| {
|
| "camera": {
|
| "rgb": {
|
| "resolution": [
|
| 1280,
|
| 720
|
| ],
|
| "intrinsics": [
|
| [
|
| 569.0313720703125,
|
| 0.0,
|
| 638.3275146484375
|
| ],
|
| [
|
| 0.0,
|
| 568.94873046875,
|
| 347.174560546875
|
| ],
|
| [
|
| 0.0,
|
| 0.0,
|
| 1.0
|
| ]
|
| ],
|
| "distortion": [
|
| 3.59989857673645,
|
| 1.0699959993362427,
|
| 0.00023104659339878708,
|
| -8.447476284345612e-05,
|
| 0.01795485056936741,
|
| 3.9608168601989746,
|
| 2.151387929916382,
|
| 0.14880025386810303,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| -0.009709601290524006,
|
| 0.00011035474017262459
|
| ]
|
| },
|
| "left_mono": {
|
| "resolution": [
|
| 640,
|
| 400
|
| ],
|
| "intrinsics": [
|
| [
|
| 283.0000305175781,
|
| 0.0,
|
| 322.79046630859375
|
| ],
|
| [
|
| 0.0,
|
| 282.9365539550781,
|
| 199.8113555908203
|
| ],
|
| [
|
| 0.0,
|
| 0.0,
|
| 1.0
|
| ]
|
| ],
|
| "distortion": [
|
| 9.294610023498535,
|
| 3.089446783065796,
|
| 1.0079507774207741e-05,
|
| -0.00021703510719817132,
|
| 0.0533813051879406,
|
| 9.682233810424805,
|
| 6.015710830688477,
|
| 0.4392203986644745,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| -0.001536572352051735,
|
| -0.003445357782766223
|
| ]
|
| },
|
| "right_mono": {
|
| "resolution": [
|
| 640,
|
| 400
|
| ],
|
| "intrinsics": [
|
| [
|
| 284.40509033203125,
|
| 0.0,
|
| 321.85736083984375
|
| ],
|
| [
|
| 0.0,
|
| 284.3353576660156,
|
| 200.43504333496094
|
| ],
|
| [
|
| 0.0,
|
| 0.0,
|
| 1.0
|
| ]
|
| ],
|
| "distortion": [
|
| 9.890932083129883,
|
| 3.207256317138672,
|
| -6.2786195485387e-05,
|
| 0.00011316838208585978,
|
| 0.059451572597026825,
|
| 10.287944793701172,
|
| 6.307010650634766,
|
| 0.4638007581233978,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0020483992993831635,
|
| 0.001598514849320054
|
| ]
|
| },
|
| "extrinsics": {
|
| "left_mono_to_rgb": [
|
| [
|
| 0.9998889565467834,
|
| -0.000708446663338691,
|
| -0.014880393631756306,
|
| -3.739898204803467
|
| ],
|
| [
|
| 0.0009635798633098602,
|
| 0.9998525381088257,
|
| 0.017145419493317604,
|
| -0.0061373114585876465
|
| ],
|
| [
|
| 0.014866054058074951,
|
| -0.01715785637497902,
|
| 0.9997422695159912,
|
| -0.047121912240982056
|
| ],
|
| [
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 1.0
|
| ]
|
| ],
|
| "right_mono_to_rgb": [
|
| [
|
| 0.9999534487724304,
|
| 0.00020055849745403975,
|
| 0.009644802659749985,
|
| 3.744765281677246
|
| ],
|
| [
|
| -0.00037867185892537236,
|
| 0.9998293519020081,
|
| 0.018469009548425674,
|
| -0.08702300488948822
|
| ],
|
| [
|
| -0.009639453142881393,
|
| -0.01847180165350437,
|
| 0.999782919883728,
|
| -0.04917220026254654
|
| ],
|
| [
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 1.0
|
| ]
|
| ],
|
| "imu_to_rgb": [
|
| [
|
| 1.0,
|
| 0.0,
|
| 0.0,
|
| -3.794800043106079
|
| ],
|
| [
|
| 0.0,
|
| 1.0,
|
| 0.0,
|
| -0.07900000363588333
|
| ],
|
| [
|
| 0.0,
|
| 0.0,
