Datasets:

yxma
/

React

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).

96e7fd3 verified 3 months ago

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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
	]
	]
	}