diff --git a/11/camera_info/cam_left_head.yaml b/11/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..328e9cc1a5c730e1977fe75a32db7b6444314d9a --- /dev/null +++ b/11/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783067852 + nanosec: 168779484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/11/camera_info/cam_left_wrist.yaml b/11/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..640ef3953a26d03d31ca994da007885623c1b874 --- /dev/null +++ b/11/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783067852 + nanosec: 178209717 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/11/camera_info/cam_right_head.yaml b/11/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..250d9e16b37d114b5a91971b7eb7838d84233d40 --- /dev/null +++ b/11/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783067852 + nanosec: 168779484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/11/camera_info/cam_right_wrist.yaml b/11/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9120489076bdca1adcedcf7f102e6097aeb7f209 --- /dev/null +++ b/11/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783067852 + nanosec: 162123779 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/11/camera_info/camera_metadata.yaml b/11/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/11/camera_info/camera_metadata.yaml @@ -0,0 +1,23 @@ +format_version: robotis_camera_metadata_v1 +source: robot_config +cameras: + cam_left_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/left/image_rect_color/compressed + camera_info_topic: /zed/zed_node/left/camera_info + cam_left_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_left/camera_left/color/image_rect_raw/compressed + camera_info_topic: /camera_left/camera_left/color/camera_info + cam_right_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/right/image_rect_color/compressed + camera_info_topic: /zed/zed_node/right/camera_info + cam_right_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_right/camera_right/color/image_rect_raw/compressed + camera_info_topic: /camera_right/camera_right/color/camera_info diff --git a/11/videos/11_0/cam_left_head_recorder_stats.json b/11/videos/11_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..3c83c38da5f74b6327a7b2268f6ffec47c4c0cbd --- /dev/null +++ b/11/videos/11_0/cam_left_head_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783067839980202621, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 184, + "frames_received": 184, + "frames_remuxed": 184, + "frames_written": 184, + "last_recv_ns": 1783067852179639760, + "max_callback_queue_bytes": 165724, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 68032, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 3295251, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 165724, + "max_raw_queue_items": 1, + "max_raw_write_ns": 6708134, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/11/segments/0/videos/cam_left_head.mp4", + "name": "cam_left_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/11/segments/0/videos/cam_left_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 260021674, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/11/segments/0/videos/cam_left_head_timestamps.parquet", + "soft_callback_queue_bytes": 134217728, + "soft_callback_queue_frames": 256, + "soft_metadata_queue_rows": 16384, + "soft_raw_queue_bytes": 268435456, + "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/zed/zed_node/left/image_rect_color/compressed" +} diff --git a/11/videos/11_0/cam_left_wrist_recorder_stats.json b/11/videos/11_0/cam_left_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..d5ec23b4e58eb5104b546354803e57519b3633ae --- /dev/null +++ b/11/videos/11_0/cam_left_wrist_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783067840012806007, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 184, + "frames_received": 184, + "frames_remuxed": 184, + "frames_written": 184, + "last_recv_ns": 1783067852196865170, + "max_callback_queue_bytes": 72985, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 20736, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1142502, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 72985, + "max_raw_queue_items": 1, + "max_raw_write_ns": 5675296, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/11/segments/0/videos/cam_left_wrist.mp4", + "name": "cam_left_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/11/segments/0/videos/cam_left_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 213714370, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/11/segments/0/videos/cam_left_wrist_timestamps.parquet", + "soft_callback_queue_bytes": 134217728, + "soft_callback_queue_frames": 256, + "soft_metadata_queue_rows": 16384, + "soft_raw_queue_bytes": 268435456, + "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/camera_left/camera_left/color/image_rect_raw/compressed" +} diff --git a/11/videos/11_0/cam_right_head_recorder_stats.json b/11/videos/11_0/cam_right_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..9bbd8f634dada0a48316b6e548318195f97de0c8 --- /dev/null +++ b/11/videos/11_0/cam_right_head_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783067840000699666, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 184, + "frames_received": 184, + "frames_remuxed": 184, + "frames_written": 184, + "last_recv_ns": 1783067852186625400, + "max_callback_queue_bytes": 163155, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 1356136, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1218919, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 163155, + "max_raw_queue_items": 1, + "max_raw_write_ns": 6252708, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/11/segments/0/videos/cam_right_head.mp4", + "name": "cam_right_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/11/segments/0/videos/cam_right_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 204122987, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/11/segments/0/videos/cam_right_head_timestamps.parquet", + "soft_callback_queue_bytes": 134217728, + "soft_callback_queue_frames": 256, + "soft_metadata_queue_rows": 16384, + "soft_raw_queue_bytes": 268435456, + "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/zed/zed_node/right/image_rect_color/compressed" +} diff --git a/11/videos/11_0/cam_right_wrist_recorder_stats.json b/11/videos/11_0/cam_right_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..9284785b3321e71b3b6ed9ee327e289368778889 --- /dev/null +++ b/11/videos/11_0/cam_right_wrist_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783067839992543268, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 185, + "frames_received": 185, + "frames_remuxed": 185, + "frames_written": 185, + "last_recv_ns": 1783067852243272187, + "max_callback_queue_bytes": 64543, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 444291, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1518153, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 64543, + "max_raw_queue_items": 1, + "max_raw_write_ns": 5807841, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/11/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/11/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 198851788, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/11/segments/0/videos/cam_right_wrist_timestamps.parquet", + "soft_callback_queue_bytes": 134217728, + "soft_callback_queue_frames": 256, + "soft_metadata_queue_rows": 16384, + "soft_raw_queue_bytes": 268435456, + "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/camera_right/camera_right/color/image_rect_raw/compressed" +} diff --git a/14/camera_info/cam_left_head.yaml b/14/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ecb77628500637a2557ed1e578d72e99a55c1ab4 --- /dev/null +++ b/14/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783067920 + nanosec: 105199484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/14/camera_info/cam_left_wrist.yaml b/14/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6a8c8682bcb24ff0f56c1143547c91efc319cdd9 --- /dev/null +++ b/14/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783067920 + nanosec: 39665771 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/14/camera_info/cam_right_head.yaml