|
| 1.0,
|
| 0.0
|
| ],
|
| [
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 1.0
|
| ]
|
| ]
|
| }
|
| },
|
| "gloves": {
|
| "lh": {
|
| "bend_min": {
|
| "thumb": 0.0,
|
| "index": 82.77474892395983,
|
| "middle": 52.320659971305595,
|
| "ring": 49.29555236728838,
|
| "little": 49.69583931133429
|
| },
|
| "bend_max": {
|
| "thumb": 39.08254322364752,
|
| "index": 113.01561628555494,
|
| "middle": 113.79196876742888,
|
| "ring": 100.15839375348578,
|
| "little": 75.94757389849414
|
| },
|
| "tactile_zero_finger": {
|
| "thumb": [
|
| 0.9569583931133429,
|
| 27.43041606886657,
|
| 7.931133428981348,
|
| 0.0,
|
| 30.06312769010043,
|
| 0.003586800573888092,
|
| 0.0,
|
| 28.631276901004306,
|
| 25.842180774748925,
|
| 2.4088952654232423,
|
| 40.0480631276901,
|
| 27.993543758967
|
| ],
|
| "index": [
|
| 27.258249641319942,
|
| 55.40172166427546,
|
| 46.63271162123386,
|
| 16.39454806312769,
|
| 32.360114777618364,
|
| 37.91893830703013,
|
| 4.430416068866571,
|
| 2.994978479196557,
|
| 34.507890961262554,
|
| 18.97274031563845,
|
| 44.006456241033,
|
| 29.921090387374463
|
| ],
|
| "middle": [
|
| 29.422525107604017,
|
| 63.16284074605452,
|
| 33.32137733142037,
|
| 35.04591104734577,
|
| 28.870157819225252,
|
| 3.7417503586800573,
|
| 39.203012912482066,
|
| 1.9992826398852224,
|
| 3.71090387374462,
|
| 32.466284074605454,
|
| 4.695121951219512,
|
| 56.98278335724534
|
| ],
|
| "ring": [
|
| 44.77977044476327,
|
| 50.14777618364419,
|
| 57.794117647058826,
|
| 33.14490674318508,
|
| 31.339311334289814,
|
| 25.83715925394548,
|
| 31.245337159253946,
|
| 29.865136298421806,
|
| 26.965566714490674,
|
| 17.992109038737446,
|
| 23.495695839311335,
|
| 33.21951219512195
|
| ],
|
| "little": [
|
| 20.79268292682927,
|
| 29.708751793400285,
|
| 28.00573888091822,
|
| 22.989956958393112,
|
| 30.50286944045911,
|
| 32.979913916786224,
|
| 33.550932568149214,
|
| 40.87374461979914,
|
| 33.29555236728838,
|
| 2.806312769010043,
|
| 28.81635581061693,
|
| 28.840746054519368
|
| ]
|
| },
|
| "tactile_zero_palm": [
|
| 0.02223816355810617,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 4.345767575322812,
|
| 19.142037302725967,
|
| 24.92754662840746,
|
| 3.8823529411764706,
|
| 22.83142037302726,
|
| 28.532281205164992,
|
| 21.970588235294116,
|
| 2.13558106169297,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 3.0078909612625537,
|
| 14.0545193687231,
|
| 21.639885222381636,
|
| 0.003586800573888092,
|
| 25.269727403156384,
|
| 20.845767575322814,
|
| 24.73242467718795,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 6.604017216642755,
|
| 11.866571018651364,
|
| 27.979913916786227,
|
| 44.27187948350072,
|
| 1.9361549497847919,
|
| 3.236728837876614,
|
| 14.432568149210903,
|
| 1.07532281205165,
|
| 0.9705882352941176,
|
| 0.9088952654232425,
|
| 6.895265423242468,
|
| 0.0,
|
| 0.0,
|
| 2.69583931133429,
|
| 0.11262553802008608,
