenario": "Ex-vivo", "tool_type": {"PSM1": "Large_Needle_Driver", "PSM2": "Large_Needle_Driver"}} -{"episode_index": 4406, "episode_id": "episode_004406", "episode_chunk": 44, "case_id": "case-044", "task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "knot_tying_throw2: tie the second knot throw for the simple interrupted stitch; typically a single throw, but use a double throw as needed", "duration_s": 25.5, "length": 256, "user_id": "13", "user_description": "An orthopedist with robotics surgery experience, Male, D.A.Z", "skill_level": "Expert", "data_collection_scenario": "Ex-vivo", "tool_type": {"PSM1": "Large_Needle_Driver", "PSM2": "Large_Needle_Driver"}} -{"episode_index": 4407, "episode_id": "episode_004407", "episode_chunk": 44, "case_id": "case-044", "task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "knot_retighten: retighten the knot as needed", "duration_s": 7.900000095367432, "length": 80, "user_id": "13", "user_description": "An orthopedist with robotics surgery experience, Male, D.A.Z", "skill_level": "Expert", "data_collection_scenario": "Ex-vivo", "tool_type": {"PSM1": "Large_Needle_Driver", "PSM2": "Large_Needle_Driver"}} -{"episode_index": 4408, "episode_id": "episode_004408", "episode_chunk": 44, "case_id": "case-044", "task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "knot_tying_throw3: tie the third knot throw for the simple interrupted stitch; typically a single throw, but use a double throw as needed", "duration_s": 25.600000143051147, "length": 257, "user_id": "13", "user_description": "An orthopedist with robotics surgery experience, Male, D.A.Z", "skill_level": "Expert", "data_collection_scenario": "Ex-vivo", "tool_type": {"PSM1": "Large_Needle_Driver", "PSM2": "Large_Needle_Driver"}} -{"episode_index": 4409, "episode_id": "episode_004409", "episode_chunk": 44, "case_id": "case-044", "task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "knot_retighten: retighten the knot as needed", "duration_s": 9.100000143051147, "length": 92, "user_id": "13", "user_description": "An orthopedist with robotics surgery experience, Male, D.A.Z", "skill_level": "Expert", "data_collection_scenario": "Ex-vivo", "tool_type": {"PSM1": "Large_Needle_Driver", "PSM2": "Large_Needle_Driver"}} -{"episode_index": 4500, "episode_id": "episode_004500", "episode_chunk": 45, "case_id": "case-045", "task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "pick_and_reorient_needle: pick up the suturing needle and reorient it to the desired pose; use both arms if needed", "duration_s": 5.400000095367432, "length": 55, "user_id": "13", "user_description": "An orthopedist with robotics surgery experience, Male, D.A.Z", "skill_level": "Expert", "data_collection_scenario": "Ex-vivo", "tool_type": {"PSM1": "Large_Needle_Driver", "PSM2": "Large_Needle_Driver"}} -{"episode_index": 4501, "episode_id": "episode_004501", "episode_chunk": 45, "case_id": "case-045", "task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "needle_entry_bite: align the suturing needle for entry and drive it into the tissue (occasionally silicon suturing training phantom) until the needle tip is fully inside", "duration_s": 3.5, "length": 36, "user_id": "13", "user_description": "An orthopedist with robotics surgery 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"episode_chunk": 45, "case_id": "case-045", "task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "needle_pull_out: pull the suturing needle out of the tissue (occasionally silicon suturing training phantom) until the entire needle body has fully exited", "duration_s": 1.7000000476837158, "length": 18, "user_id": "13", "user_description": "An orthopedist with robotics surgery experience, Male, D.A.Z", "skill_level": "Expert", "data_collection_scenario": "Ex-vivo", "tool_type": {"PSM1": "Large_Needle_Driver", "PSM2": "Large_Needle_Driver"}} -{"episode_index": 4504, "episode_id": "episode_004504", "episode_chunk": 45, "case_id": "case-045", "task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "thread_pull_through: pull the suture thread through until an appropriate length remains for knot tying; use bimanual grasping as needed", "duration_s": 9.899999856948853, "length": 100, "user_id": "13", "user_description": "An orthopedist with robotics surgery experience, Male, D.A.Z", "skill_level": "Expert", "data_collection_scenario": "Ex-vivo", "tool_type": {"PSM1": "Large_Needle_Driver", "PSM2": "Large_Needle_Driver"}} -{"episode_index": 4505, "episode_id": "episode_004505", "episode_chunk": 45, "case_id": "case-045", "task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "visualize_tissue: adjust the camera pose to obtain a clear view of the tissue and target region as needed", "duration_s": 3.5999999046325684, "length": 37, "user_id": "13", "user_description": "An orthopedist with robotics surgery experience, 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"task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "pick_and_reorient_needle: pick up the suturing needle and reorient it to the desired pose; use both arms if needed", "duration_s": 13.100000143051147, "length": 132, "user_id": "13", "user_description": "An orthopedist with robotics surgery experience, Male, D.A.Z", "skill_level": "Expert", "data_collection_scenario": "Ex-vivo", "tool_type": {"PSM1": "Large_Needle_Driver", "PSM2": "Large_Needle_Driver"}} -{"episode_index": 4508, "episode_id": "episode_004508", "episode_chunk": 45, "case_id": "case-045", "task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "needle_entry_bite: align the suturing needle for entry and drive it into the 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"task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "thread_pull_through: pull the suture thread through until an appropriate length remains for knot tying; use bimanual grasping as needed", "duration_s": 3.5, "length": 36, "user_id": "13", "user_description": "An orthopedist with robotics surgery experience, Male, D.A.Z", "skill_level": "Expert", "data_collection_scenario": "Ex-vivo", "tool_type": {"PSM1": "Large_Needle_Driver", "PSM2": "Large_Needle_Driver"}} -{"episode_index": 4512, "episode_id": "episode_004512", "episode_chunk": 45, "case_id": "case-045", "task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "knot_tying_throw1: tie the first knot throw for the simple interrupted 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a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-054/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-054/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-054/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-054/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-054/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-054/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -1,120 +0,0 @@ -{ - "cameraMatrixL": [ - [ - 1175.9318104257968, - 0.0, - 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0638b85522aeffbdf9ce7518c24a10c147a6b69c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-054/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-054/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-054/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index d912c9134ad770c9e38f1d6e45411fab5fae7e04..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-054/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-054/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-054/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index b326e65ea544fa2d250a8e9379027ea0284b576f..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-054/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-054/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-054/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 36ff3d788719e861b77ce621f2522893f9ab144c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-054/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-055/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-055/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-055/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-055/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-055/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-055/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-055/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-055/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-055/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -1,120 +0,0 @@ -{ - "cameraMatrixL": [ - [ - 1175.9318104257968, - 0.0, - 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0638b85522aeffbdf9ce7518c24a10c147a6b69c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-055/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-055/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-055/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index d912c9134ad770c9e38f1d6e45411fab5fae7e04..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-055/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-055/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-055/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index b326e65ea544fa2d250a8e9379027ea0284b576f..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-055/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-055/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-055/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 36ff3d788719e861b77ce621f2522893f9ab144c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-055/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-056/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-056/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-056/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-056/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-056/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-056/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-056/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-056/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-056/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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, - 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0638b85522aeffbdf9ce7518c24a10c147a6b69c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-056/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-056/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-056/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index d912c9134ad770c9e38f1d6e45411fab5fae7e04..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-056/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-056/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-056/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index b326e65ea544fa2d250a8e9379027ea0284b576f..