React / data /pushT /calibration /T_mocap_to_cam_middle.json
yxma's picture
Add per-task camera extrinsics: motherboard=May-12 (RMSE ~5mm), pushT=June-26 (RMSE ~0.6px). Each data/<task>/calibration/ has T_mocap_to_cam_{left,middle,right}.json + T_gel_to_rigid_{left,right}.json + calibration.json manifest (epoch, applies-to dates, RMSE, projection chain).
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{
"description": "T_mocap_to_cam: maps OptiTrack (mm) -> camera frame (mm)",
"camera_serial": "217222066989",
"intrinsics": {
"fx": 609.06005859375,
"fy": 608.275390625,
"ppx": 332.47943115234375,
"ppy": 239.3525390625,
"width": 640,
"height": 480
},
"mocap_scale": 1000.0,
"created_at": "2026-06-26T01:28:28",
"points_px": [
[
225.7,
212.0
],
[
402.5,
73.6
],
[
142.1,
175.5
],
[
169.5,
236.7
],
[
207.8,
219.1
],
[
514.0,
167.0
],
[
581.7,
193.0
],
[
386.0,
345.0
],
[
401.0,
410.0
],
[
602.0,
360.0
],
[
85.0,
293.0
],
[
175.0,
242.0
],
[
169.0,
56.0
],
[
215.0,
226.0
],
[
232.0,
217.7
],
[
600.0,
363.0
]
],
"points_mocap_mm": [
[
237.281,
25.998,
180.44
],
[
460.894,
47.84,
-0.392
],
[
143.892,
82.0,
140.107
],
[
172.231,
55.411,
215.355
],
[
216.828,
35.16,
191.24099999999999
],
[
613.479,
25.656000000000002,
111.227
],
[
689.639,
59.382999999999996,
145.195
],
[
439.964,
142.1,
328.855
],
[
458.52799999999996,
139.993,
401.318
],
[
720.971,
60.617999999999995,
355.09000000000003
],
[
97.826,
129.169,
280.17900000000003
],
[
178.634,
55.319,
221.09
],
[
184.85299999999998,
129.086,
9.525
],
[
224.36700000000002,
35.253,
198.943
],
[
245.226,
26.088,
189.045
],
[
719.66,
60.197,
358.024
]
],
"points_cam_mm": [
[
-143.0,
-37.0,
816.0
],
[
90.0,
-214.0,
786.0
],
[
-241.0,
-81.0,
770.0
],
[
-208.0,
-3.0,
777.0
],
[
-165.0,
-27.0,
808.0
],
[
243.0,
-97.0,
815.0
],
[
321.0,
-60.0,
785.0
],
[
60.0,
119.0,
686.0
],
[
78.0,
194.0,
691.0
],
[
344.0,
154.0,
777.0
],
[
-281.0,
61.0,
692.0
],
[
-200.0,
3.0,
772.0
],
[
-186.0,
-209.0,
693.0
],
[
-155.0,
-18.0,
802.0
],
[
-134.0,
-29.0,
815.0
],
[
346.0,
160.0,
785.0
]
],
"method": "pnp",
"num_points": 16,
"rmse_px": 0.6407235248458195,
"num_inliers": 16,
"reproj_err_px": [
0.2899610176069863,
0.669080485021827,
0.9169971259549277,
0.46026596576372314,
0.767195757233268,
0.3998102863244082,
0.2872812146824497,
0.4998328294447849,
0.509648740904276,
0.2794799658640309,
0.6248116581457764,
0.644843818979843,
0.6414513162756064,
0.9475980184275616,
0.8353900568090233,
0.867068767985657
],
"T_mocap_to_cam": [
[
0.9995301728657404,
0.011714571684036518,
-0.02832317675053606,
-371.7056116519318
],
[
0.02821090670701078,
0.009640535439073956,
0.9995555036210926,
-223.43552225722334
],
[
0.011982415188553214,
-0.9998849078202487,
0.009305527365044947,
816.8312450090789
],
[
0.0,
0.0,
0.0,
1.0
]
]
}