React / data /pushT /calibration /T_mocap_to_cam_right.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).
96e7fd3 verified
Raw
History Blame
3.51 kB
{
"description": "T_mocap_to_cam: maps OptiTrack (mm) -> camera frame (mm)",
"camera_serial": "143322063538",
"intrinsics": {
"fx": 608.547607421875,
"fy": 606.7799072265625,
"ppx": 314.88201904296875,
"ppy": 243.41900634765625,
"width": 640,
"height": 480
},
"mocap_scale": 1000.0,
"created_at": "2026-06-26T01:28:28",
"points_px": [
[
476.1643371582031,
168.6651611328125
],
[
494.1025085449219,
328.59747314453125
],
[
545.0,
134.0
],
[
490.233642578125,
124.05828857421875
],
[
480.1378479003906,
155.3331756591797
],
[
351.42706298828125,
348.67474365234375
],
[
294.347412109375,
358.010009765625
],
[
340.0,
120.0
],
[
292.0,
95.0
],
[
157.60145568847656,
253.61737060546875
],
[
504.0,
47.0
],
[
485.0,
124.0
],
[
620.0,
182.0
],
[
475.0,
155.0
],
[
469.9,
169.1
],
[
158.0,
251.0
]
],
"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": [
null,
null,
null,
null,
null,
null,
null,
null,
null,
null,
null,
[
281.0,
-198.0,
1004.0
],
[
438.0,
-88.0,
873.0
],
[
264.0,
-146.0,
1005.0
],
[
254.0,
-122.0,
999.0
],
[
-199.0,
10.0,
772.0
]
],
"method": "pnp",
"num_points": 16,
"rmse_px": 0.6773529089318477,
"num_inliers": 16,
"reproj_err_px": [
0.7942859636336915,
0.5964620646155961,
0.5332480035534054,
0.5820560730276184,
1.019866973042847,
0.2506705542493553,
0.30316141058477153,
0.5786690734086455,
0.7720108630971527,
0.8671502377557846,
0.8289407230345537,
0.29621572579504546,
0.17477754603634127,
0.7905926251861011,
1.0375773923076859,
0.5885532195519027
],
"T_mocap_to_cam": [
[
-0.6897515335422411,
0.17239305255868395,
-0.7032236183502552,
543.1555716667916
],
[
0.5463648033253602,
-0.5133887065796541,
-0.6617533812861933,
-115.24517071234328
],
[
-0.4751087493020592,
-0.8406620435026007,
0.2599211514106996,
1053.6128044932914
],
[
0.0,
0.0,
0.0,
1.0
]
]
}