origin

config/digit.yaml

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+model_path: "models/checkpoints/mlp_depth.ckpt"
+visualize:
+  depth:
+    enabled: True
+    compute_type: "cuda"
+  point3d:
+    enabled: True
+    compute_type: "cuda"
+sensor:
+  mesh_name: adigit.STL
+  serial_num: "D20001"
+
+  T_cam_offset: [[2.22e-16, 2.22e-16, -1.00e+00, 0.00e+00],
+                [-1.00e+00, 0.00e+00, -2.22e-16, 0.00e+00],
+                [0.00e+00, 1.00e+00, 2.22e-16, 1.50e-02],
+                [0.00e+00, 0.00e+00, 0.00e+00, 1.00e+00]]
+
+  P:  [[2.30940108e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00],
+       [0.00000000e+00, 1.73205081e+00, 0.00000000e+00, 0.00000000e+00],
+       [0.00000000e+00, 0.00000000e+00, -1.04081633e+00, -2.04081633e-03],
+       [0.00000000e+00, 0.00000000e+00, -1.00000000e+00, 0.00000000e+00]]
+  view_params:
+    fov: 60
+    front: [ -0.1, 0.1, 0.1 ]
+    lookat: [-0.001, -0.01, 0.01 ]
+    up: [ 0.04, -0.05, 0.190 ]
+    zoom: 2.5
+  z_near: 0.001
+  z_far: 0.05
+
+  gel_width: 0.01835  # gel width (y-axis) in meters //original: 0.02
+  gel_height: 0.02490 # gel height (x-axis) in meters //original: 0.03

config/rgb_to_normal.yaml

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+prefix: ""
+random_seed: 0
+save_csv: False
+visualize:
+  normals: True
+  points3d: True
+
+dataloader:
+  batch_size: 1
+  shuffle: False
+  num_workers: 8
+  annot_flag: True
+  annot_file: "/home/shuk/digit-depth/csv/annotate.csv"
+dataset:
+  dataset_type: 'imgs'
+  save_dataset: True
+sensor:
+  mesh_name: adigit.STL
+  serial_num: "D00001"
+  T_cam_offset: [ [ 2.22e-16, 2.22e-16, -1.00e+00, 0.00e+00 ],
+                    [ -1.00e+00, 0.00e+00, -2.22e-16, 0.00e+00 ],
+                    [ 0.00e+00, 1.00e+00, 2.22e-16, 1.50e-02 ],
+                    [ 0.00e+00, 0.00e+00, 0.00e+00, 1.00e+00 ] ]
+
+  P: [ [ 2.30940108e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00 ],
+         [ 0.00000000e+00, 1.73205081e+00, 0.00000000e+00, 0.00000000e+00 ],
+         [ 0.00000000e+00, 0.00000000e+00, -1.04081633e+00, -2.04081633e-03 ],
+         [ 0.00000000e+00, 0.00000000e+00, -1.00000000e+00, 0.00000000e+00 ] ]
+
+  z_near: 0.001
+  z_far: 0.05
+
+  gel_width: 0.02  # "D00001" 0.01835  # gel width (y-axis) in meters //original: 0.02
+  gel_height: 0.03   # "D00001"0.02490 # gel height (x-axis) in meters //original: 0.03
+
+base_path: "/home/shuk/digit-depth"
+model_path: "/home/shuk/digits2/tactile-in-hand/inhandpy/local/Mike/mike.ckpt"
+base_img_path: "/home/shuk/digit-depth/images/0014.png"
+mm_to_pixel: 21.09
+