b/14/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aa51906c2b7a8886c1266bd9ba546989ca95c674 --- /dev/null +++ b/14/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783067920 + nanosec: 38679484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/14/camera_info/cam_right_wrist.yaml b/14/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..723ecc16083e1bc6287546d246133010de1ce0ee --- /dev/null +++ b/14/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783067920 + nanosec: 89711426 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/14/camera_info/camera_metadata.yaml b/14/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/14/camera_info/camera_metadata.yaml @@ -0,0 +1,23 @@ +format_version: robotis_camera_metadata_v1 +source: robot_config +cameras: + cam_left_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/left/image_rect_color/compressed + camera_info_topic: /zed/zed_node/left/camera_info + cam_left_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_left/camera_left/color/image_rect_raw/compressed + camera_info_topic: /camera_left/camera_left/color/camera_info + cam_right_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/right/image_rect_color/compressed + camera_info_topic: /zed/zed_node/right/camera_info + cam_right_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_right/camera_right/color/image_rect_raw/compressed + camera_info_topic: /camera_right/camera_right/color/camera_info diff --git a/14/videos/14_0/cam_left_head_recorder_stats.json b/14/videos/14_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..dad7b8707001f74e759916088136c0b68c3baca6 --- /dev/null +++ b/14/videos/14_0/cam_left_head_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783067906586232055, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 204, + "frames_received": 204, + "frames_remuxed": 204, + "frames_written": 204, + "last_recv_ns": 1783067920114606143, + "max_callback_queue_bytes": 168016, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 46592, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1607273, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 168016, + "max_raw_queue_items": 1, + "max_raw_write_ns": 6692231, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/14/segments/0/videos/cam_left_head.mp4", + "name": "cam_left_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/14/segments/0/videos/cam_left_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 289826931, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/14/segments/0/videos/cam_left_head_timestamps.parquet", + "soft_callback_queue_bytes": 134217728, + "soft_callback_queue_frames": 256, + "soft_metadata_queue_rows": 16384, + "soft_raw_queue_bytes": 268435456, + "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/zed/zed_node/left/image_rect_color/compressed" +} diff --git a/14/videos/14_0/cam_left_wrist_recorder_stats.json b/14/videos/14_0/cam_left_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..623f66106d8936571c100ce5a28881dc12d08193 --- /dev/null +++ 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"/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/14/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 209042440, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/14/segments/0/videos/cam_right_wrist_timestamps.parquet", + "soft_callback_queue_bytes": 134217728, + "soft_callback_queue_frames": 256, + "soft_metadata_queue_rows": 16384, + "soft_raw_queue_bytes": 268435456, + "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/camera_right/camera_right/color/image_rect_raw/compressed" +} diff --git a/16/camera_info/camera_metadata.yaml b/16/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/16/camera_info/camera_metadata.yaml @@ -0,0 +1,23 @@ +format_version: robotis_camera_metadata_v1 +source: robot_config +cameras: + cam_left_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/left/image_rect_color/compressed + camera_info_topic: /zed/zed_node/left/camera_info + cam_left_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_left/camera_left/color/image_rect_raw/compressed + camera_info_topic: /camera_left/camera_left/color/camera_info + cam_right_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/right/image_rect_color/compressed + camera_info_topic: /zed/zed_node/right/camera_info + cam_right_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_right/camera_right/color/image_rect_raw/compressed + camera_info_topic: /camera_right/camera_right/color/camera_info diff --git a/20/camera_info/cam_left_head.yaml b/20/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dcbfb030ee04462323316dcdf6064ae9def0ffe8 --- /dev/null +++ b/20/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783068047 + nanosec: 644409484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/20/camera_info/cam_left_wrist.yaml b/20/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c18871bf915cd94f1f0a8f80fd62da0b57c1fcc1 --- /dev/null +++ b/20/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783068047 + nanosec: 635850098 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/20/camera_info/cam_right_head.yaml b/20/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..60ba98b3f7dcc0b4259e62b53bcd1312575067e3 --- /dev/null +++ b/20/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783068047 + nanosec: 644409484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/20/camera_info/cam_right_wrist.yaml b/20/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2d4637f209ac21fa99c22c27f39f4a863720f9b9 --- /dev/null +++ b/20/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783068047 + nanosec: 618062012 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/20/camera_info/camera_metadata.yaml b/20/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/20/camera_info/camera_metadata.yaml @@ -0,0 +1,23 @@ +format_version: robotis_camera_metadata_v1 +source: robot_config +cameras: + cam_left_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/left/image_rect_color/compressed + camera_info_topic: /zed/zed_node/left/camera_info + cam_left_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_left/camera_left/color/image_rect_raw/compressed + camera_info_topic: /camera_left/camera_left/color/camera_info + cam_right_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/right/image_rect_color/compressed + camera_info_topic: /zed/zed_node/right/camera_info + cam_right_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_right/camera_right/color/image_rect_raw/compressed + camera_info_topic: /camera_right/camera_right/color/camera_info diff --git a/20/videos/20_0/cam_left_head_recorder_stats.json b/20/videos/20_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..228b0d6d0e076f62a24f4d20986da535c7b3b9ff --- /dev/null +++ b/20/videos/20_0/cam_left_head_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783068034853577495, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 194, + "frames_received": 194, + "frames_remuxed": 194, + "frames_written": 194, + "last_recv_ns": 1783068047717564469, + "max_callback_queue_bytes": 164510, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 68640, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1871531, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 164510, + "max_raw_queue_items": 1, + "max_raw_write_ns": 9718679, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/20/segments/0/videos/cam_left_head.mp4", + "name": "cam_left_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/20/segments/0/videos/cam_left_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 285954269, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/20/segments/0/videos/cam_left_head_timestamps.parquet", + "soft_callback_queue_bytes": 134217728, + "soft_callback_queue_frames": 256, + "soft_metadata_queue_rows": 16384, + "soft_raw_queue_bytes": 268435456, + "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/zed/zed_node/left/image_rect_color/compressed" +} diff --git a/20/videos/20_0/cam_left_wrist_recorder_stats.json b/20/videos/20_0/cam_left_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..e915ccaa43d99140245a307d8a3394c284d581c7 --- /dev/null +++ b/20/videos/20_0/cam_left_wrist_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783068034944117083, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 