| { |
| "fps": 15, |
| "row_step": 2, |
| "row_mapping": "depth frame i belongs to the data row with frame_index = i * row_step; its pts is i / fps seconds, equal to that row's timestamp", |
| "streams": { |
| "d435_depth": { |
| "path": "depth/d435_depth/chunk-000/file-000.mov", |
| "frames": 1374, |
| "height": 240, |
| "width": 424, |
| "channels": 1, |
| "codec": "ffv1", |
| "pix_fmt": "gray16le", |
| "container": "mov", |
| "g": 1, |
| "lossless": true, |
| "units": "raw z16; meters = value * depth_scale; 0 = invalid (no depth); 65535 = invalid (saturated / out of range)", |
| "depth_scale": 0.0010000000474974513, |
| "source": "RealSense on-chip depth, decimated 2x", |
| "camera": { |
| "decimation": 2.0, |
| "depth_scale": 0.0010000000474974513, |
| "depth_visual_preset": "High Density", |
| "emitter_enabled": true, |
| "firmware": "5.15.1.55", |
| "format": "Z16", |
| "frames_rotated_upright": false, |
| "intrinsics": { |
| "coeffs": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "fx": 213.7545166015625, |
| "fy": 213.7545166015625, |
| "height": 240, |
| "model": "Brown Conrady", |
| "ppx": 211.14247131347656, |
| "ppy": 118.16234588623047, |
| "width": 424 |
| }, |
| "ir1_to_robot": { |
| "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", |
| "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", |
| "from": "infrared_1", |
| "rotation": [ |
| [ |
| -2.220446049250313e-16, |
| -0.7384553316173743, |
| 0.6743023974493004 |
| ], |
| [ |
| -1.0000000000000002, |
| 2.220446049250313e-16, |
| -1.0303904848204921e-17 |
| ], |
| [ |
| -1.0303904848204921e-17, |
| -0.6743023974493004, |
| -0.7384553316173741 |
| ] |
| ], |
| "rotation_layout": "row-major 3x3, rotation[row][col]", |
| "source": "robot model, not measured: Unitree g1_29dof.urdf d435_joint, the head tilt set to match it, with IR1 25.04 mm to the left of the joint along the 50.09 mm IR1-to-IR2 baseline", |
| "to": "torso_link", |
| "translation": [ |
| 0.0576235, |
| 0.042573, |
| 0.41987 |
| ], |
| "translation_units": "meters" |
| }, |
| "ir1_to_stream": { |
| "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", |
| "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", |
| "from": "infrared_1", |
| "rotation": [ |
| [ |
| 1.0, |
| 0.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 1.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "rotation_layout": "row-major 3x3, rotation[row][col]", |
| "to": "this stream", |
| "translation": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "translation_units": "meters" |
| }, |
| "model": "Intel RealSense D435I", |
| "mount_rotation_deg": 0, |
| "recorded_fps": 15, |
| "serial": "344422072211", |
| "stereo_module_fps": 90, |
| "stream": "depth", |
| "timestamp_domain": "global_time_us", |
| "usb": "3.2" |
| }, |
| "stats_units": "meters, invalid values (0 and 65535) excluded", |
| "stats": { |
| "min": [ |
| 0.17100000812206417 |
| ], |
| "max": [ |
| 62.29000295861624 |
| ], |
| "mean": [ |
| 0.6981584390481423 |
| ], |
| "std": [ |
| 0.3838137004556538 |
| ], |
| "count": [ |
| 1374 |
| ], |
| "q01": [ |
| 0.24800001177936792 |
| ], |
| "q10": [ |
| 0.3290000156266615 |
| ], |
| "q50": [ |
| 0.5870000278810039 |
| ], |
| "q90": [ |
| 1.1460000544320792 |
| ], |
| "q99": [ |
| 1.9030000903876498 |
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| } |
| }, |
| "d405_left_depth": { |
| "path": "depth/d405_left_depth/chunk-000/file-000.mov", |
| "frames": 1374, |
| "height": 240, |
| "width": 424, |
| "channels": 1, |
| "codec": "ffv1", |
| "pix_fmt": "gray16le", |
| "container": "mov", |
| "g": 1, |
| "lossless": true, |
| "units": "raw z16; meters = value * depth_scale; 0 = invalid (no depth); 65535 = invalid (saturated / out of range)", |
| "depth_scale": 9.999999747378752e-05, |
| "source": "RealSense on-chip depth, decimated 2x", |
| "camera": { |
| "decimation": 1.0, |
| "depth_scale": 9.999999747378752e-05, |
| "depth_visual_preset": "High Density", |
| "emitter_enabled": null, |
| "firmware": "5.15.1.55", |
| "format": "Z16", |
| "frames_rotated_upright": false, |
| "intrinsics": { |
| "coeffs": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "fx": 214.20974731445312, |
| "fy": 214.20974731445312, |
| "height": 240, |
| "model": "Brown Conrady", |
| "ppx": 214.87191772460938, |
| "ppy": 120.27647399902344, |
| "width": 424 |
| }, |
| "ir1_to_robot": { |
| "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link left_dex1_base_link", |
| "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", |
| "from": "infrared_1", |
| "rotation": [ |
| [ |
| 0.0, |
| -0.5000042102057056, |
| 0.8660229730073958 |
| ], |
| [ |
