How to obtain camera intrinsic and extrinsic?

[yanglh14]

Thanks for your great work!
Is it posible to get the camera intrinsic and extrinsic during the manipulation? I didn't see any information about these. Thanks!

[liu-xuecheng]

In the current version of RoboCOIN, camera intrinsic and extrinsic parameters are not included in the dataset. However, we plan to add this information—specifically the camera intrinsics and extrinsics for each task—in future releases. Stay tuned!

[yanglh14]

Thanks for your reply! I also encounter other problem:
In some mobile robot datasets, states and actions are incomplete. For example, in dataset 'R1_Lite_open_and_close_microwave_oven', i get:
" observation.state": {"dtype": "float32", "shape": [14], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_gripper_open", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_gripper_open"]}, "

which does not includes torso and mobile base state. Same for action. In this task, the robot doesn't move. But some task like "R1_Lite_make_tea" requires the base state.

[zwbx]

Follow-up question: I don’t actually need the intrinsic and extrinsic parameters themselves. What I want is to determine whether two episodes were collected under the same camera intrinsics and extrinsics, so that I can group all episodes from a specific robot according to camera pose.

However, there is an important assumption: for the same robot, the camera pose may change during data collection, is that true. I would also like to verify this at the same time.