194, + "frames_received": 194, + "frames_remuxed": 194, + "frames_written": 194, + "last_recv_ns": 1783068047723006388, + "max_callback_queue_bytes": 72965, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 17280, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 896869, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 72965, + "max_raw_queue_items": 1, + "max_raw_write_ns": 4324760, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/20/segments/0/videos/cam_left_wrist.mp4", + "name": "cam_left_wrist", + "pressure_warning_count": 0, + "raw_path": 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b/20/videos/20_0/cam_right_wrist_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783068034879035816, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 194, + "frames_received": 194, + "frames_remuxed": 194, + "frames_written": 194, + "last_recv_ns": 1783068047699547118, + "max_callback_queue_bytes": 69051, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 55264, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1270119, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 69051, + "max_raw_queue_items": 1, + "max_raw_write_ns": 5098301, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/20/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": 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+header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783068178 + nanosec: 117420908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/22/camera_info/cam_left_wrist.yaml b/22/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aeac0a7ad496170f03272e2cc07030f8e3a33c4f --- /dev/null +++ b/22/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783068178 + nanosec: 78577148 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/22/camera_info/cam_right_head.yaml b/22/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6961dcaffe72c00076d4e2ffa177d3ec081f45c1 --- /dev/null +++ b/22/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783068178 + nanosec: 51708908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/22/camera_info/cam_right_wrist.yaml b/22/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3e338fc6d321a88cc973331ef06eb5ce5705c74d --- /dev/null +++ b/22/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783068178 + nanosec: 65237549 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 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/zed/zed_node/left/image_rect_color/compressed + camera_info_topic: /zed/zed_node/left/camera_info + cam_left_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_left/camera_left/color/image_rect_raw/compressed + camera_info_topic: /camera_left/camera_left/color/camera_info + cam_right_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/right/image_rect_color/compressed + camera_info_topic: /zed/zed_node/right/camera_info + cam_right_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_right/camera_right/color/image_rect_raw/compressed + camera_info_topic: /camera_right/camera_right/color/camera_info diff --git a/22/videos/22_0/cam_left_head_recorder_stats.json b/22/videos/22_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..4bebe2298a30d5b0a03fde412e2f645e53c4670c --- /dev/null +++ b/22/videos/22_0/cam_left_head_recorder_stats.json @@ -0,0 +1,43 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"timestamp_warning_count": 0, + "topic": "/camera_right/camera_right/color/image_rect_raw/compressed" +} diff --git a/25/camera_info/cam_left_head.yaml b/25/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a41383bd02dba662407144500b675356bfc12e45 --- /dev/null +++ b/25/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783068231 + nanosec: 720071908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/25/camera_info/cam_left_wrist.yaml b/25/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4c937a54d87261a6bc0eea32625b393ca6579ec5 --- /dev/null +++ b/25/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783068231 + nanosec: 753731934 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/25/camera_info/cam_right_head.yaml b/25/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..86e17a42b625112dc4ff3a1c12aaf30b9d90ed12 --- /dev/null +++ b/25/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783068231 + nanosec: 720071908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/25/camera_info/cam_right_wrist.yaml b/25/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8d8c1a69fe6dead0dbf14a34876e6be15652a473 --- /dev/null +++ b/25/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783068231 + nanosec: 740569092 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/25/camera_info/camera_metadata.yaml b/25/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/25/camera_info/camera_metadata.yaml @@ -0,0 +1,23 @@ +format_version: robotis_camera_metadata_v1 +source: robot_config +cameras: + cam_left_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/left/image_rect_color/compressed + camera_info_topic: /zed/zed_node/left/camera_info + cam_left_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_left/camera_left/color/image_rect_raw/compressed + camera_info_topic: /camera_left/camera_left/color/camera_info + cam_right_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/right/image_rect_color/compressed + camera_info_topic: /zed/zed_node/right/camera_info + cam_right_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_right/camera_right/color/image_rect_raw/compressed + camera_info_topic: /camera_right/camera_right/color/camera_info diff --git a/25/videos/25_0/cam_left_head_recorder_stats.json b/25/videos/25_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..44173e71703c9199d2fd098a5d719bd34444dceb --- /dev/null +++ b/25/videos/25_0/cam_left_head_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783068216936256692, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 224, + "frames_received": 224, + "frames_remuxed": 224, + "frames_written": 224, + "last_recv_ns": 1783068231792669612, + "max_callback_queue_bytes": 163288, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 31904, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 3338995, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 163288, + "max_raw_queue_items": 1, + 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a/25/videos/25_0/cam_left_wrist_recorder_stats.json b/25/videos/25_0/cam_left_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..eb321f4b0c24c115599a763d3989267a6cbd1010 --- /dev/null +++ b/25/videos/25_0/cam_left_wrist_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783068216925726072, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 224, + "frames_received": 224, + "frames_remuxed": 224, + "frames_written": 224, + "last_recv_ns": 1783068231767085275, + "max_callback_queue_bytes": 73316, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 45568, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1496105, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 73316, + "max_raw_queue_items": 1, + "max_raw_write_ns": 8684018, + "metadata_error": null, + 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new file mode 100644 index 0000000000000000000000000000000000000000..7225326d0e8d472120658e5070e3f692d24090e2 --- /dev/null +++ b/25/videos/25_0/cam_right_wrist_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783068216905453604, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 225, + "frames_received": 225, + "frames_remuxed": 225, + "frames_written": 225, + "last_recv_ns": 1783068231825738281, + "max_callback_queue_bytes": 70435, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 24288, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 936774, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 70435, + "max_raw_queue_items": 1, + "max_raw_write_ns": 7065800, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/25/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/25/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 251684314, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/25/segments/0/videos/cam_right_wrist_timestamps.parquet", + "soft_callback_queue_bytes": 134217728, + "soft_callback_queue_frames": 256, + "soft_metadata_queue_rows": 16384, + "soft_raw_queue_bytes": 