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-056/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-056/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-056/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 36ff3d788719e861b77ce621f2522893f9ab144c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-056/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-057/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-057/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-057/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-057/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-057/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-057/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-057/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-057/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-057/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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, - 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0638b85522aeffbdf9ce7518c24a10c147a6b69c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-057/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-057/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-057/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index d912c9134ad770c9e38f1d6e45411fab5fae7e04..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-057/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-057/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-057/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index b326e65ea544fa2d250a8e9379027ea0284b576f..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-057/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-057/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-057/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 36ff3d788719e861b77ce621f2522893f9ab144c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-057/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-058/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-058/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-058/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-058/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-058/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-058/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-058/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-058/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-058/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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, - 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0638b85522aeffbdf9ce7518c24a10c147a6b69c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-058/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-058/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-058/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index d912c9134ad770c9e38f1d6e45411fab5fae7e04..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-058/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-058/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-058/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index b326e65ea544fa2d250a8e9379027ea0284b576f..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-058/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-058/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-058/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 36ff3d788719e861b77ce621f2522893f9ab144c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-058/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-059/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-059/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-059/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-059/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-059/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-059/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-059/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-059/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-059/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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, - 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0638b85522aeffbdf9ce7518c24a10c147a6b69c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-059/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-059/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-059/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index d912c9134ad770c9e38f1d6e45411fab5fae7e04..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-059/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-059/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-059/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index b326e65ea544fa2d250a8e9379027ea0284b576f..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-059/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-059/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-059/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 36ff3d788719e861b77ce621f2522893f9ab144c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-059/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-060/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-060/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-060/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-060/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-060/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-060/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-060/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-060/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-060/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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, - 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0638b85522aeffbdf9ce7518c24a10c147a6b69c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-060/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-060/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-060/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index d912c9134ad770c9e38f1d6e45411fab5fae7e04..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-060/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-060/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-060/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index b326e65ea544fa2d250a8e9379027ea0284b576f..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-060/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-060/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-060/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 36ff3d788719e861b77ce621f2522893f9ab144c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-060/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-061/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-061/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-061/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-061/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-061/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-061/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-061/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-061/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-061/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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, - 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0638b85522aeffbdf9ce7518c24a10c147a6b69c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-061/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-061/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-061/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index d912c9134ad770c9e38f1d6e45411fab5fae7e04..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-061/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-061/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-061/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index b326e65ea544fa2d250a8e9379027ea0284b576f..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-061/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-061/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-061/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 36ff3d788719e861b77ce621f2522893f9ab144c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-061/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-062/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-062/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-062/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-062/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-062/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-062/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-062/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-062/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-062/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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, - 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0638b85522aeffbdf9ce7518c24a10c147a6b69c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-062/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-062/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-062/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index d912c9134ad770c9e38f1d6e45411fab5fae7e04..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-062/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-062/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-062/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index b326e65ea544fa2d250a8e9379027ea0284b576f..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-062/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-062/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-062/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 36ff3d788719e861b77ce621f2522893f9ab144c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-062/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-063/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-063/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-063/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-063/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-063/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-063/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-063/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-063/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-063/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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, - 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0638b85522aeffbdf9ce7518c24a10c147a6b69c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-063/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-063/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-063/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index d912c9134ad770c9e38f1d6e45411fab5fae7e04..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-063/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-063/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-063/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index b326e65ea544fa2d250a8e9379027ea0284b576f..