diff --git a/0/camera_info/cam_left_head.yaml b/0/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c92308c390e1073303c88cbd9f786f2fc13890e6 --- /dev/null +++ b/0/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783925211 + nanosec: 156813555 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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/0/camera_info/cam_left_wrist.yaml b/0/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47d553a2f10c4f576b089418d99b6599527fc6f4 --- /dev/null +++ b/0/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783925211 + nanosec: 112809570 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05059262737631798 +- 0.06118280440568924 +- 0.00022035422443877906 +- 0.0014309617690742016 +- -0.021348142996430397 +k: +- 393.70318603515625 +- 0.0 +- 321.8306884765625 +- 0.0 +- 393.1481628417969 +- 241.0702362060547 +- 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: +- 393.70318603515625 +- 0.0 +- 321.8306884765625 +- 0.0 +- 0.0 +- 393.1481628417969 +- 241.0702362060547 +- 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/0/camera_info/cam_right_head.yaml b/0/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..734afa1ac2dba3ebacefec9722aa89267af1bb6e --- /dev/null +++ b/0/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783925211 + nanosec: 89814555 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- -46.08226776123047 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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/0/camera_info/cam_right_wrist.yaml b/0/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0d74f4d6fe9fc5a3f68c075f0ca1b1b123adbe8b --- /dev/null +++ b/0/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783925211 + nanosec: 141740234 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05044850707054138 +- 0.06022147089242935 +- -0.0005232359981164336 +- 0.0007011663983576 +- -0.0214756540954113 +k: +- 395.6929931640625 +- 0.0 +- 321.395751953125 +- 0.0 +- 395.34991455078125 +- 241.1754150390625 +- 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: +- 395.6929931640625 +- 0.0 +- 321.395751953125 +- 0.0 +- 0.0 +- 395.34991455078125 +- 241.1754150390625 +- 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/0/camera_info/camera_metadata.yaml b/0/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/0/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/0/videos/0_0/cam_left_head_recorder_stats.json b/0/videos/0_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..4b74a6497806415bfcbec8dc82a779b1c4efaba8 --- /dev/null +++ b/0/videos/0_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": 1783925200565232774, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 160, + "frames_received": 160, + "frames_remuxed": 160, + "frames_written": 160, + "last_recv_ns": 1783925211170681344, + "max_callback_queue_bytes": 228372, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 3607051, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 5470912, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 228372, + "max_raw_queue_items": 1, + "max_raw_write_ns": 8340002, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/3/segments/0/videos/cam_left_head.mp4", + "name": "cam_left_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/3/segments/0/videos/cam_left_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 311884145, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/3/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/0/videos/0_0/cam_left_wrist_recorder_stats.json b/0/videos/0_0/cam_left_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..822c30613f2d413886821ef671b5c35de7f9e711 --- /dev/null +++ b/0/videos/0_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": 1783925200604324178, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 160, + "frames_received": 160, + "frames_remuxed": 160, + "frames_written": 160, + "last_recv_ns": 1783925211192873764, + "max_callback_queue_bytes": 108615, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 30176, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 904234, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 108615, + "max_raw_queue_items": 1, + "max_raw_write_ns": 9800467, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/3/segments/0/videos/cam_left_wrist.mp4", + "name": "cam_left_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/3/segments/0/videos/cam_left_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 261221949, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/3/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/0/videos/0_0/cam_right_head_recorder_stats.json b/0/videos/0_0/cam_right_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..9bc4d96a30ea8843f5608bd6fd8c654265d20925 --- /dev/null +++ b/0/videos/0_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": 1783925200575174907, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 160, + "frames_received": 160, + "frames_remuxed": 160, + "frames_written": 160, + "last_recv_ns": 1783925211178218680, + "max_callback_queue_bytes": 228566, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 69793, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1823734, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 228566, + "max_raw_queue_items": 1, + "max_raw_write_ns": 6129768, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/3/segments/0/videos/cam_right_head.mp4", + "name": "cam_right_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/3/segments/0/videos/cam_right_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 257558226, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/3/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/0/videos/0_0/cam_right_wrist_recorder_stats.json b/0/videos/0_0/cam_right_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..291830798fb22c42c4996837d579bb74c9403c22 --- /dev/null +++ b/0/videos/0_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": 1783925200579444909, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 161, + "frames_received": 161, + "frames_remuxed": 161, + "frames_written": 161, + "last_recv_ns": 1783925211224342102, + "max_callback_queue_bytes": 108842, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 17056, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 2211130, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 108842, + "max_raw_queue_items": 1, + "max_raw_write_ns": 5573858, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/3/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/3/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 275488293, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/3/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/1/camera_info/cam_left_head.yaml