268435456, + "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/camera_right/camera_right/color/image_rect_raw/compressed" +} diff --git a/33/camera_info/cam_left_head.yaml b/33/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9145e661ef1afa25f46f58859f7f641d72260d15 --- /dev/null +++ b/33/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783068374 + nanosec: 260883908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/33/camera_info/cam_left_wrist.yaml b/33/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0675ca7ccf1df63ed5b2c5871abf14b33e9204be --- /dev/null +++ b/33/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783068374 + nanosec: 268128906 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/33/camera_info/cam_right_head.yaml b/33/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8e2a9924844f7a7ab87e40cba9534f29b7fbba98 --- /dev/null +++ b/33/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783068374 + nanosec: 260883908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/33/camera_info/cam_right_wrist.yaml b/33/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..626251b3e26c803e951712a8a6e015bafcddc515 --- /dev/null +++ b/33/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783068374 + nanosec: 253324951 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/33/camera_info/camera_metadata.yaml b/33/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/33/camera_info/camera_metadata.yaml @@ -0,0 +1,23 @@ +format_version: robotis_camera_metadata_v1 +source: robot_config +cameras: + cam_left_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/left/image_rect_color/compressed + camera_info_topic: /zed/zed_node/left/camera_info + cam_left_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_left/camera_left/color/image_rect_raw/compressed + camera_info_topic: /camera_left/camera_left/color/camera_info + cam_right_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/right/image_rect_color/compressed + camera_info_topic: /zed/zed_node/right/camera_info + cam_right_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_right/camera_right/color/image_rect_raw/compressed + camera_info_topic: /camera_right/camera_right/color/camera_info diff --git a/33/videos/33_0/cam_left_head_recorder_stats.json b/33/videos/33_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..3c348ac28252c5dc1406b78a82bb4623a3b26dff --- /dev/null +++ b/33/videos/33_0/cam_left_head_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783068360876307544, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 203, + "frames_received": 203, + "frames_remuxed": 203, + "frames_written": 203, + "last_recv_ns": 1783068374334789874, + "max_callback_queue_bytes": 162983, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 1474088, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1172327, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 162983, + "max_raw_queue_items": 1, + "max_raw_write_ns": 9762936, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/33/segments/0/videos/cam_left_head.mp4", + "name": "cam_left_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/33/segments/0/videos/cam_left_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 276101957, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/33/segments/0/videos/cam_left_head_timestamps.parquet", + "soft_callback_queue_bytes": 134217728, + "soft_callback_queue_frames": 256, + "soft_metadata_queue_rows": 16384, + "soft_raw_queue_bytes": 268435456, + "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/zed/zed_node/left/image_rect_color/compressed" +} diff --git a/33/videos/33_0/cam_left_wrist_recorder_stats.json b/33/videos/33_0/cam_left_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..2118fd05f00a5d3f210daec7c54d7904c2d8cf27 --- /dev/null +++ b/33/videos/33_0/cam_left_wrist_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783068360844423778, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 204, + "frames_received": 204, + "frames_remuxed": 204, + "frames_written": 204, + "last_recv_ns": 1783068374356032971, + "max_callback_queue_bytes": 71280, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 18016, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 893157, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 71280, + "max_raw_queue_items": 1, + "max_raw_write_ns": 5982946, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/33/segments/0/videos/cam_left_wrist.mp4", + "name": "cam_left_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/33/segments/0/videos/cam_left_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 222295410, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/33/segments/0/videos/cam_left_wrist_timestamps.parquet", + "soft_callback_queue_bytes": 134217728, + "soft_callback_queue_frames": 256, + "soft_metadata_queue_rows": 16384, + "soft_raw_queue_bytes": 268435456, + "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/camera_left/camera_left/color/image_rect_raw/compressed" +} diff --git a/33/videos/33_0/cam_right_head_recorder_stats.json b/33/videos/33_0/cam_right_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..a46a516e7858e8e8e384db90f658d7715cd6f537 --- /dev/null +++ b/33/videos/33_0/cam_right_head_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783068360827062272, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 204, + "frames_received": 204, + "frames_remuxed": 204, + "frames_written": 204, + "last_recv_ns": 1783068374344011943, + "max_callback_queue_bytes": 161778, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 34336, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 726468, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 161778, + "max_raw_queue_items": 1, + "max_raw_write_ns": 6839175, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/33/segments/0/videos/cam_right_head.mp4", + "name": "cam_right_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/33/segments/0/videos/cam_right_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 260092970, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/33/segments/0/videos/cam_right_head_timestamps.parquet", + "soft_callback_queue_bytes": 134217728, + "soft_callback_queue_frames": 256, + "soft_metadata_queue_rows": 16384, + "soft_raw_queue_bytes": 268435456, + "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/zed/zed_node/right/image_rect_color/compressed" +} diff --git a/33/videos/33_0/cam_right_wrist_recorder_stats.json b/33/videos/33_0/cam_right_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..ff73a8ebcbc24184010ef82b377d7419a57359c5 --- /dev/null +++ b/33/videos/33_0/cam_right_wrist_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783068360825167989, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 204, + "frames_received": 204, + "frames_remuxed": 204, + "frames_written": 204, + "last_recv_ns": 1783068374335094836, + "max_callback_queue_bytes": 71459, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 970406, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 2087916, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 71459, + "max_raw_queue_items": 1, + "max_raw_write_ns": 7024360, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/33/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/33/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 241813282, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/33/segments/0/videos/cam_right_wrist_timestamps.parquet", + "soft_callback_queue_bytes": 134217728, + "soft_callback_queue_frames": 256, + "soft_metadata_queue_rows": 16384, + "soft_raw_queue_bytes": 268435456, + "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/camera_right/camera_right/color/image_rect_raw/compressed" +} diff --git a/36/camera_info/cam_left_head.yaml b/36/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..abc48d061a7862c1ec401e04601bcba3cca7f262 --- /dev/null +++ b/36/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783068422 + nanosec: 262285908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/36/camera_info/cam_left_wrist.yaml b/36/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..534e4ca68aca7a127fc902e49a4f962bfcaa7ff4 --- /dev/null +++ b/36/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783068422 + nanosec: 214505615 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/36/camera_info/cam_right_head.yaml b/36/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..408a888412ebcefc6cbc03280cc4103726b052bc --- /dev/null +++ b/36/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783068422 + nanosec: 196148908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/36/camera_info/cam_right_wrist.yaml b/36/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95e65c3a5021696329aea70ed162aa1474a1f3c9 --- /dev/null +++ b/36/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783068422 + nanosec: 202010254 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/36/camera_info/camera_metadata.yaml b/36/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/36/camera_info/camera_metadata.yaml @@ -0,0 +1,23 @@ +format_version: robotis_camera_metadata_v1 +source: robot_config +cameras: + cam_left_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/left/image_rect_color/compressed + camera_info_topic: /zed/zed_node/left/camera_info + cam_left_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_left/camera_left/color/image_rect_raw/compressed + camera_info_topic: /camera_left/camera_left/color/camera_info + cam_right_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/right/image_rect_color/compressed + camera_info_topic: /zed/zed_node/right/camera_info + cam_right_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_right/camera_right/color/image_rect_raw/compressed + camera_info_topic: /camera_right/camera_right/color/camera_info diff --git a/36/videos/36_0/cam_left_head_recorder_stats.json b/36/videos/36_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..1c33992e155a034f9bf8afa1e19f669ef7a4ebe0 --- /dev/null +++ b/36/videos/36_0/cam_left_head_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783068409405540169, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 194, + "frames_received": 194, + "frames_remuxed": 194, + "frames_written": 194, + "last_recv_ns": 1783068422268635778, + "max_callback_queue_bytes": 164046, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 32256, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 3525268, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 164046, + "max_raw_queue_items": 1, + "max_raw_write_ns": 5611584, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/36/segments/0/videos/cam_left_head.mp4", + "name": "cam_left_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/36/segments/0/videos/cam_left_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 235959552, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/36/segments/0/videos/cam_left_head_timestamps.parquet", + "soft_callback_queue_bytes": 134217728, + "soft_callback_queue_frames": 256, + "soft_metadata_queue_rows": 16384, + "soft_raw_queue_bytes": 268435456, + "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/zed/zed_node/left/image_rect_color/compressed" +} diff --git a/36/videos/36_0/cam_left_wrist_recorder_stats.json b/36/videos/36_0/cam_left_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..3b7a86ea768b5736f252794afc31c0fa09526543 --- /dev/null +++ b/36/videos/36_0/cam_left_wrist_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": 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"remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/36/segments/0/videos/cam_left_wrist_timestamps.parquet", + "soft_callback_queue_bytes": 134217728, + "soft_callback_queue_frames": 256, + "soft_metadata_queue_rows": 16384, + "soft_raw_queue_bytes": 268435456, + "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/camera_left/camera_left/color/image_rect_raw/compressed" +} diff --git a/36/videos/36_0/cam_right_head_recorder_stats.json b/36/videos/36_0/cam_right_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..654dbe57be469dcf12baa25ac5dd65b0ea936dec --- /dev/null +++ b/36/videos/36_0/cam_right_head_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783068409418533811, + "frames_dropped_invalid": 0, + 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"/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/36/segments/0/videos/cam_right_head_timestamps.parquet", + "soft_callback_queue_bytes": 134217728, + "soft_callback_queue_frames": 256, + "soft_metadata_queue_rows": 16384, + "soft_raw_queue_bytes": 268435456, + "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/zed/zed_node/right/image_rect_color/compressed" +} diff --git a/36/videos/36_0/cam_right_wrist_recorder_stats.json b/36/videos/36_0/cam_right_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..2b84bc2734126074a0ba06071e70601347297899 --- /dev/null +++ b/36/videos/36_0/cam_right_wrist_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783068409444246501, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 194, + "frames_received": 194, + "frames_remuxed": 194, + "frames_written": 194, + "last_recv_ns": 1783068422286916426, + "max_callback_queue_bytes": 72634, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 702468, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 2995025, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 72634, + "max_raw_queue_items": 1, + "max_raw_write_ns": 9555094, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/36/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/36/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 216290513, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/36/segments/0/videos/cam_right_wrist_timestamps.parquet", + "soft_callback_queue_bytes": 134217728, + "soft_callback_queue_frames": 256, + "soft_metadata_queue_rows": 16384, + "soft_raw_queue_bytes": 268435456, + "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/camera_right/camera_right/color/image_rect_raw/compressed" +} diff --git a/37/camera_info/cam_left_head.yaml b/37/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6f478d14f352ee4e19df9243a6b39def75313350 --- /dev/null +++ b/37/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783068439 + nanosec: 331608908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/37/camera_info/cam_left_wrist.yaml b/37/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ac9bd312be5ac963e7c6115ed06cee19b8d8e581 --- /dev/null +++ b/37/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783068439 + nanosec: 329868408 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 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1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/37/camera_info/cam_right_wrist.yaml b/37/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..87ae6f88bca1b496f53e0a51a5f48fbf70f81c5e --- /dev/null +++ b/37/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783068439 + nanosec: 316812500 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/37/camera_info/camera_metadata.yaml b/37/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/37/camera_info/camera_metadata.yaml @@ -0,0 +1,23 @@ +format_version: robotis_camera_metadata_v1 +source: robot_config +cameras: + cam_left_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/left/image_rect_color/compressed + camera_info_topic: /zed/zed_node/left/camera_info + cam_left_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_left/camera_left/color/image_rect_raw/compressed + camera_info_topic: /camera_left/camera_left/color/camera_info + cam_right_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/right/image_rect_color/compressed + camera_info_topic: /zed/zed_node/right/camera_info + cam_right_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_right/camera_right/color/image_rect_raw/compressed + camera_info_topic: /camera_right/camera_right/color/camera_info diff --git a/37/videos/37_0/cam_left_head_recorder_stats.json b/37/videos/37_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..30c1098d219195fb7999b56edefdd7eaa3b5edf5 --- /dev/null +++ b/37/videos/37_0/cam_left_head_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783068426483806935, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 195, + "frames_received": 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"soft_callback_queue_bytes": 134217728, + "soft_callback_queue_frames": 256, + "soft_metadata_queue_rows": 16384, + "soft_raw_queue_bytes": 