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-063/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-063/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-063/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 36ff3d788719e861b77ce621f2522893f9ab144c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-063/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-064/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-064/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-064/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-064/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-064/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-064/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-064/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-064/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-064/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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, - 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0638b85522aeffbdf9ce7518c24a10c147a6b69c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-064/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-064/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-064/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index d912c9134ad770c9e38f1d6e45411fab5fae7e04..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-064/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-064/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-064/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index b326e65ea544fa2d250a8e9379027ea0284b576f..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-064/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-064/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-064/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 36ff3d788719e861b77ce621f2522893f9ab144c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-064/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-065/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-065/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-065/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-065/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-065/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-065/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-065/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-065/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-065/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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, - 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0638b85522aeffbdf9ce7518c24a10c147a6b69c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-065/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-065/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-065/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index d912c9134ad770c9e38f1d6e45411fab5fae7e04..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-065/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-065/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-065/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index b326e65ea544fa2d250a8e9379027ea0284b576f..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-065/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-065/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-065/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 36ff3d788719e861b77ce621f2522893f9ab144c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-065/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-066/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-066/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-066/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-066/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-066/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-066/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-066/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-066/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-066/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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, - 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0638b85522aeffbdf9ce7518c24a10c147a6b69c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-066/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-066/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-066/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index d912c9134ad770c9e38f1d6e45411fab5fae7e04..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-066/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-066/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-066/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index b326e65ea544fa2d250a8e9379027ea0284b576f..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-066/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-066/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-066/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 36ff3d788719e861b77ce621f2522893f9ab144c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-066/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-067/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-067/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-067/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-067/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-067/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-067/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-067/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-067/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-067/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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, - 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b7d04c6bba857977acbe1dec4c9161f716c37afe..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-067/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"name": "PSM1", "measured_cp": [[0.6913670507140296, 0.5244269712460893, 0.49697882552140826, -0.10875661762091325], [-0.30561202657465714, 0.8355579999092339, -0.4565568069809188, 0.08094244504432088], [-0.6546853369366965, 0.1637656270935215, 0.7379484595706872, -0.038977200290384734], [0.0, 0.0, 0.0, 1.0]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-067/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-067/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 72c8db363162bb0d18c56bf7f798e3e31715719d..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-067/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-067/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-067/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index d985b6dafbde51ca12a1efc090ddc3de64ac47a6..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-067/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-067/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-067/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 41aa3738f47080e7f1c6a1f14b813c3dd9ff17a6..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-067/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.6928620590973305, 0.48359268680283335, 0.5348647308752212, -0.10230167000779414], [0.6543850795239551, 0.7332502951111963, 0.18472729201655755, 0.04335613319582919], [-0.3028569542867277, 0.4779980313664066, -0.824497148115144, -0.12110388738406504], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-068/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-068/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-068/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-068/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-068/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-068/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-068/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-068/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-068/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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, - 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b7d04c6bba857977acbe1dec4c9161f716c37afe..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-068/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"name": "PSM1", "measured_cp": [[0.6913670507140296, 0.5244269712460893, 0.49697882552140826, -0.10875661762091325], [-0.30561202657465714, 0.8355579999092339, -0.4565568069809188, 0.08094244504432088], [-0.6546853369366965, 0.1637656270935215, 0.7379484595706872, -0.038977200290384734], [0.0, 0.0, 0.0, 1.0]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-068/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-068/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 72c8db363162bb0d18c56bf7f798e3e31715719d..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-068/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-068/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-068/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index d985b6dafbde51ca12a1efc090ddc3de64ac47a6..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-068/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-068/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-068/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 41aa3738f47080e7f1c6a1f14b813c3dd9ff17a6..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-068/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.6928620590973305, 0.48359268680283335, 0.5348647308752212, -0.10230167000779414], [0.6543850795239551, 0.7332502951111963, 0.18472729201655755, 0.04335613319582919], [-0.3028569542867277, 0.4779980313664066, -0.824497148115144, -0.12110388738406504], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-069/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-069/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-069/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-069/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-069/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-069/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-069/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-069/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-069/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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, - 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b7d04c6bba857977acbe1dec4c9161f716c37afe..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-069/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"name": "PSM1", "measured_cp": [[0.6913670507140296, 0.5244269712460893, 0.49697882552140826, -0.10875661762091325], [-0.30561202657465714, 0.8355579999092339, -0.4565568069809188, 0.08094244504432088], [-0.6546853369366965, 0.1637656270935215, 0.7379484595706872, -0.038977200290384734], [0.0, 0.0, 0.0, 1.0]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-069/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-069/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 72c8db363162bb0d18c56bf7f798e3e31715719d..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-069/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-069/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-069/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index d985b6dafbde51ca12a1efc090ddc3de64ac47a6..