b/1/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5d199a8e0691f8cb4facd7004eb9483caa418326 --- /dev/null +++ b/1/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783925228 + nanosec: 624396555 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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/1/camera_info/cam_left_wrist.yaml b/1/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9640c5013ab479d8792817d74952798180d28555 --- /dev/null +++ b/1/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783925228 + nanosec: 626405273 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05059262737631798 +- 0.06118280440568924 +- 0.00022035422443877906 +- 0.0014309617690742016 +- -0.021348142996430397 +k: +- 393.70318603515625 +- 0.0 +- 321.8306884765625 +- 0.0 +- 393.1481628417969 +- 241.0702362060547 +- 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: +- 393.70318603515625 +- 0.0 +- 321.8306884765625 +- 0.0 +- 0.0 +- 393.1481628417969 +- 241.0702362060547 +- 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/1/camera_info/cam_right_head.yaml b/1/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..07e13932bb6ce9b2e11cb7a5096920f89da8f2ed --- /dev/null +++ b/1/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783925228 + nanosec: 624396555 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- -46.08226776123047 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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/1/camera_info/cam_right_wrist.yaml b/1/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3c7dce9dd0874016d9d7e26b3aa7c7e5e1ea18a8 --- /dev/null +++ b/1/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783925228 + nanosec: 589788574 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05044850707054138 +- 0.06022147089242935 +- -0.0005232359981164336 +- 0.0007011663983576 +- -0.0214756540954113 +k: +- 395.6929931640625 +- 0.0 +- 321.395751953125 +- 0.0 +- 395.34991455078125 +- 241.1754150390625 +- 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: +- 395.6929931640625 +- 0.0 +- 321.395751953125 +- 0.0 +- 0.0 +- 395.34991455078125 +- 241.1754150390625 +- 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/1/camera_info/camera_metadata.yaml b/1/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/1/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/1/videos/1_0/cam_left_head_recorder_stats.json 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"/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/3/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/3/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 263152597, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/3/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/13/camera_info/cam_left_head.yaml b/13/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4fcdbdffe532d886bb28d94914a411837d0941d6 --- /dev/null +++ b/13/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783925931 + nanosec: 68563555 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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/13/camera_info/cam_left_wrist.yaml b/13/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d60f6990a900ea29b55630a9b698d1ca350718fd --- /dev/null +++ b/13/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783925931 + nanosec: 82016602 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05059262737631798 +- 0.06118280440568924 +- 0.00022035422443877906 +- 0.0014309617690742016 +- -0.021348142996430397 +k: +- 393.70318603515625 +- 0.0 +- 321.8306884765625 +- 0.0 +- 393.1481628417969 +- 241.0702362060547 +- 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: +- 393.70318603515625 +- 0.0 +- 321.8306884765625 +- 0.0 +- 0.0 +- 393.1481628417969 +- 241.0702362060547 +- 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/13/camera_info/cam_right_head.yaml b/13/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c951f0010f89f8f80639a99a029a57a19b843bb7 --- /dev/null +++ b/13/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783925931 + nanosec: 68563555 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- -46.08226776123047 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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/13/camera_info/cam_right_wrist.yaml b/13/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..72e7f1e8735760650f95cd84143837fb82c04173 --- /dev/null +++ b/13/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783925931 + nanosec: 109003418 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05044850707054138 +- 0.06022147089242935 +- -0.0005232359981164336 +- 0.0007011663983576 +- -0.0214756540954113 +k: +- 395.6929931640625 +- 0.0 +- 321.395751953125 +- 0.0 +- 395.34991455078125 +- 241.1754150390625 +- 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: +- 395.6929931640625 +- 0.0 +- 321.395751953125 +- 0.0 +- 0.0 +- 395.34991455078125 +- 241.1754150390625 +- 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/13/camera_info/camera_metadata.yaml b/13/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/13/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/13/videos/13_0/cam_left_head_recorder_stats.json b/13/videos/13_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..9dcd82188f30463307dd2c1cfa2262fd2c1ec3ea --- /dev/null +++ b/13/videos/13_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": 1783925919554869236, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 175, + "frames_received": 175, + "frames_remuxed": 175, + "frames_written": 175, + "last_recv_ns": 1783925931144320447, + "max_callback_queue_bytes": 219826, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 68705, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 4731736, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 219826, + "max_raw_queue_items": 1, + "max_raw_write_ns": 9222925, + "metadata_error": null, + "mp4_path": 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b/13/videos/13_0/cam_left_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..84abd0e5ba112d637647e52c48e41a24dfa794ab --- /dev/null +++ b/13/videos/13_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": 1783925919582449240, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 175, + "frames_received": 175, + "frames_remuxed": 175, + "frames_written": 175, + "last_recv_ns": 1783925931174255327, + "max_callback_queue_bytes": 104719, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 64673, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 3372807, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 104719, + "max_raw_queue_items": 1, + "max_raw_write_ns": 5119612, + "metadata_error": null, + "mp4_path": 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"/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/4/segments/0/videos/cam_right_head.mp4", + "name": "cam_right_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/4/segments/0/videos/cam_right_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 