268435456, + "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/zed/zed_node/left/image_rect_color/compressed" +} diff --git a/37/videos/37_0/cam_left_wrist_recorder_stats.json b/37/videos/37_0/cam_left_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..7007e64eeaae489f2f84863ba99078c2711883dd --- /dev/null +++ b/37/videos/37_0/cam_left_wrist_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783068426505867253, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 195, + "frames_received": 195, + "frames_remuxed": 195, + "frames_written": 195, + "last_recv_ns": 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+ "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/zed/zed_node/right/image_rect_color/compressed" +} diff --git a/37/videos/37_0/cam_right_wrist_recorder_stats.json b/37/videos/37_0/cam_right_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..7b0cc83daabb9e39dc8a49c343e2b28f0110e911 --- /dev/null +++ b/37/videos/37_0/cam_right_wrist_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783068426500745496, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 195, + "frames_received": 195, + "frames_remuxed": 195, + "frames_written": 195, + "last_recv_ns": 1783068439405089980, + "max_callback_queue_bytes": 72983, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 69088, + "max_header_ahead_ns": 0, + 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"timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/camera_right/camera_right/color/image_rect_raw/compressed" +} diff --git a/4/camera_info/cam_left_head.yaml b/4/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..57d155bfbede24c4229dc9ff1e169e497e64ca2d --- /dev/null +++ b/4/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783067699 + nanosec: 494439484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/4/camera_info/cam_left_wrist.yaml b/4/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..78ec75a89fc2302fd4bc6b96bd3844f91b06250f --- /dev/null +++ b/4/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783067699 + nanosec: 544003662 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/4/camera_info/cam_right_head.yaml b/4/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a0f9bd1e7e862f123904e6f50165b945f5566623 --- /dev/null +++ b/4/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783067699 + nanosec: 494439484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/4/camera_info/cam_right_wrist.yaml b/4/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d10fe06d7ef06d045404c31beea6187f203303b4 --- /dev/null +++ b/4/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783067699 + nanosec: 527748535 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/4/camera_info/camera_metadata.yaml b/4/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/4/camera_info/camera_metadata.yaml @@ -0,0 +1,23 @@ +format_version: robotis_camera_metadata_v1 +source: robot_config +cameras: + cam_left_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/left/image_rect_color/compressed + camera_info_topic: /zed/zed_node/left/camera_info + cam_left_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_left/camera_left/color/image_rect_raw/compressed + camera_info_topic: /camera_left/camera_left/color/camera_info + cam_right_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/right/image_rect_color/compressed + camera_info_topic: /zed/zed_node/right/camera_info + cam_right_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_right/camera_right/color/image_rect_raw/compressed + camera_info_topic: /camera_right/camera_right/color/camera_info diff --git a/4/videos/4_0/cam_left_head_recorder_stats.json b/4/videos/4_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..40b7113bb8a88f0bc539a1067890206582cd5c8f --- /dev/null +++ b/4/videos/4_0/cam_left_head_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783067686705745678, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 194, + "frames_received": 194, + "frames_remuxed": 194, + "frames_written": 194, + "last_recv_ns": 1783067699570436655, + "max_callback_queue_bytes": 165142, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 19264, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 5567616, + 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"/zed/zed_node/left/image_rect_color/compressed" +} diff --git a/4/videos/4_0/cam_left_wrist_recorder_stats.json b/4/videos/4_0/cam_left_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..c1986af31c28e08d0f9e90a72dabfdd91eb9b4bd --- /dev/null +++ b/4/videos/4_0/cam_left_wrist_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783067686685776988, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 195, + "frames_received": 195, + "frames_remuxed": 195, + "frames_written": 195, + "last_recv_ns": 1783067699565785717, + "max_callback_queue_bytes": 71766, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 58016, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 2733744, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 71766, + "max_raw_queue_items": 1, + 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a/4/videos/4_0/cam_right_head_recorder_stats.json b/4/videos/4_0/cam_right_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..bfd58d2821176f9025af48cfce6be4bd7a78d764 --- /dev/null +++ b/4/videos/4_0/cam_right_head_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783067686713870940, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 194, + "frames_received": 194, + "frames_remuxed": 194, + "frames_written": 194, + "last_recv_ns": 1783067699574047076, + "max_callback_queue_bytes": 164072, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 35328, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 4542106, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 164072, + "max_raw_queue_items": 1, + "max_raw_write_ns": 4811931, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/4/segments/0/videos/cam_right_head.mp4", + "name": "cam_right_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/4/segments/0/videos/cam_right_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 300661168, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/4/segments/0/videos/cam_right_head_timestamps.parquet", + "soft_callback_queue_bytes": 134217728, + "soft_callback_queue_frames": 256, + "soft_metadata_queue_rows": 16384, + "soft_raw_queue_bytes": 268435456, + "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/zed/zed_node/right/image_rect_color/compressed" +} diff --git a/4/videos/4_0/cam_right_wrist_recorder_stats.json b/4/videos/4_0/cam_right_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..4e7a9cc47360565f1d9694a4a12b5ff45288617b --- /dev/null +++ b/4/videos/4_0/cam_right_wrist_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783067686706276977, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 194, + "frames_received": 194, + "frames_remuxed": 194, + "frames_written": 194, + "last_recv_ns": 1783067699550840384, + "max_callback_queue_bytes": 62887, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 18752, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1996524, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 62887, + "max_raw_queue_items": 1, + "max_raw_write_ns": 4106711, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/4/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/4/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 204415948, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/4/segments/0/videos/cam_right_wrist_timestamps.parquet", + "soft_callback_queue_bytes": 134217728, + "soft_callback_queue_frames": 256, + "soft_metadata_queue_rows": 16384, + "soft_raw_queue_bytes": 268435456, + "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/camera_right/camera_right/color/image_rect_raw/compressed" +} diff --git a/42/camera_info/cam_left_head.yaml b/42/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7c214f6e1c0bfd9cdee975efc340129e8a6b20f6 --- /dev/null +++ b/42/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783068519 + nanosec: 867108908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/42/camera_info/cam_left_wrist.yaml b/42/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6dbcb1b10f61496bd24bd9f1418e4524e367ecb8 --- /dev/null +++ b/42/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783068519 + nanosec: 843106689 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/42/camera_info/cam_right_head.yaml b/42/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d24e15cc73a86c46b5c4c93af0f0ce79aa056531 --- /dev/null +++ b/42/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783068519 + nanosec: 867108908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/42/camera_info/cam_right_wrist.yaml b/42/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9efeeb9c94c53e546da3b6449397db5688a7d131 --- /dev/null +++ b/42/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783068519 + nanosec: 829332275 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/42/camera_info/camera_metadata.yaml b/42/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/42/camera_info/camera_metadata.yaml @@ -0,0 +1,23 @@ +format_version: robotis_camera_metadata_v1 +source: robot_config +cameras: + cam_left_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/left/image_rect_color/compressed + camera_info_topic: /zed/zed_node/left/camera_info + cam_left_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_left/camera_left/color/image_rect_raw/compressed + camera_info_topic: /camera_left/camera_left/color/camera_info + cam_right_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/right/image_rect_color/compressed + camera_info_topic: /zed/zed_node/right/camera_info + cam_right_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_right/camera_right/color/image_rect_raw/compressed + camera_info_topic: /camera_right/camera_right/color/camera_info diff --git a/42/videos/42_0/cam_left_head_recorder_stats.json b/42/videos/42_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..f0901c459e767b744dcf0a50a585debc4aa9c02b --- /dev/null +++ b/42/videos/42_0/cam_left_head_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783068507092412999, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 193, + "frames_received": 193, + "frames_remuxed": 193, + "frames_written": 193, + "last_recv_ns": 1783068519873658574, + "max_callback_queue_bytes": 163514, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 29664, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 5609408, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 163514, + "max_raw_queue_items": 1, + "max_raw_write_ns": 6117538, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/42/segments/0/videos/cam_left_head.mp4", + "name": "cam_left_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/42/segments/0/videos/cam_left_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 299818988, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/42/segments/0/videos/cam_left_head_timestamps.parquet", + "soft_callback_queue_bytes": 134217728, + "soft_callback_queue_frames": 256, + "soft_metadata_queue_rows": 16384, + "soft_raw_queue_bytes": 268435456, + "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/zed/zed_node/left/image_rect_color/compressed" +} diff --git a/42/videos/42_0/cam_left_wrist_recorder_stats.json b/42/videos/42_0/cam_left_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..65cf98195a4aae788bccc3440363699843e7523a --- /dev/null +++ b/42/videos/42_0/cam_left_wrist_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783068507083911991, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 193, + "frames_received": 193, + "frames_remuxed": 193, + "frames_written": 193, + "last_recv_ns": 1783068519866220131, + "max_callback_queue_bytes": 72358, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 54848, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 869253, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 72358, + "max_raw_queue_items": 1, + "max_raw_write_ns": 8277488, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/42/segments/0/videos/cam_left_wrist.mp4", + "name": "cam_left_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/42/segments/0/videos/cam_left_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 215990415, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/42/segments/0/videos/cam_left_wrist_timestamps.parquet", + "soft_callback_queue_bytes": 134217728, + "soft_callback_queue_frames": 256, + "soft_metadata_queue_rows": 16384, + "soft_raw_queue_bytes": 268435456, + "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/camera_left/camera_left/color/image_rect_raw/compressed" +} diff --git a/42/videos/42_0/cam_right_head_recorder_stats.json b/42/videos/42_0/cam_right_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..146e8255dec409d22c8273d19c10ae7fbe3606cb --- /dev/null +++ b/42/videos/42_0/cam_right_head_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783068507102858467, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 193, + "frames_received": 193, + "frames_remuxed": 193, + "frames_written": 193, + "last_recv_ns": 1783068519883408005, + "max_callback_queue_bytes": 161631, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 1119814, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 2109388, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 161631, + "max_raw_queue_items": 1, + "max_raw_write_ns": 6080611, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/42/segments/0/videos/cam_right_head.mp4", + "name": "cam_right_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/42/segments/0/videos/cam_right_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 230424704, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/42/segments/0/videos/cam_right_head_timestamps.parquet", + "soft_callback_queue_bytes": 134217728, + "soft_callback_queue_frames": 256, + "soft_metadata_queue_rows": 16384, + "soft_raw_queue_bytes": 268435456, + "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/zed/zed_node/right/image_rect_color/compressed" +} diff --git a/42/videos/42_0/cam_right_wrist_recorder_stats.json b/42/videos/42_0/cam_right_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..157e0c975b207563b0c3eaf7402d142189a81a23 --- /dev/null +++ b/42/videos/42_0/cam_right_wrist_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783068507063442658, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 194, + "frames_received": 194, + "frames_remuxed": 194, + "frames_written": 194, + "last_recv_ns": 1783068519907036844, + "max_callback_queue_bytes": 72474, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 31008, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1314632, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 72474, + "max_raw_queue_items": 1, + "max_raw_write_ns": 5796033, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/42/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/42/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 239228786, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/42/segments/0/videos/cam_right_wrist_timestamps.parquet", + "soft_callback_queue_bytes": 134217728, + "soft_callback_queue_frames": 256, + "soft_metadata_queue_rows": 16384, + "soft_raw_queue_bytes": 268435456, + "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/camera_right/camera_right/color/image_rect_raw/compressed" +} diff --git a/45/camera_info/cam_left_head.yaml b/45/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9df45ad5fb3384976c74a581d349de1094e58305 --- /dev/null +++ b/45/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783068569 + nanosec: 402767908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/45/camera_info/cam_left_wrist.yaml b/45/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c45ef76a31bf75651a2103a1fc9080b9c69ba5cb --- /dev/null +++ b/45/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783068569 + nanosec: 389122559 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/45/camera_info/cam_right_head.yaml b/45/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c7c8eedc0d3ac1e06d253cda063adadcad3de9c4 --- /dev/null +++ b/45/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783068569 + nanosec: 402767908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/45/camera_info/cam_right_wrist.yaml b/45/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3f68298aafe354d7c9eab844f270c6d097f4c39e --- /dev/null +++ b/45/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783068569 + nanosec: 376175049 