| -1.0, |
| -0.0, |
| -1.468247496825271e-17 |
| ], |
| [ |
| -1.468247496825271e-17, |
| -0.8660229730073958, |
| -0.5000042102057056 |
| ] |
| ], |
| "rotation_layout": "row-major 3x3, rotation[row][col]", |
| "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", |
| "to": "left_dex1_base_link", |
| "translation": [ |
| 0.05839, |
| 0.0090169, |
| 0.05774 |
| ], |
| "translation_units": "meters" |
| }, |
| "ir1_to_stream": { |
| "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", |
| "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", |
| "from": "infrared_1", |
| "rotation": [ |
| [ |
| 1.0, |
| 0.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 1.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "rotation_layout": "row-major 3x3, rotation[row][col]", |
| "to": "this stream", |
| "translation": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "translation_units": "meters" |
| }, |
| "model": "Intel RealSense D405", |
| "mount_rotation_deg": 0, |
| "recorded_fps": 15, |
| "serial": "260322273676", |
| "stereo_module_fps": 30, |
| "stream": "depth", |
| "timestamp_domain": "global_time_us", |
| "usb": "3.2" |
| }, |
| "stats_units": "meters, invalid values (0 and 65535) excluded", |
| "stats": { |
| "min": [ |
| 0.030899999219400343 |
| ], |
| "max": [ |
| 6.50609983564209 |
| ], |
| "mean": [ |
| 0.817106446835681 |
| ], |
| "std": [ |
| 0.9982338429833201 |
| ], |
| "count": [ |
| 1374 |
| ], |
| "q01": [ |
| 0.05229999867879087 |
| ], |
| "q10": [ |
| 0.08669999780977378 |
| ], |
| "q50": [ |
| 0.2828999928533449 |
| ], |
| "q90": [ |
| 2.33239994107862 |
| ], |
| "q99": [ |
| 3.7459999053680804 |
| ] |
| } |
| }, |
| "d405_right_depth": { |
| "path": "depth/d405_right_depth/chunk-000/file-000.mov", |
| "frames": 1374, |
| "height": 240, |
| "width": 424, |
| "channels": 1, |
| "codec": "ffv1", |
| "pix_fmt": "gray16le", |
| "container": "mov", |
| "g": 1, |
| "lossless": true, |
| "units": "raw z16; meters = value * depth_scale; 0 = invalid (no depth); 65535 = invalid (saturated / out of range)", |
| "depth_scale": 9.999999747378752e-05, |
| "source": "RealSense on-chip depth, decimated 2x", |
| "camera": { |
| "decimation": 1.0, |
| "depth_scale": 9.999999747378752e-05, |
| "depth_visual_preset": "High Density", |
| "emitter_enabled": null, |
| "firmware": "5.15.1.55", |
| "format": "Z16", |
| "frames_rotated_upright": true, |
| "intrinsics": { |
| "coeffs": [ |
| 0.0, |
| 0.0, |
| -0.0, |
| -0.0, |
| 0.0 |
| ], |
| "fx": 215.798828125, |
| "fy": 215.798828125, |
| "height": 240, |
| "model": "Brown Conrady", |
| "ppx": 210.02273559570312, |
| "ppy": 119.7447738647461, |
| "width": 424 |
| }, |
| "ir1_to_robot": { |
| "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link right_dex1_base_link", |
| "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", |
| "from": "infrared_1", |
| "rotation": [ |
| [ |
| -0.0, |
| -0.5000042102057056, |
| 0.8660229730073958 |
| ], |
| [ |
| -1.0, |
| 0.0, |
| 1.468247496825271e-17 |
| ], |
| [ |
| 1.468247496825271e-17, |
| -0.8660229730073958, |
| -0.5000042102057056 |
| ] |
| ], |
| "rotation_layout": "row-major 3x3, rotation[row][col]", |
| "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", |
| "to": "right_dex1_base_link", |
| "translation": [ |
| 0.05839, |
| -0.0089995, |
| 0.05774 |
| ], |
| "translation_units": "meters" |
| }, |
| "ir1_to_stream": { |
| "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", |
| "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", |
| "from": "infrared_1", |
| "rotation": [ |
| [ |
| 1.0, |
| 0.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 1.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "rotation_layout": "row-major 3x3, rotation[row][col]", |
| "to": "this stream", |
| "translation": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "translation_units": "meters" |
| }, |
| "model": "Intel RealSense D405", |
| "mount_rotation_deg": 180, |
| "recorded_fps": 15, |
| "serial": "260322277869", |
| "stereo_module_fps": 30, |
| "stream": "depth", |
| "timestamp_domain": "global_time_us", |
| "usb": "3.2" |
| }, |
| "stats_units": "meters, invalid values (0 and 65535) excluded", |
| "stats": { |
| "min": [ |
| 0.03099999921687413 |
| ], |
| "max": [ |
| 6.541799834740232 |
| ], |
| "mean": [ |
| 0.6178580821802325 |
| ], |
| "std": [ |
| 0.8455343680653788 |
| ], |
| "count": [ |
| 1374 |
| ], |
| "q01": [ |
| 0.05469999861816177 |
| ], |
| "q10": [ |
| 0.09299999765062239 |
| ], |
| "q50": [ |
| 0.264499993318168 |
| ], |
| "q90": [ |
| 1.9420999509384274 |
| ], |
| "q99": [ |
| 3.551299910286616 |
| ] |
| } |
| } |
| } |
| } |