369241301, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_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/13/videos/13_0/cam_right_wrist_recorder_stats.json b/13/videos/13_0/cam_right_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..a72a51a3b01c1746033c4e92f0f68243f84db25b --- /dev/null +++ b/13/videos/13_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": 1783925919546652275, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 175, + "frames_received": 175, + "frames_remuxed": 175, + "frames_written": 175, + "last_recv_ns": 1783925931124777785, + "max_callback_queue_bytes": 98305, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 311876, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 999340, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 98305, + "max_raw_queue_items": 1, + "max_raw_write_ns": 9292589, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/4/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/4/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 211642968, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_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/15/camera_info/cam_left_head.yaml b/15/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..48403e459a48703901e0e5fd39c9be05fba7e682 --- /dev/null +++ b/15/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783925963 + nanosec: 70663555 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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/15/camera_info/cam_left_wrist.yaml b/15/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bd09f5f6848d90934840d88361cd9cecf43c330b --- /dev/null +++ b/15/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783925963 + nanosec: 46185547 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05059262737631798 +- 0.06118280440568924 +- 0.00022035422443877906 +- 0.0014309617690742016 +- -0.021348142996430397 +k: +- 393.70318603515625 +- 0.0 +- 321.8306884765625 +- 0.0 +- 393.1481628417969 +- 241.0702362060547 +- 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: +- 393.70318603515625 +- 0.0 +- 321.8306884765625 +- 0.0 +- 0.0 +- 393.1481628417969 +- 241.0702362060547 +- 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/15/camera_info/cam_right_head.yaml b/15/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..26e93d920771fae0a9d2732df359192b60a0dae5 --- /dev/null +++ b/15/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783925963 + nanosec: 70663555 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- -46.08226776123047 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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/15/camera_info/cam_right_wrist.yaml b/15/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bd8d842b0aa37103ab0d12d248bd11e54e8a0208 --- /dev/null +++ b/15/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783925963 + nanosec: 75736084 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05044850707054138 +- 0.06022147089242935 +- -0.0005232359981164336 +- 0.0007011663983576 +- -0.0214756540954113 +k: +- 395.6929931640625 +- 0.0 +- 321.395751953125 +- 0.0 +- 395.34991455078125 +- 241.1754150390625 +- 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: +- 395.6929931640625 +- 0.0 +- 321.395751953125 +- 0.0 +- 0.0 +- 395.34991455078125 +- 241.1754150390625 +- 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/15/camera_info/camera_metadata.yaml b/15/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/15/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/15/videos/15_0/cam_left_head_recorder_stats.json b/15/videos/15_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..f9830e2dcd6c02c02964ae505c41ac2b68450daf --- /dev/null +++ b/15/videos/15_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": 1783925951754208057, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 172, + "frames_received": 172, + "frames_remuxed": 172, + "frames_written": 172, + "last_recv_ns": 1783925963143873721, + "max_callback_queue_bytes": 219415, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 17664, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 3802093, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 219415, + "max_raw_queue_items": 1, + "max_raw_write_ns": 9132492, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/6/segments/0/videos/cam_left_head.mp4", + "name": "cam_left_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/6/segments/0/videos/cam_left_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 241722425, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/6/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/15/videos/15_0/cam_left_wrist_recorder_stats.json b/15/videos/15_0/cam_left_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..33c028c93fd2556126907521b17d4b4b3e012902 --- /dev/null +++ b/15/videos/15_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": 1783925951743305977, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 172, + "frames_received": 172, + "frames_remuxed": 172, + "frames_written": 172, + "last_recv_ns": 1783925963128874280, + "max_callback_queue_bytes": 103852, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 22368, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 865866, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 103852, + "max_raw_queue_items": 1, + "max_raw_write_ns": 9107691, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/6/segments/0/videos/cam_left_wrist.mp4", + "name": "cam_left_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/6/segments/0/videos/cam_left_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 224754003, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/6/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/15/videos/15_0/cam_right_head_recorder_stats.json b/15/videos/15_0/cam_right_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..2549b3f8345fb60286f8f499cb709c74a599fa25 --- /dev/null +++ b/15/videos/15_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": 1783925951769203529, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 172, + "frames_received": 172, + "frames_remuxed": 172, + "frames_written": 172, + "last_recv_ns": 1783925963151843798, + "max_callback_queue_bytes": 224858, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 20993, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 797737, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 224858, + "max_raw_queue_items": 1, + "max_raw_write_ns": 11275109, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/6/segments/0/videos/cam_right_head.mp4", + "name": "cam_right_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/6/segments/0/videos/cam_right_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 