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/45/camera_info/camera_metadata.yaml b/45/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/45/camera_info/camera_metadata.yaml @@ -0,0 +1,23 @@ +format_version: robotis_camera_metadata_v1 +source: robot_config +cameras: + cam_left_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/left/image_rect_color/compressed + camera_info_topic: /zed/zed_node/left/camera_info + cam_left_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_left/camera_left/color/image_rect_raw/compressed + camera_info_topic: /camera_left/camera_left/color/camera_info + cam_right_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/right/image_rect_color/compressed + camera_info_topic: /zed/zed_node/right/camera_info + cam_right_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_right/camera_right/color/image_rect_raw/compressed + camera_info_topic: /camera_right/camera_right/color/camera_info diff --git a/45/videos/45_0/cam_left_head_recorder_stats.json b/45/videos/45_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..52d22ebc9339eb1e609f7434287a87ef696a5125 --- /dev/null +++ b/45/videos/45_0/cam_left_head_recorder_stats.json @@ -0,0 +1,43 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"raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 309675012, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/45/segments/0/videos/cam_left_head_timestamps.parquet", + "soft_callback_queue_bytes": 134217728, + "soft_callback_queue_frames": 256, + "soft_metadata_queue_rows": 16384, + "soft_raw_queue_bytes": 268435456, + "soft_raw_queue_frames": 256, + "timestamp_future_warning_count": 0, + "timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/zed/zed_node/left/image_rect_color/compressed" +} diff --git a/45/videos/45_0/cam_left_wrist_recorder_stats.json b/45/videos/45_0/cam_left_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..15f9140507a5348bf3a7286e4f7822f8436cb5fa --- /dev/null +++ b/45/videos/45_0/cam_left_wrist_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": 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/camera_left/camera_left/color/camera_info + cam_right_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/right/image_rect_color/compressed + camera_info_topic: /zed/zed_node/right/camera_info + cam_right_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_right/camera_right/color/image_rect_raw/compressed + camera_info_topic: /camera_right/camera_right/color/camera_info diff --git a/49/videos/49_0/cam_left_head_recorder_stats.json b/49/videos/49_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..dc135b2b0aac9ca5ea75e077fc861f5892c6f83b --- /dev/null +++ b/49/videos/49_0/cam_left_head_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783068622226039528, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 192, + "frames_received": 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"timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/camera_right/camera_right/color/image_rect_raw/compressed" +} diff --git a/8/camera_info/cam_left_head.yaml b/8/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..96118276d3c5f79bc9758add6f0ebeac3002883b --- /dev/null +++ b/8/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783067787 + nanosec: 31923484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/8/camera_info/cam_left_wrist.yaml b/8/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b5d71a5acd9fcefd0f742417dcf34c9d1a0e3757 --- /dev/null +++ b/8/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783067787 + nanosec: 50814453 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/8/camera_info/cam_right_head.yaml b/8/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ceb38b8e28efe2156a134204991796505cdd3292 --- /dev/null +++ b/8/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783067787 + nanosec: 31923484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/8/camera_info/cam_right_wrist.yaml b/8/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ca0f956f9a0e25b02fe1b0fcf8cfc1fd0944cd31 --- /dev/null +++ b/8/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783067787 + nanosec: 33121826 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/8/camera_info/camera_metadata.yaml b/8/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/8/camera_info/camera_metadata.yaml @@ -0,0 +1,23 @@ +format_version: robotis_camera_metadata_v1 +source: robot_config +cameras: + cam_left_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/left/image_rect_color/compressed + camera_info_topic: /zed/zed_node/left/camera_info + cam_left_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_left/camera_left/color/image_rect_raw/compressed + camera_info_topic: /camera_left/camera_left/color/camera_info + cam_right_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/right/image_rect_color/compressed + camera_info_topic: /zed/zed_node/right/camera_info + cam_right_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_right/camera_right/color/image_rect_raw/compressed + camera_info_topic: /camera_right/camera_right/color/camera_info diff --git a/8/videos/8_0/cam_left_head_recorder_stats.json b/8/videos/8_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..914a885686f664e9cf1638a4cf0c9617673108f7 --- /dev/null +++ b/8/videos/8_0/cam_left_head_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783067773572852592, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 204, + "frames_received": 204, + "frames_remuxed": 204, + "frames_written": 204, + "last_recv_ns": 1783067787112691225, + "max_callback_queue_bytes": 164323, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 18400, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 820772, + 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"/zed/zed_node/left/image_rect_color/compressed" +} diff --git a/8/videos/8_0/cam_left_wrist_recorder_stats.json b/8/videos/8_0/cam_left_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..be4ab6978da30d4fa619ebb3ab7e29755525bf18 --- /dev/null +++ b/8/videos/8_0/cam_left_wrist_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783067773550267983, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 205, + "frames_received": 205, + "frames_remuxed": 205, + "frames_written": 205, + "last_recv_ns": 1783067787133070030, + "max_callback_queue_bytes": 70909, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 26240, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 837317, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 70909, + "max_raw_queue_items": 1, + 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a/8/videos/8_0/cam_right_head_recorder_stats.json b/8/videos/8_0/cam_right_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..2c232df8955d33e8097229231d00acea2eb436d9 --- /dev/null +++ b/8/videos/8_0/cam_right_head_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783067773521828013, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 205, + "frames_received": 205, + "frames_remuxed": 205, + "frames_written": 205, + "last_recv_ns": 1783067787124298684, + "max_callback_queue_bytes": 163593, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 2214636, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1918667, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 163593, + "max_raw_queue_items": 1, + "max_raw_write_ns": 6409157, + "metadata_error": null, + 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b/8/videos/8_0/cam_right_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..481da2743e71607d0f28a7ad876a95e7d7337487 --- /dev/null +++ b/8/videos/8_0/cam_right_wrist_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + "diagnostics_mode": "summary", + "diagnostics_path": null, + "first_recv_ns": 1783067773531956231, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 205, + "frames_received": 205, + "frames_remuxed": 205, + "frames_written": 205, + "last_recv_ns": 1783067787114703461, + "max_callback_queue_bytes": 61569, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 32096, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 2623951, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 61569, + "max_raw_queue_items": 1, + "max_raw_write_ns": 3438228, + "metadata_error": null, + "mp4_path": 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