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-069/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-069/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-069/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 41aa3738f47080e7f1c6a1f14b813c3dd9ff17a6..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-069/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.6928620590973305, 0.48359268680283335, 0.5348647308752212, -0.10230167000779414], [0.6543850795239551, 0.7332502951111963, 0.18472729201655755, 0.04335613319582919], [-0.3028569542867277, 0.4779980313664066, -0.824497148115144, -0.12110388738406504], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-070/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-070/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-070/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-070/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-070/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-070/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-070/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-070/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-070/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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, - 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b7d04c6bba857977acbe1dec4c9161f716c37afe..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-070/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"name": "PSM1", "measured_cp": [[0.6913670507140296, 0.5244269712460893, 0.49697882552140826, -0.10875661762091325], [-0.30561202657465714, 0.8355579999092339, -0.4565568069809188, 0.08094244504432088], [-0.6546853369366965, 0.1637656270935215, 0.7379484595706872, -0.038977200290384734], [0.0, 0.0, 0.0, 1.0]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-070/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-070/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 72c8db363162bb0d18c56bf7f798e3e31715719d..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-070/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-070/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-070/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index d985b6dafbde51ca12a1efc090ddc3de64ac47a6..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-070/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-070/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-070/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 41aa3738f47080e7f1c6a1f14b813c3dd9ff17a6..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-070/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.6928620590973305, 0.48359268680283335, 0.5348647308752212, -0.10230167000779414], [0.6543850795239551, 0.7332502951111963, 0.18472729201655755, 0.04335613319582919], [-0.3028569542867277, 0.4779980313664066, -0.824497148115144, -0.12110388738406504], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-071/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-071/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-071/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-071/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-071/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-071/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-071/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-071/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-071/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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, - 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b7d04c6bba857977acbe1dec4c9161f716c37afe..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-071/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"name": "PSM1", "measured_cp": [[0.6913670507140296, 0.5244269712460893, 0.49697882552140826, -0.10875661762091325], [-0.30561202657465714, 0.8355579999092339, -0.4565568069809188, 0.08094244504432088], [-0.6546853369366965, 0.1637656270935215, 0.7379484595706872, -0.038977200290384734], [0.0, 0.0, 0.0, 1.0]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-071/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-071/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 72c8db363162bb0d18c56bf7f798e3e31715719d..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-071/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-071/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-071/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index d985b6dafbde51ca12a1efc090ddc3de64ac47a6..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-071/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-071/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-071/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 41aa3738f47080e7f1c6a1f14b813c3dd9ff17a6..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-071/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.6928620590973305, 0.48359268680283335, 0.5348647308752212, -0.10230167000779414], [0.6543850795239551, 0.7332502951111963, 0.18472729201655755, 0.04335613319582919], [-0.3028569542867277, 0.4779980313664066, -0.824497148115144, -0.12110388738406504], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-072/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-072/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-072/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-072/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-072/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-072/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-072/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-072/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-072/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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, - 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b7d04c6bba857977acbe1dec4c9161f716c37afe..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-072/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"name": "PSM1", "measured_cp": [[0.6913670507140296, 0.5244269712460893, 0.49697882552140826, -0.10875661762091325], [-0.30561202657465714, 0.8355579999092339, -0.4565568069809188, 0.08094244504432088], [-0.6546853369366965, 0.1637656270935215, 0.7379484595706872, -0.038977200290384734], [0.0, 0.0, 0.0, 1.0]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-072/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-072/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 72c8db363162bb0d18c56bf7f798e3e31715719d..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-072/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-072/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-072/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index d985b6dafbde51ca12a1efc090ddc3de64ac47a6..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-072/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-072/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-072/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 41aa3738f47080e7f1c6a1f14b813c3dd9ff17a6..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-072/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.6928620590973305, 0.48359268680283335, 0.5348647308752212, -0.10230167000779414], [0.6543850795239551, 0.7332502951111963, 0.18472729201655755, 0.04335613319582919], [-0.3028569542867277, 0.4779980313664066, -0.824497148115144, -0.12110388738406504], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-073/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-073/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-073/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-073/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-073/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-073/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-073/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-073/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-073/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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, - 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b7d04c6bba857977acbe1dec4c9161f716c37afe..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-073/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"name": "PSM1", "measured_cp": [[0.6913670507140296, 0.5244269712460893, 0.49697882552140826, -0.10875661762091325], [-0.30561202657465714, 0.8355579999092339, -0.4565568069809188, 0.08094244504432088], [-0.6546853369366965, 0.1637656270935215, 0.7379484595706872, -0.038977200290384734], [0.0, 0.0, 0.0, 1.0]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-073/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-073/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 72c8db363162bb0d18c56bf7f798e3e31715719d..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-073/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-073/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-073/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index d985b6dafbde51ca12a1efc090ddc3de64ac47a6..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-073/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-073/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-073/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 41aa3738f47080e7f1c6a1f14b813c3dd9ff17a6..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-073/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.6928620590973305, 0.48359268680283335, 0.5348647308752212, -0.10230167000779414], [0.6543850795239551, 0.7332502951111963, 0.18472729201655755, 0.04335613319582919], [-0.3028569542867277, 0.4779980313664066, -0.824497148115144, -0.12110388738406504], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-074/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-074/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-074/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-074/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-074/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-074/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-074/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-074/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-074/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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, - 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b7d04c6bba857977acbe1dec4c9161f716c37afe..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-074/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"name": "PSM1", "measured_cp": [[0.6913670507140296, 0.5244269712460893, 0.49697882552140826, -0.10875661762091325], [-0.30561202657465714, 0.8355579999092339, -0.4565568069809188, 0.08094244504432088], [-0.6546853369366965, 0.1637656270935215, 0.7379484595706872, -0.038977200290384734], [0.0, 0.0, 0.0, 1.0]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-074/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-074/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 72c8db363162bb0d18c56bf7f798e3e31715719d..