update formatting error of readme
Browse files
README.md
CHANGED
@@ -18,6 +18,7 @@ for a subset of the DROID episodes. Concretely, we provide the following three c
|
|
18 |
- `cam2base_extrinsics.json`: Contains ~36k entries with either the left or right camera calibrated with respect to base.
|
19 |
- `cam2cam_extrinsics.json`: Contains ~90k entries with cam2cam relative poses and camera parameters for all of DROID.
|
20 |
- `cam2base_extrinsic_superset.json`: Contains ~24k unique entries, total ~48k poses for both left and right camera calibrated with respect to the base.
|
|
|
21 |
These files map episodes' unique ID (see Accessing Annotation Data below) to another dictionary containing metadata (e.g., detection quality metrics, see Appendix G of paper), as well as a map from camera ID to the extrinsics values. Said extrinsics is represented as a 6-element list of floats, indicating the translation and rotation. It can be easily converted into a homogeneous pose matrix:
|
22 |
```
|
23 |
from scipy.spatial.transform import Rotation as R
|
@@ -90,6 +91,7 @@ for p in episode_paths:
|
|
90 |
```
|
91 |
|
92 |
As using the above annotations requires these episode IDs (but the TFDS dataset only contains paths), we have included `episode_id_to_path.json` for convenience. The below code snippet loads this `json`, then gets the mapping from episode paths to IDs.
|
|
|
93 |
```
|
94 |
import json
|
95 |
episode_id_to_path_path = "<path/to/episode_id_to_path.json>"
|
|
|
18 |
- `cam2base_extrinsics.json`: Contains ~36k entries with either the left or right camera calibrated with respect to base.
|
19 |
- `cam2cam_extrinsics.json`: Contains ~90k entries with cam2cam relative poses and camera parameters for all of DROID.
|
20 |
- `cam2base_extrinsic_superset.json`: Contains ~24k unique entries, total ~48k poses for both left and right camera calibrated with respect to the base.
|
21 |
+
|
22 |
These files map episodes' unique ID (see Accessing Annotation Data below) to another dictionary containing metadata (e.g., detection quality metrics, see Appendix G of paper), as well as a map from camera ID to the extrinsics values. Said extrinsics is represented as a 6-element list of floats, indicating the translation and rotation. It can be easily converted into a homogeneous pose matrix:
|
23 |
```
|
24 |
from scipy.spatial.transform import Rotation as R
|
|
|
91 |
```
|
92 |
|
93 |
As using the above annotations requires these episode IDs (but the TFDS dataset only contains paths), we have included `episode_id_to_path.json` for convenience. The below code snippet loads this `json`, then gets the mapping from episode paths to IDs.
|
94 |
+
|
95 |
```
|
96 |
import json
|
97 |
episode_id_to_path_path = "<path/to/episode_id_to_path.json>"
|