TRLC DK-1 camera calibration example results

left_wrist_intrinsics.json

{
  "model": "standard",
  "rms_error": 2.5439586616505143,
  "camera_matrix": [
    [
      453.85525380450815,
      0.0,
      614.8352179012645
    ],
    [
      0.0,
      451.86440201137947,
      331.2346159234273
    ],
    [
      0.0,
      0.0,
      1.0
    ]
  ],
  "dist_coeffs": [
    4.375349406668574,
    2.6281102555829214,
    -0.00047646322804299675,
    0.000921511376108688,
    0.11182177015079839,
    4.704143028707522,
    4.120911099661501,
    0.6144777164536983,
    0.0,
    0.0,
    0.0,
    0.0,
    0.0,
    0.0
  ],
  "image_size": [
    1280,
    720
  ],
  "per_image_errors": [
    0.02808848247505206,
    0.1389110001423367,
    0.030223637397851347,
    0.20210379799395173,
    0.22995482203294884,
    0.24595140470389268,
    0.2759392070249283,
    0.06537850984537294,
    0.16677658050679567,
    0.24307266095881105,
    0.14136244659395125,
    0.23956912438371855,
    0.16731584592889814,
    0.25311547668082934,
    0.2751801254877084,
    0.253407814317177,
    0.2774544248962943,
    0.04855166895907449,
    0.025948393438073463
  ],
  "n_images": 19,
  "camera_name": "left_wrist",
  "grid_size": [
    8,
    21
  ],
  "spacing_m": 0.005,
  "timestamp": "2026-03-30T17:40:33.321626"
}

overview_intrinsics.json

{
  "model": "standard",
  "rms_error": 2.3665954069414283,
  "camera_matrix": [
    [
      560.8764642169623,
      0.0,
      649.4876803941809
    ],
    [
      0.0,
      559.453869402159,
      395.7945866699013
    ],
    [
      0.0,
      0.0,
      1.0
    ]
  ],
  "dist_coeffs": [
    14.679681004250613,
    4.86141717612947,
    0.0006900317968586432,
    0.001399280433880154,
    1.7294427751707429,
    15.634418451196614,
    5.1988064532426215,
    2.7593992351403682,
    0.0,
    0.0,
    0.0,
    0.0,
    0.0,
    0.0
  ],
  "image_size": [
    1280,
    720
  ],
  "per_image_errors": [
    0.2987754106912732,
    0.23700235582123605,
    0.15800505103557003,
    0.12907083287098198,
    0.1550192304174183,
    0.03571293053627186,
    0.20129492012206635,
    0.214106112210971,
    0.30730268721669585,
    0.24934490933602252,
    0.03011028352435472,
    0.02519348479129548,
    0.20570736664896944,
    0.23918280562846628,
    0.07034391725622784,
    0.14885622543980004,
    0.14715405650222763,
    0.22683240566569524,
    0.19032599226760802,
    0.12450544524379102,
    0.12902439736008095,
    0.1068215003017438,
    0.12537726931332638,
    0.2190693642855032
  ],
  "n_images": 24,
  "camera_name": "overview",
  "grid_size": [
    8,
    21
  ],
  "spacing_m": 0.005,
  "timestamp": "2026-03-30T17:48:05.979005"
}

right_wrist_intrinsics.json

{
  "model": "standard",
  "rms_error": 2.754251488865536,
  "camera_matrix": [
    [
      469.84724057624385,
      0.0,
      614.1518446365385
    ],
    [
      0.0,
      472.26103971722944,
      344.6871552300354
    ],
    [
      0.0,
      0.0,
      1.0
    ]
  ],
  "dist_coeffs": [
    -0.1811656160667424,
    1.325979617878383,
    -0.0006202468936658919,
    -0.00046324572366879886,
    0.12239254234948246,
    0.15768195598474594,
    1.248266236110598,
    0.5191157095477726,
    0.0,
    0.0,
    0.0,
    0.0,
    0.0,
    0.0
  ],
  "image_size": [
    1280,
    720
  ],
  "per_image_errors": [
    0.027505603810464834,
    0.28457953716870654,
    0.16009666903892392,
    0.2861230601934923,
    0.22225382144213227,
    0.0984264416424436,
    0.2823053073441023,
    0.2346366861005839,
    0.3103295043907484,
    0.18756005416065924,
    0.21385635482308038,
    0.21794877786231584,
    0.17706439536740085,
    0.20436088144523362,
    0.042448147680565755,
    0.04945016596898132,
    0.1979826963058311,
    0.11638232800875382,
    0.20251910629417894,
    0.28247142116696405,
    0.26430093957869666,
    0.254626216650743
  ],
  "n_images": 22,
  "camera_name": "right_wrist",
  "grid_size": [
    8,
    21
  ],
  "spacing_m": 0.005,
  "timestamp": "2026-03-30T17:45:06.959546"
}