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-074/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-074/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-074/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index d985b6dafbde51ca12a1efc090ddc3de64ac47a6..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-074/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-074/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-074/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 41aa3738f47080e7f1c6a1f14b813c3dd9ff17a6..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-074/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.6928620590973305, 0.48359268680283335, 0.5348647308752212, -0.10230167000779414], [0.6543850795239551, 0.7332502951111963, 0.18472729201655755, 0.04335613319582919], [-0.3028569542867277, 0.4779980313664066, -0.824497148115144, -0.12110388738406504], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-075/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-075/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-075/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-075/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-075/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-075/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-075/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-075/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-075/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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, - 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b7d04c6bba857977acbe1dec4c9161f716c37afe..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-075/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"name": "PSM1", "measured_cp": [[0.6913670507140296, 0.5244269712460893, 0.49697882552140826, -0.10875661762091325], [-0.30561202657465714, 0.8355579999092339, -0.4565568069809188, 0.08094244504432088], [-0.6546853369366965, 0.1637656270935215, 0.7379484595706872, -0.038977200290384734], [0.0, 0.0, 0.0, 1.0]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-075/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-075/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 72c8db363162bb0d18c56bf7f798e3e31715719d..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-075/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-075/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-075/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index d985b6dafbde51ca12a1efc090ddc3de64ac47a6..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-075/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-075/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-075/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 41aa3738f47080e7f1c6a1f14b813c3dd9ff17a6..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-075/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.6928620590973305, 0.48359268680283335, 0.5348647308752212, -0.10230167000779414], [0.6543850795239551, 0.7332502951111963, 0.18472729201655755, 0.04335613319582919], [-0.3028569542867277, 0.4779980313664066, -0.824497148115144, -0.12110388738406504], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-076/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-076/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-076/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-076/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-076/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-076/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-076/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-076/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-076/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -1,120 +0,0 @@ -{ - "cameraMatrixL": [ - [ - 1175.9318104257968, - 0.0, - 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b7d04c6bba857977acbe1dec4c9161f716c37afe..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-076/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"name": "PSM1", "measured_cp": [[0.6913670507140296, 0.5244269712460893, 0.49697882552140826, -0.10875661762091325], [-0.30561202657465714, 0.8355579999092339, -0.4565568069809188, 0.08094244504432088], [-0.6546853369366965, 0.1637656270935215, 0.7379484595706872, -0.038977200290384734], [0.0, 0.0, 0.0, 1.0]]} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-076/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-076/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 72c8db363162bb0d18c56bf7f798e3e31715719d..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-076/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-076/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-076/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index d985b6dafbde51ca12a1efc090ddc3de64ac47a6..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-076/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-076/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part2/calibrations/case-076/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index 41aa3738f47080e7f1c6a1f14b813c3dd9ff17a6..0000000000000000000000000000000000000000 --- 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-{"episode_index": 7200, "episode_id": "episode_007200", "episode_chunk": 72, "case_id": "case-072", "task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "needle_drive_through: drive the suturing needle through the tissue (occasionally silicon suturing training phantom) until the needle tip emerges on the opposite side", "duration_s": 3.5999999046325684, "length": 37, "user_id": "1", "user_description": "An OBGYN surgeon with extensive robotic surgery experience, Female, D.G.C", "skill_level": "Expert", "data_collection_scenario": "Ex-vivo", "tool_type": {"PSM1": "Large_Needle_Driver", "PSM2": "Large_Needle_Driver"}} -{"episode_index": 7201, "episode_id": "episode_007201", "episode_chunk": 72, "case_id": "case-072", "task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing 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(occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "knot_retighten: retighten the knot as needed", "duration_s": 4.200000047683716, "length": 43, "user_id": "1", "user_description": "An OBGYN surgeon with extensive robotic surgery experience, Female, D.G.C", "skill_level": "Expert", "data_collection_scenario": "Ex-vivo", "tool_type": {"PSM1": "Large_Needle_Driver", "PSM2": "Large_Needle_Driver"}} -{"episode_index": 7206, "episode_id": "episode_007206", "episode_chunk": 72, "case_id": "case-072", "task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "knot_tying_throw3: tie the third knot throw for the simple interrupted stitch; typically a single throw, but use a double throw as needed", "duration_s": 9.5, "length": 96, "user_id": "1", "user_description": "An 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"case_id": "case-072", "task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "finalize_operation: move the instruments to the rest position as needed", "duration_s": 1.3999998569488525, "length": 15, "user_id": "1", "user_description": "An OBGYN surgeon with extensive robotic surgery experience, Female, D.G.C", "skill_level": "Expert", "data_collection_scenario": "Ex-vivo", "tool_type": {"PSM1": "Large_Needle_Driver", "PSM2": "Large_Needle_Driver"}} -{"episode_index": 7300, "episode_id": "episode_007300", "episode_chunk": 73, "case_id": "case-073", "task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "needle_drive_through: drive the suturing needle through the tissue (occasionally 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"task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "knot_tying_throw1: tie the first knot throw for the simple interrupted stitch; typically a double throw, but use a single throw as needed", "duration_s": 17.100000143051147, "length": 172, "user_id": "1", "user_description": "An OBGYN surgeon with extensive robotic surgery experience, Female, D.G.C", "skill_level": "Expert", "data_collection_scenario": "Ex-vivo", "tool_type": {"PSM1": "Large_Needle_Driver", "PSM2": "Large_Needle_Driver"}} -{"episode_index": 7304, "episode_id": "episode_007304", "episode_chunk": 73, "case_id": "case-073", "task_index": 1, "task": "perform a simple interrupted stitch on ex-vivo tissue (occasionally on silicon suturing training phantom) ; without cutting the suture thread tail at the end", "instruction_text": "knot_tying_throw2: tie the second knot 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b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-077/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-077/camera_calibration/left.yaml +++ /dev/null @@ -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 - 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-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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-077/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-077/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-077/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 - ], - [ - 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a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-077/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-077/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 32161f4406f0c87342875acbb8141bfe248d9dc2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-077/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-077/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-077/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 0d3c1a41745c5c96905f8e109d77352dafda6319..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-077/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7034986639176684, -0.5015070560590071, -0.5035675749977178, 0.1114694836465859], [-0.6386680053748576, 0.7569333635744561, 0.13840181363826531, 0.04660898890377626], [0.3117576122191007, 0.41897798967354843, -0.8527981211239594, -0.10071001673394517], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-077/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-077/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 6699a2a965569917510de0256275121f093b274c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-077/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-077/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-077/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index dc8cd6a15969fe988e50e40c77b456ccb525829b..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-077/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-078/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-078/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-078/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-078/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-078/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-078/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-078/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-078/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-078/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-078/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-078/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 32161f4406f0c87342875acbb8141bfe248d9dc2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-078/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-078/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-078/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 0d3c1a41745c5c96905f8e109d77352dafda6319..