|
| 30.591104734576756,
|
| 16.8909612625538,
|
| 26.514347202295554,
|
| 25.623385939741752
|
| ]
|
| },
|
| "rh": {
|
| "bend_min": {
|
| "thumb": 2.797552836484983,
|
| "index": 76.64738598442715,
|
| "middle": 72.86373748609566,
|
| "ring": 80.44104560622914,
|
| "little": 42.32703003337041
|
| },
|
| "bend_max": {
|
| "thumb": 64.73329621380846,
|
| "index": 147.49610244988864,
|
| "middle": 159.29064587973275,
|
| "ring": 146.3491091314031,
|
| "little": 110.17316258351893
|
| },
|
| "tactile_zero_finger": {
|
| "thumb": [
|
| 30.75083426028921,
|
| 28.873192436040046,
|
| 20.00333704115684,
|
| 32.98832035595105,
|
| 33.67853170189099,
|
| 23.99555061179088,
|
| 31.92769744160178,
|
| 32.024471635150164,
|
| 22.775862068965516,
|
| 38.763626251390434,
|
| 28.81423804226919,
|
| 17.92436040044494
|
| ],
|
| "index": [
|
| 35.957730812013345,
|
| 45.012791991101224,
|
| 40.933815350389324,
|
| 40.16963292547275,
|
| 35.73526140155729,
|
| 39.09621802002225,
|
| 39.03448275862069,
|
| 34.83481646273638,
|
| 37.8698553948832,
|
| 58.761957730812014,
|
| 40.51223581757508,
|
| 48.014460511679644
|
| ],
|
| "middle": [
|
| 31.867630700778644,
|
| 44.021134593993324,
|
| 38.56840934371524,
|
| 30.733036707452726,
|
| 42.64627363737486,
|
| 24.699110122358174,
|
| 29.68131256952169,
|
| 40.91434927697441,
|
| 23.78698553948832,
|
| 3.9660734149054506,
|
| 32.867074527252505,
|
| 34.80088987764182
|
| ],
|
| "ring": [
|
| 51.3503893214683,
|
| 57.756952169076754,
|
| 55.89210233592881,
|
| 36.63181312569522,
|
| 40.83982202447164,
|
| 31.99555061179088,
|
| 34.82146829810901,
|
| 39.0027808676307,
|
| 30.916573971078975,
|
| 4.03503893214683,
|
| 0.9866518353726362,
|
| 27.943826473859843
|
| ],
|
| "little": [
|
| 36.86484983314794,
|
| 30.840378197997776,
|
| 29.739710789766406,
|
| 33.12235817575083,
|
| 27.406562847608456,
|
| 34.06006674082314,
|
| 32.189655172413794,
|
| 26.63904338153504,
|
| 33.480533926585096,
|
| 0.9994438264738599,
|
| 3.350389321468298,
|
| 31.95939933259177
|
| ]
|
| },
|
| "tactile_zero_palm": [
|
| 29.847052280311456,
|
| 1.57119021134594,
|
| 2.733036707452725,
|
| 1.89265850945495,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 13.731924360400445,
|
| 26.928253615127918,
|
| 28.792547274749722,
|
| 19.47608453837597,
|
| 4.0389321468298105,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 1.0528364849833147,
|
| 27.790878754171302,
|
| 32.21579532814238,
|
| 32.07285873192436,
|
| 21.002224694104562,
|
| 4.919354838709677,
|
| 2.8131256952169075,
|
| 0.02224694104560623,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 1.9338153503893214,
|
| 3.8692992213570636,
|
| 39.1218020022247,
|
| 26.65127919911012,
|
| 4.041156840934372,
|
| 1.0528364849833147,
|
| 0.5700778642936596,
|
| 2.889321468298109,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0,
|
| 0.0
|
| ]
|
| }
|
| }
|
| }
|
|
|
