Camera extrinsics of the external and wrist cameras

[zubair-irshad]

Hi @ArthurAllshire,

Great work and thanks for open-sourcing the dataset. Any plans on releasing the camera extrinsics information as well for the external and wrist cameras? I looked through camera calibration and it looks like only the camera intrinsics are available but not the extrinsics i.e. camera to base pose information.

[ArthurAllshire]

Hi, I think this is something we can look into adding post-hoc however this isnt recorded at data capture time currently to my knowledge. It should be derivable through FK however.

[zubair-irshad]

Thanks @ArthurAllshire, i agree that wrist camera calibration can be recovered from FK, though it would be great if you can provide the external camera calibration as well i.e. external camera pose with respect to robot base.

If you have some early samples, i am happy to test these calibration values!

[zubair-irshad]

Hi @ArthurAllshire Any update on this? It would be very useful to release the extrinsic camera matrices if the data is logged on the station during data collect, thanks!