291084287, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/6/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/15/videos/15_0/cam_right_wrist_recorder_stats.json b/15/videos/15_0/cam_right_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..6821272ee40381c2c5906f4e7a1cd5bb8b3eb847 --- /dev/null +++ b/15/videos/15_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": 1783925951775302833, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 172, + "frames_received": 172, + "frames_remuxed": 172, + "frames_written": 172, + "last_recv_ns": 1783925963174277950, + "max_callback_queue_bytes": 101139, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 13984, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 3282054, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 101139, + "max_raw_queue_items": 1, + "max_raw_write_ns": 4002863, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/6/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/6/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 221474731, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/6/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/18/camera_info/cam_left_head.yaml b/18/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..87eff46787152f7b5abaa53a7978ee031496069e --- /dev/null +++ b/18/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783926015 + nanosec: 473896555 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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/18/camera_info/cam_left_wrist.yaml b/18/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ef963312884b82c25ac257d8435557c47e9f1ff8 --- /dev/null +++ b/18/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783926015 + nanosec: 456620850 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05059262737631798 +- 0.06118280440568924 +- 0.00022035422443877906 +- 0.0014309617690742016 +- -0.021348142996430397 +k: +- 393.70318603515625 +- 0.0 +- 321.8306884765625 +- 0.0 +- 393.1481628417969 +- 241.0702362060547 +- 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: +- 393.70318603515625 +- 0.0 +- 321.8306884765625 +- 0.0 +- 0.0 +- 393.1481628417969 +- 241.0702362060547 +- 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/18/camera_info/cam_right_head.yaml b/18/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..30070e260ff8563fea31d01d18a3a05ccad24024 --- /dev/null +++ b/18/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783926015 + nanosec: 473896555 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- -46.08226776123047 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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/18/camera_info/cam_right_wrist.yaml b/18/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4580ce6695f822d03c0f6c2b46467cd2b231c28f --- /dev/null +++ b/18/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783926015 + nanosec: 417919434 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05044850707054138 +- 0.06022147089242935 +- -0.0005232359981164336 +- 0.0007011663983576 +- -0.0214756540954113 +k: +- 395.6929931640625 +- 0.0 +- 321.395751953125 +- 0.0 +- 395.34991455078125 +- 241.1754150390625 +- 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: +- 395.6929931640625 +- 0.0 +- 321.395751953125 +- 0.0 +- 0.0 +- 395.34991455078125 +- 241.1754150390625 +- 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/18/camera_info/camera_metadata.yaml b/18/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/18/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/18/videos/18_0/cam_left_head_recorder_stats.json b/18/videos/18_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..c4f2c7df099c3511582ef0eafb2fb31f17f6efce --- /dev/null +++ b/18/videos/18_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": 1783926005154560711, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 157, + "frames_received": 157, + "frames_remuxed": 157, + "frames_written": 157, + "last_recv_ns": 1783926015545604554, + "max_callback_queue_bytes": 218650, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 1631027, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1507122, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 218650, + "max_raw_queue_items": 1, + "max_raw_write_ns": 5740228, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/9/segments/0/videos/cam_left_head.mp4", + "name": "cam_left_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/9/segments/0/videos/cam_left_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 332289091, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/9/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/18/videos/18_0/cam_left_wrist_recorder_stats.json b/18/videos/18_0/cam_left_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..0e9d2cd617b201508aa873876ab4df9dc5e7303d --- /dev/null +++ b/18/videos/18_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": 1783926005164051382, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 157, + "frames_received": 157, + "frames_remuxed": 157, + "frames_written": 157, + "last_recv_ns": 1783926015536598721, + "max_callback_queue_bytes": 111556, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 467078, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 4814585, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 111556, + "max_raw_queue_items": 1, + "max_raw_write_ns": 11907148, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/9/segments/0/videos/cam_left_wrist.mp4", + "name": "cam_left_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/9/segments/0/videos/cam_left_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 239619969, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/9/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/18/videos/18_0/cam_right_head_recorder_stats.json b/18/videos/18_0/cam_right_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..e9ea69db4aee81bba1449958be61fae20bad7982 --- /dev/null +++ b/18/videos/18_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": 1783926005174394608, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 156, + "frames_received": 156, + "frames_remuxed": 156, + "frames_written": 156, + "last_recv_ns": 1783926015504079234, + "max_callback_queue_bytes": 223996, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 3734380, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 6435019, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 223996, + "max_raw_queue_items": 1, + "max_raw_write_ns": 7764604, + "metadata_error": null, + "mp4_path": 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b/18/videos/18_0/cam_right_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..df19cf15bf499d82f87241f53764fc701d9c54ac --- /dev/null +++ b/18/videos/18_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": 1783926005181035710, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 156, + "frames_received": 156, + "frames_remuxed": 156, + "frames_written": 156, + "last_recv_ns": 1783926015504648137, + "max_callback_queue_bytes": 98475, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 29856, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 987019, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 98475, + "max_raw_queue_items": 1, + "max_raw_write_ns": 6090727, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/9/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/9/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 256682218, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_900009_Collect_Jelly_To_Box_MCAP/9/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/2/camera_info/cam_left_head.yaml b/2/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..10c7710a2dd5e79bac9bbb5cc2dda1402bb92d93 --- /dev/null +++ b/2/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783925287 + nanosec: 961483555 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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/2/camera_info/cam_left_wrist.yaml b/2/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c69fddc2a6a2a80b08fe615a438fe04713d3c6dd --- /dev/null +++ b/2/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783925287 + nanosec: 896563477 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05059262737631798 +- 0.06118280440568924 +- 0.00022035422443877906 +- 0.0014309617690742016 +- -0.021348142996430397 +k: +- 393.70318603515625 +- 0.0 +- 321.8306884765625 +- 0.0 +- 393.1481628417969 +- 241.0702362060547 +- 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: +- 393.70318603515625 +- 0.0 +- 321.8306884765625 +- 0.0 +- 0.0 +- 393.1481628417969 +- 241.0702362060547 +- 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/2/camera_info/cam_right_head.yaml b/2/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ed567fd9c333370180018f2effa0a4a423112a1a --- /dev/null +++ b/2/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783925287 + nanosec: 894831555 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- -46.08226776123047 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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/2/camera_info/cam_right_wrist.yaml b/2/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3c6172a9c1693b575897597b0a0d2acdf24fd63f --- /dev/null +++ b/2/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783925287 + nanosec: 928598145 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05044850707054138 +- 0.06022147089242935 +- -0.0005232359981164336 +- 0.0007011663983576 +- -0.0214756540954113 +k: +- 395.6929931640625 +- 0.0 +- 321.395751953125 +- 0.0 +- 395.34991455078125 +- 241.1754150390625 +- 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: +- 395.6929931640625 +- 0.0 +- 321.395751953125 +- 0.0 +- 0.0 +- 395.34991455078125 +- 241.1754150390625 +- 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/2/camera_info/camera_metadata.yaml b/2/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/2/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/2/videos/2_0/cam_left_head_recorder_stats.json 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b/2/videos/2_0/cam_right_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..0c371e9ac040b280a76d50800d51877cb19372ea --- /dev/null +++ b/2/videos/2_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": 1783925276313893491, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 175, + "frames_received": 175, + "frames_remuxed": 175, + "frames_written": 175, + "last_recv_ns": 1783925287975316339, + "max_callback_queue_bytes": 231289, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 27680, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 3801964, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 231289, + "max_raw_queue_items": 1, + "max_raw_write_ns": 8350946, + "metadata_error": null, + "mp4_path": 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b/2/videos/2_0/cam_right_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..3b4ac8442fb69b9147d468df50abcf4fc10c65eb --- /dev/null +++ b/2/videos/2_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": 1783925276291132104, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 177, + "frames_received": 177, + "frames_remuxed": 177, + "frames_written": 177, + "last_recv_ns": 1783925288013992282, + "max_callback_queue_bytes": 106545, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 36865, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 982412, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 106545, + "max_raw_queue_items": 1, + "max_raw_write_ns": 8863240, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/5/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/5/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 263870492, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/5/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/3/camera_info/cam_left_head.yaml b/3/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1ab7e5ce94a69f917fdff3c7c68769e5e88fa409 --- /dev/null +++ b/3/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783925324 + nanosec: 630518555 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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/3/camera_info/cam_left_wrist.yaml b/3/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aaa29ce921c8756be5e9385ea6c1f8751fd2502c --- /dev/null +++ b/3/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783925324 + nanosec: 657819092 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05059262737631798 +- 0.06118280440568924 +- 0.00022035422443877906 +- 0.0014309617690742016 +- -0.021348142996430397 +k: +- 393.70318603515625 +- 0.0 +- 321.8306884765625 +- 0.0 +- 393.1481628417969 +- 241.0702362060547 +- 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: +- 393.70318603515625 +- 0.0 +- 321.8306884765625 +- 0.0 +- 0.0 +- 393.1481628417969 +- 241.0702362060547 +- 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/3/camera_info/cam_right_head.yaml b/3/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d9f2a3f5f876109511d9d14abeaed3fab193e5bd --- /dev/null +++ b/3/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783925324 + nanosec: 630518555 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- -46.08226776123047 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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/3/camera_info/cam_right_wrist.yaml b/3/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..101b839eb88ae6d30da321d91584b44bc01bd157 --- /dev/null +++ b/3/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783925324 + nanosec: 621027344 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05044850707054138 +- 0.06022147089242935 +- -0.0005232359981164336 +- 0.0007011663983576 +- -0.0214756540954113 +k: +- 395.6929931640625 +- 0.0 +- 321.395751953125 +- 0.0 +- 395.34991455078125 +- 241.1754150390625 +- 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: +- 395.6929931640625 +- 0.0 +- 321.395751953125 +- 0.0 +- 0.0 +- 395.34991455078125 +- 241.1754150390625 +- 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/3/camera_info/camera_metadata.yaml b/3/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/3/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/3/videos/3_0/cam_left_head_recorder_stats.json b/3/videos/3_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..6e10d24cb3d77befee2973939c8149d794b4037a --- /dev/null +++ b/3/videos/3_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": 1783925313839427557, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 164, + "frames_received": 164, + "frames_remuxed": 164, + "frames_written": 164, + "last_recv_ns": 1783925324712642010, + "max_callback_queue_bytes": 225175, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 68865, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1862998, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 225175, + "max_raw_queue_items": 1, + "max_raw_write_ns": 12326321, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/7/segments/0/videos/cam_left_head.mp4", + "name": "cam_left_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/7/segments/0/videos/cam_left_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 288901858, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/7/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/3/videos/3_0/cam_left_wrist_recorder_stats.json b/3/videos/3_0/cam_left_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..73f56331d3a568252d08e2721be5a3676e8d08ab --- /dev/null +++ b/3/videos/3_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": 1783925313811327738, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 165, + "frames_received": 165, + "frames_remuxed": 165, + "frames_written": 165, + "last_recv_ns": 1783925324680380127, + "max_callback_queue_bytes": 108611, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 800553, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 2112601, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 108611, + "max_raw_queue_items": 1, + "max_raw_write_ns": 9160172, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/7/segments/0/videos/cam_left_wrist.mp4", + "name": "cam_left_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/7/segments/0/videos/cam_left_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 246919670, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/7/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/3/videos/3_0/cam_right_head_recorder_stats.json b/3/videos/3_0/cam_right_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..a558fdbb33ea5df59ec5dda48d95af1e51f5c41d --- /dev/null +++ b/3/videos/3_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": 1783925313850348229, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 164, + "frames_received": 164, + "frames_remuxed": 164, + "frames_written": 164, + "last_recv_ns": 1783925324724396452, + "max_callback_queue_bytes": 227146, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 79841, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 2118777, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 227146, + "max_raw_queue_items": 1, + "max_raw_write_ns": 6793712, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/7/segments/0/videos/cam_right_head.mp4", + "name": "cam_right_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/7/segments/0/videos/cam_right_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 314251789, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/7/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/3/videos/3_0/cam_right_wrist_recorder_stats.json b/3/videos/3_0/cam_right_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..9e6a2466ba2ffa2e4b72fe652f98b5d8c2d8c04e --- /dev/null +++ b/3/videos/3_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": 1783925313823025924, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 165, + "frames_received": 165, + "frames_remuxed": 165, + "frames_written": 165, + "last_recv_ns": 1783925324704032853, + "max_callback_queue_bytes": 108387, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 676776, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 956779, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 108387, + "max_raw_queue_items": 1, + "max_raw_write_ns": 11444391, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/7/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/7/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 209234395, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/7/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/5/camera_info/cam_left_head.yaml b/5/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..be9b20772cd332638ce764f8f0278764401f305f --- /dev/null +++ b/5/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783925362 + nanosec: 566347555 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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/5/camera_info/cam_left_wrist.yaml b/5/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cabb1a54136cd6bd02340832fc376d2f55f20222 --- /dev/null +++ b/5/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783925362 + nanosec: 550442383 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05059262737631798 +- 0.06118280440568924 +- 0.00022035422443877906 +- 0.0014309617690742016 +- -0.021348142996430397 +k: +- 393.70318603515625 +- 0.0 +- 321.8306884765625 +- 0.0 +- 393.1481628417969 +- 241.0702362060547 +- 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: +- 393.70318603515625 +- 0.0 +- 321.8306884765625 +- 0.0 +- 0.0 +- 393.1481628417969 +- 241.0702362060547 +- 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/5/camera_info/cam_right_head.yaml b/5/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d6fa011499e285e06223c629ee4419b377bfb040 --- /dev/null +++ b/5/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783925362 + nanosec: 566347555 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- -46.08226776123047 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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/5/camera_info/cam_right_wrist.yaml b/5/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ed9d99c3e3eca2cbb331ecdd208e67de5ee67a6e --- /dev/null +++ b/5/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783925362 + nanosec: 580618164 