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-078/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7034986639176684, -0.5015070560590071, -0.5035675749977178, 0.1114694836465859], [-0.6386680053748576, 0.7569333635744561, 0.13840181363826531, 0.04660898890377626], [0.3117576122191007, 0.41897798967354843, -0.8527981211239594, -0.10071001673394517], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-078/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-078/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 6699a2a965569917510de0256275121f093b274c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-078/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-078/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-078/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index dc8cd6a15969fe988e50e40c77b456ccb525829b..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-078/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-079/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-079/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-079/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-079/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-079/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-079/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-079/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-079/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-079/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-079/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-079/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 32161f4406f0c87342875acbb8141bfe248d9dc2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-079/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-079/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-079/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 0d3c1a41745c5c96905f8e109d77352dafda6319..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-079/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7034986639176684, -0.5015070560590071, -0.5035675749977178, 0.1114694836465859], [-0.6386680053748576, 0.7569333635744561, 0.13840181363826531, 0.04660898890377626], [0.3117576122191007, 0.41897798967354843, -0.8527981211239594, -0.10071001673394517], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-079/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-079/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 6699a2a965569917510de0256275121f093b274c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-079/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-079/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-079/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index dc8cd6a15969fe988e50e40c77b456ccb525829b..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-079/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-080/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-080/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-080/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-080/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-080/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-080/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-080/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-080/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-080/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-080/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-080/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 32161f4406f0c87342875acbb8141bfe248d9dc2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-080/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-080/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-080/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 0d3c1a41745c5c96905f8e109d77352dafda6319..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-080/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7034986639176684, -0.5015070560590071, -0.5035675749977178, 0.1114694836465859], [-0.6386680053748576, 0.7569333635744561, 0.13840181363826531, 0.04660898890377626], [0.3117576122191007, 0.41897798967354843, -0.8527981211239594, -0.10071001673394517], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-080/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-080/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 6699a2a965569917510de0256275121f093b274c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-080/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-080/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-080/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index dc8cd6a15969fe988e50e40c77b456ccb525829b..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-080/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-081/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-081/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-081/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-081/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-081/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-081/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-081/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-081/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-081/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-081/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-081/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 32161f4406f0c87342875acbb8141bfe248d9dc2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-081/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-081/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-081/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 0d3c1a41745c5c96905f8e109d77352dafda6319..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-081/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7034986639176684, -0.5015070560590071, -0.5035675749977178, 0.1114694836465859], [-0.6386680053748576, 0.7569333635744561, 0.13840181363826531, 0.04660898890377626], [0.3117576122191007, 0.41897798967354843, -0.8527981211239594, -0.10071001673394517], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-081/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-081/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 6699a2a965569917510de0256275121f093b274c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-081/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-081/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-081/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index dc8cd6a15969fe988e50e40c77b456ccb525829b..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-081/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-082/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-082/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-082/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-082/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-082/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-082/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-082/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-082/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-082/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-082/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-082/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 32161f4406f0c87342875acbb8141bfe248d9dc2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-082/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-082/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-082/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 0d3c1a41745c5c96905f8e109d77352dafda6319..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-082/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7034986639176684, -0.5015070560590071, -0.5035675749977178, 0.1114694836465859], [-0.6386680053748576, 0.7569333635744561, 0.13840181363826531, 0.04660898890377626], [0.3117576122191007, 0.41897798967354843, -0.8527981211239594, -0.10071001673394517], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-082/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-082/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 6699a2a965569917510de0256275121f093b274c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-082/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-082/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-082/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index dc8cd6a15969fe988e50e40c77b456ccb525829b..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-082/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-083/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-083/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-083/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-083/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-083/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-083/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-083/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-083/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-083/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-083/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-083/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 32161f4406f0c87342875acbb8141bfe248d9dc2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-083/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-083/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-083/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 0d3c1a41745c5c96905f8e109d77352dafda6319..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-083/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7034986639176684, -0.5015070560590071, -0.5035675749977178, 0.1114694836465859], [-0.6386680053748576, 0.7569333635744561, 0.13840181363826531, 0.04660898890377626], [0.3117576122191007, 0.41897798967354843, -0.8527981211239594, -0.10071001673394517], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-083/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-083/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 6699a2a965569917510de0256275121f093b274c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-083/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-083/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-083/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index dc8cd6a15969fe988e50e40c77b456ccb525829b..