verityw commited on
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update formatting error of readme

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  1. README.md +2 -0
README.md CHANGED
@@ -18,6 +18,7 @@ for a subset of the DROID episodes. Concretely, we provide the following three c
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  - `cam2base_extrinsics.json`: Contains ~36k entries with either the left or right camera calibrated with respect to base.
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  - `cam2cam_extrinsics.json`: Contains ~90k entries with cam2cam relative poses and camera parameters for all of DROID.
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  - `cam2base_extrinsic_superset.json`: Contains ~24k unique entries, total ~48k poses for both left and right camera calibrated with respect to the base.
 
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  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:
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  ```
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  from scipy.spatial.transform import Rotation as R
@@ -90,6 +91,7 @@ for p in episode_paths:
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  ```
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  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.
 
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  ```
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  import json
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  episode_id_to_path_path = "<path/to/episode_id_to_path.json>"
 
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  - `cam2base_extrinsics.json`: Contains ~36k entries with either the left or right camera calibrated with respect to base.
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  - `cam2cam_extrinsics.json`: Contains ~90k entries with cam2cam relative poses and camera parameters for all of DROID.
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  - `cam2base_extrinsic_superset.json`: Contains ~24k unique entries, total ~48k poses for both left and right camera calibrated with respect to the base.
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  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:
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  ```
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  from scipy.spatial.transform import Rotation as R
 
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  ```
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  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.
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  ```
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  import json
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  episode_id_to_path_path = "<path/to/episode_id_to_path.json>"