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05044850707054138 +- 0.06022147089242935 +- -0.0005232359981164336 +- 0.0007011663983576 +- -0.0214756540954113 +k: +- 395.6929931640625 +- 0.0 +- 321.395751953125 +- 0.0 +- 395.34991455078125 +- 241.1754150390625 +- 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: +- 395.6929931640625 +- 0.0 +- 321.395751953125 +- 0.0 +- 0.0 +- 395.34991455078125 +- 241.1754150390625 +- 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/5/camera_info/camera_metadata.yaml b/5/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/5/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/5/videos/5_0/cam_left_head_recorder_stats.json b/5/videos/5_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..9c6e6f7fbe341cc124cf3b319e717859459de142 --- /dev/null +++ b/5/videos/5_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": 1783925351240664819, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 172, + "frames_received": 172, + "frames_remuxed": 172, + "frames_written": 172, + "last_recv_ns": 1783925362645533366, + "max_callback_queue_bytes": 224908, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 456389, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 3815533, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 224908, + "max_raw_queue_items": 1, + "max_raw_write_ns": 13732577, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/9/segments/0/videos/cam_left_head.mp4", + "name": "cam_left_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/9/segments/0/videos/cam_left_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 332737286, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/9/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/5/videos/5_0/cam_left_wrist_recorder_stats.json b/5/videos/5_0/cam_left_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..cf848e4eb7fc98e4c68dd2eb2adfc21959f387f1 --- /dev/null +++ b/5/videos/5_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": 1783925351213612341, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 173, + "frames_received": 173, + "frames_remuxed": 173, + "frames_written": 173, + "last_recv_ns": 1783925362639082602, + "max_callback_queue_bytes": 110258, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 18784, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1068492, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 110258, + "max_raw_queue_items": 1, + "max_raw_write_ns": 5302622, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/9/segments/0/videos/cam_left_wrist.mp4", + "name": "cam_left_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/9/segments/0/videos/cam_left_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 228498078, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/9/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/5/videos/5_0/cam_right_head_recorder_stats.json b/5/videos/5_0/cam_right_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..3cbe9efa6df67c1010ff12246291d955012a2641 --- /dev/null +++ b/5/videos/5_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": 1783925351251263535, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 172, + "frames_received": 172, + "frames_remuxed": 172, + "frames_written": 172, + "last_recv_ns": 1783925362654024666, + "max_callback_queue_bytes": 228709, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 2693663, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 3711819, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 228709, + "max_raw_queue_items": 1, + "max_raw_write_ns": 4516790, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/9/segments/0/videos/cam_right_head.mp4", + "name": "cam_right_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/9/segments/0/videos/cam_right_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 365574696, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/9/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/5/videos/5_0/cam_right_wrist_recorder_stats.json b/5/videos/5_0/cam_right_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..06fb46d90456210220f43245227aa635da38465e --- /dev/null +++ b/5/videos/5_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": 1783925351241286938, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 173, + "frames_received": 173, + "frames_remuxed": 173, + "frames_written": 173, + "last_recv_ns": 1783925362662523102, + "max_callback_queue_bytes": 109110, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 26017, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1039436, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 109110, + "max_raw_queue_items": 1, + "max_raw_write_ns": 4170353, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/9/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/9/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 286495399, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_900008_Collect_PeanutMix_To_Box_MCAP/9/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/6/camera_info/cam_left_wrist.yaml b/6/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..51aae413b1d303a2fcfa0fc51a79d03fd07e8c9d --- /dev/null +++ b/6/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783925380 + nanosec: 199622803 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05059262737631798 +- 0.06118280440568924 +- 0.00022035422443877906 +- 0.0014309617690742016 +- -0.021348142996430397 +k: +- 393.70318603515625 +- 0.0 +- 321.8306884765625 +- 0.0 +- 393.1481628417969 +- 241.0702362060547 +- 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: +- 393.70318603515625 +- 0.0 +- 321.8306884765625 +- 0.0 +- 0.0 +- 393.1481628417969 +- 241.0702362060547 +- 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/6/camera_info/cam_right_head.yaml b/6/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bcefd234c4fa987c3854dd5f9698c8a6ad8f39b7 --- /dev/null +++ b/6/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783925380 + nanosec: 233928555 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- -46.08226776123047 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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/6/camera_info/camera_metadata.yaml b/6/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/6/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/7/camera_info/cam_left_head.yaml b/7/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d24c5f66b888004211d8e30b75430cf4df3ba7d8 --- /dev/null +++ b/7/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783925398 + nanosec: 437709555 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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/7/camera_info/cam_left_wrist.yaml b/7/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..016b13e7306e88acb45210bd4c94a23ba16e7761 --- /dev/null +++ b/7/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783925398 + nanosec: 447003906 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05059262737631798 +- 0.06118280440568924 +- 0.00022035422443877906 +- 0.0014309617690742016 +- -0.021348142996430397 +k: +- 393.70318603515625 +- 0.0 +- 321.8306884765625 +- 0.0 +- 393.1481628417969 +- 241.0702362060547 +- 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: +- 393.70318603515625 +- 0.0 +- 321.8306884765625 +- 0.0 +- 0.0 +- 393.1481628417969 +- 241.0702362060547 +- 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/7/camera_info/cam_right_head.yaml b/7/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..af63f0034886ec8a18d9c1cfb1013289494f88c2 --- /dev/null +++ b/7/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783925398 + nanosec: 437709555 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- -46.08226776123047 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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/7/camera_info/cam_right_wrist.yaml b/7/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8e5e920773ba4ebb031fbe149ad25154881031fa --- /dev/null +++ b/7/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783925398 + nanosec: 408926270 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05044850707054138 +- 0.06022147089242935 +- -0.0005232359981164336 +- 0.0007011663983576 +- -0.0214756540954113 +k: +- 395.6929931640625 +- 0.0 +- 321.395751953125 +- 0.0 +- 395.34991455078125 +- 241.1754150390625 +- 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: +- 395.6929931640625 +- 0.0 +- 321.395751953125 +- 0.0 +- 0.0 +- 395.34991455078125 +- 241.1754150390625 +- 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/7/camera_info/camera_metadata.yaml b/7/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/7/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/7/videos/7_0/cam_left_head_recorder_stats.json b/7/videos/7_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..6ddbfb54b7f98a6ff7eb75aec8d02bab4659616d --- /dev/null +++ b/7/videos/7_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": 1783925388512369343, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 151, + "frames_received": 151, + "frames_remuxed": 151, + "frames_written": 151, + "last_recv_ns": 1783925398507448172, + "max_callback_queue_bytes": 229534, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 27936, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 827850, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 229534, + "max_raw_queue_items": 1, + 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a/7/videos/7_0/cam_left_wrist_recorder_stats.json b/7/videos/7_0/cam_left_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..53e9a28be8c71ff8e24bf30963f7e0bf824c2d2d --- /dev/null +++ b/7/videos/7_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": 1783925388483485164, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 151, + "frames_received": 151, + "frames_remuxed": 151, + "frames_written": 151, + "last_recv_ns": 1783925398467300948, + "max_callback_queue_bytes": 113844, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 52193, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1266607, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 113844, + "max_raw_queue_items": 1, + "max_raw_write_ns": 8014782, + "metadata_error": null, + 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a/7/videos/7_0/cam_right_head_recorder_stats.json b/7/videos/7_0/cam_right_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..5a863b1b2cdb675dc6a21aa86ec1e3e4f894ff6c --- /dev/null +++ b/7/videos/7_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": 1783925388522544311, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 151, + "frames_received": 151, + "frames_remuxed": 151, + "frames_written": 151, + "last_recv_ns": 1783925398515459594, + "max_callback_queue_bytes": 231473, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 967659, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 802377, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 231473, + "max_raw_queue_items": 1, + "max_raw_write_ns": 3822541, + "metadata_error": null, + 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b/9/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ee4ea3050acbed7d2b7bd6b0dbac460319baea8 --- /dev/null +++ b/9/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783925843 + nanosec: 263131555 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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/9/camera_info/cam_left_wrist.yaml b/9/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c3b464c9c6ec7107712e597a3f7cffdb4b32620f --- /dev/null +++ b/9/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783925843 + nanosec: 240061523 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05059262737631798 +- 0.06118280440568924 +- 0.00022035422443877906 +- 0.0014309617690742016 +- -0.021348142996430397 +k: +- 393.70318603515625 +- 0.0 +- 321.8306884765625 +- 0.0 +- 393.1481628417969 +- 241.0702362060547 +- 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: +- 393.70318603515625 +- 0.0 +- 321.8306884765625 +- 0.0 +- 0.0 +- 393.1481628417969 +- 241.0702362060547 +- 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/9/camera_info/cam_right_head.yaml b/9/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2fc1fc4550367feb404fc57e412843fdfd83bcd3 --- /dev/null +++ b/9/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783925843 + nanosec: 263131555 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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: +- 732.249755859375 +- 0.0 +- 642.698486328125 +- -46.08226776123047 +- 0.0 +- 732.249755859375 +- 363.02734375 +- 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/9/camera_info/cam_right_wrist.yaml b/9/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a51c16a492376fc5751038d716cd6fccf075a33c --- /dev/null +++ b/9/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783925843 + nanosec: 201943359 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05044850707054138 +- 0.06022147089242935 +- -0.0005232359981164336 +- 0.0007011663983576 +- -0.0214756540954113 +k: +- 395.6929931640625 +- 0.0 +- 321.395751953125 +- 0.0 +- 395.34991455078125 +- 241.1754150390625 +- 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: +- 395.6929931640625 +- 0.0 +- 321.395751953125 +- 0.0 +- 0.0 +- 395.34991455078125 +- 241.1754150390625 +- 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/9/camera_info/camera_metadata.yaml b/9/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/9/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/9/videos/9_0/cam_left_head_recorder_stats.json 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