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-083/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-084/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-084/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-084/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-084/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-084/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-084/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-084/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-084/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-084/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-084/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-084/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 32161f4406f0c87342875acbb8141bfe248d9dc2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-084/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-084/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-084/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 0d3c1a41745c5c96905f8e109d77352dafda6319..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-084/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7034986639176684, -0.5015070560590071, -0.5035675749977178, 0.1114694836465859], [-0.6386680053748576, 0.7569333635744561, 0.13840181363826531, 0.04660898890377626], [0.3117576122191007, 0.41897798967354843, -0.8527981211239594, -0.10071001673394517], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-084/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-084/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 6699a2a965569917510de0256275121f093b274c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-084/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-084/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-084/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index dc8cd6a15969fe988e50e40c77b456ccb525829b..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-084/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 32161f4406f0c87342875acbb8141bfe248d9dc2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 0d3c1a41745c5c96905f8e109d77352dafda6319..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7034986639176684, -0.5015070560590071, -0.5035675749977178, 0.1114694836465859], [-0.6386680053748576, 0.7569333635744561, 0.13840181363826531, 0.04660898890377626], [0.3117576122191007, 0.41897798967354843, -0.8527981211239594, -0.10071001673394517], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 6699a2a965569917510de0256275121f093b274c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index dc8cd6a15969fe988e50e40c77b456ccb525829b..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-085/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-086/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-086/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-086/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-086/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-086/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-086/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-086/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-086/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-086/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-086/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-086/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 32161f4406f0c87342875acbb8141bfe248d9dc2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-086/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-086/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-086/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 0d3c1a41745c5c96905f8e109d77352dafda6319..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-086/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7034986639176684, -0.5015070560590071, -0.5035675749977178, 0.1114694836465859], [-0.6386680053748576, 0.7569333635744561, 0.13840181363826531, 0.04660898890377626], [0.3117576122191007, 0.41897798967354843, -0.8527981211239594, -0.10071001673394517], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-086/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-086/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 6699a2a965569917510de0256275121f093b274c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-086/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-086/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-086/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index dc8cd6a15969fe988e50e40c77b456ccb525829b..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-086/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-087/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-087/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-087/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-087/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-087/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-087/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-087/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-087/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-087/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-087/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-087/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 32161f4406f0c87342875acbb8141bfe248d9dc2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-087/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-087/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-087/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 0d3c1a41745c5c96905f8e109d77352dafda6319..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-087/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7034986639176684, -0.5015070560590071, -0.5035675749977178, 0.1114694836465859], [-0.6386680053748576, 0.7569333635744561, 0.13840181363826531, 0.04660898890377626], [0.3117576122191007, 0.41897798967354843, -0.8527981211239594, -0.10071001673394517], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-087/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-087/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 6699a2a965569917510de0256275121f093b274c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-087/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-087/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-087/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index dc8cd6a15969fe988e50e40c77b456ccb525829b..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-087/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-088/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-088/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-088/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-088/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-088/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-088/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-088/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-088/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-088/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-088/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-088/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 32161f4406f0c87342875acbb8141bfe248d9dc2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-088/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-088/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-088/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 0d3c1a41745c5c96905f8e109d77352dafda6319..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-088/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7034986639176684, -0.5015070560590071, -0.5035675749977178, 0.1114694836465859], [-0.6386680053748576, 0.7569333635744561, 0.13840181363826531, 0.04660898890377626], [0.3117576122191007, 0.41897798967354843, -0.8527981211239594, -0.10071001673394517], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-088/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-088/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 6699a2a965569917510de0256275121f093b274c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-088/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-088/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-088/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index dc8cd6a15969fe988e50e40c77b456ccb525829b..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-088/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-089/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-089/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-089/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-089/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-089/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-089/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-089/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-089/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-089/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-089/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-089/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 32161f4406f0c87342875acbb8141bfe248d9dc2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-089/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-089/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-089/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 0d3c1a41745c5c96905f8e109d77352dafda6319..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-089/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7034986639176684, -0.5015070560590071, -0.5035675749977178, 0.1114694836465859], [-0.6386680053748576, 0.7569333635744561, 0.13840181363826531, 0.04660898890377626], [0.3117576122191007, 0.41897798967354843, -0.8527981211239594, -0.10071001673394517], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-089/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-089/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 6699a2a965569917510de0256275121f093b274c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-089/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-089/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-089/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index dc8cd6a15969fe988e50e40c77b456ccb525829b..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-089/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-090/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-090/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-090/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-090/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-090/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-090/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-090/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-090/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-090/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-090/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-090/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 32161f4406f0c87342875acbb8141bfe248d9dc2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-090/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-090/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-090/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 0d3c1a41745c5c96905f8e109d77352dafda6319..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-090/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7034986639176684, -0.5015070560590071, -0.5035675749977178, 0.1114694836465859], [-0.6386680053748576, 0.7569333635744561, 0.13840181363826531, 0.04660898890377626], [0.3117576122191007, 0.41897798967354843, -0.8527981211239594, -0.10071001673394517], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-090/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-090/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 6699a2a965569917510de0256275121f093b274c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-090/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-090/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-090/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index dc8cd6a15969fe988e50e40c77b456ccb525829b..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-090/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 - ], 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a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 32161f4406f0c87342875acbb8141bfe248d9dc2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 0d3c1a41745c5c96905f8e109d77352dafda6319..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7034986639176684, -0.5015070560590071, -0.5035675749977178, 0.1114694836465859], [-0.6386680053748576, 0.7569333635744561, 0.13840181363826531, 0.04660898890377626], [0.3117576122191007, 0.41897798967354843, -0.8527981211239594, -0.10071001673394517], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 6699a2a965569917510de0256275121f093b274c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index dc8cd6a15969fe988e50e40c77b456ccb525829b..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-091/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-092/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-092/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-092/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-092/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-092/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-092/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-092/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-092/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-092/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 - ], 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a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-092/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-092/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 32161f4406f0c87342875acbb8141bfe248d9dc2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-092/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-092/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-092/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 0d3c1a41745c5c96905f8e109d77352dafda6319..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-092/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7034986639176684, -0.5015070560590071, -0.5035675749977178, 0.1114694836465859], [-0.6386680053748576, 0.7569333635744561, 0.13840181363826531, 0.04660898890377626], [0.3117576122191007, 0.41897798967354843, -0.8527981211239594, -0.10071001673394517], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-092/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-092/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 6699a2a965569917510de0256275121f093b274c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-092/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-092/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-092/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index dc8cd6a15969fe988e50e40c77b456ccb525829b..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-092/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-093/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-093/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-093/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-093/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-093/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-093/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-093/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-093/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-093/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 - ], 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a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-093/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-093/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 32161f4406f0c87342875acbb8141bfe248d9dc2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-093/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-093/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-093/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 0d3c1a41745c5c96905f8e109d77352dafda6319..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-093/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7034986639176684, -0.5015070560590071, -0.5035675749977178, 0.1114694836465859], [-0.6386680053748576, 0.7569333635744561, 0.13840181363826531, 0.04660898890377626], [0.3117576122191007, 0.41897798967354843, -0.8527981211239594, -0.10071001673394517], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-093/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-093/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 6699a2a965569917510de0256275121f093b274c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-093/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-093/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-093/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index dc8cd6a15969fe988e50e40c77b456ccb525829b..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-093/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-094/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-094/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-094/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-094/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-094/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-094/camera_calibration/right.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-094/camera_calibration/stereo_calib_params.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-094/camera_calibration/stereo_calib_params.json deleted file mode 100644 index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-094/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 -} \ No newline at end of file diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-094/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-094/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 32161f4406f0c87342875acbb8141bfe248d9dc2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-094/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-094/hand_eye_calibration/PSM1-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-094/hand_eye_calibration/PSM1-registration-open-cv.json deleted file mode 100644 index 0d3c1a41745c5c96905f8e109d77352dafda6319..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-094/hand_eye_calibration/PSM1-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"base-frame": {"reference-frame": "/left_frame", "transform": [[-0.7034986639176684, -0.5015070560590071, -0.5035675749977178, 0.1114694836465859], [-0.6386680053748576, 0.7569333635744561, 0.13840181363826531, 0.04660898890377626], [0.3117576122191007, 0.41897798967354843, -0.8527981211239594, -0.10071001673394517], [0.0, 0.0, 0.0, 1.0]]} -} diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-094/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-094/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 6699a2a965569917510de0256275121f093b274c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-094/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-094/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-094/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index dc8cd6a15969fe988e50e40c77b456ccb525829b..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-094/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-095/camera_calibration/left.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-095/camera_calibration/left.yaml deleted file mode 100644 index 184cb896cc4527da265a8b9273b81330549db98a..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-095/camera_calibration/left.yaml +++ /dev/null @@ -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 diff --git a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-095/camera_calibration/right.yaml b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-095/camera_calibration/right.yaml deleted file mode 100644 index b434e2a185b808b6aed9ac2a88addd6c66d8d056..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-095/camera_calibration/right.yaml +++ /dev/null @@ -1,46 +0,0 @@ -R_stereo: - cols: 3 - data: - - 0.9963893755659492 - - 0.0000146863008192 - - 0.0849011898833603 - - -0.0013327585854255 - - 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index 72c538daaec4b5663a3b4294089e4448119ab1fd..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-095/camera_calibration/stereo_calib_params.json +++ /dev/null @@ -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 - ], 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a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-095/hand_eye_calibration/PSM1-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-095/hand_eye_calibration/PSM1-registration-dVRK.json deleted file mode 100644 index 32161f4406f0c87342875acbb8141bfe248d9dc2..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-095/hand_eye_calibration/PSM1-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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 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a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-095/hand_eye_calibration/PSM2-registration-dVRK.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-095/hand_eye_calibration/PSM2-registration-dVRK.json deleted file mode 100644 index 6699a2a965569917510de0256275121f093b274c..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-095/hand_eye_calibration/PSM2-registration-dVRK.json +++ /dev/null @@ -1 +0,0 @@ -{"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/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-095/hand_eye_calibration/PSM2-registration-open-cv.json b/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-095/hand_eye_calibration/PSM2-registration-open-cv.json deleted file mode 100644 index dc8cd6a15969fe988e50e40c77b456ccb525829b..0000000000000000000000000000000000000000 --- a/Surgical/jhu/lscr/smarts/offline_recorder_extracted/offline_data_part3/calibrations/case-095/hand_eye_calibration/PSM2-registration-open-cv.json +++ /dev/null @@ -1,3 +0,0 @@ -{ -"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 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