diff --git a/11/camera_info/cam_left_head.yaml b/11/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ac91b40de6dea85b2c84990bf47a5888371039ae --- /dev/null +++ b/11/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1787013782 + nanosec: 532279377 +height: 376 +width: 672 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 364.6078186035156 +- 0.0 +- 335.171875 +- 0.0 +- 364.6078186035156 +- 185.6189727783203 +- 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: +- 364.6078186035156 +- 0.0 +- 335.171875 +- 0.0 +- 0.0 +- 364.6078186035156 +- 185.6189727783203 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/11/camera_info/cam_left_wrist.yaml b/11/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cd8cba996ca366325af89c035d588e0fc7ed79d9 --- /dev/null +++ b/11/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1787013782 + nanosec: 535226563 +height: 240 +width: 424 +distortion_model: plumb_bob +d: +- -0.055807001888751984 +- 0.06341736763715744 +- 1.8616066881804727e-05 +- 0.00040977270691655576 +- -0.02199416421353817 +k: +- 217.81771850585938 +- 0.0 +- 211.0225830078125 +- 0.0 +- 217.53515625 +- 120.03814697265625 +- 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: +- 217.81771850585938 +- 0.0 +- 211.0225830078125 +- 0.0 +- 0.0 +- 217.53515625 +- 120.03814697265625 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/11/camera_info/cam_right_head.yaml b/11/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ee8db87f778db61545209af753d17fed33f9381e --- /dev/null +++ b/11/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1787013782 + nanosec: 532279377 +height: 376 +width: 672 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 364.6078186035156 +- 0.0 +- 335.171875 +- 0.0 +- 364.6078186035156 +- 185.6189727783203 +- 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: +- 364.6078186035156 +- 0.0 +- 335.171875 +- -22.995315551757812 +- 0.0 +- 364.6078186035156 +- 185.6189727783203 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/11/camera_info/cam_right_wrist.yaml b/11/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6801e92a801214d918f28bcdaf88a0bdafcbc21e --- /dev/null +++ b/11/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1787013782 + nanosec: 540230469 +height: 240 +width: 424 +distortion_model: plumb_bob +d: +- -0.05417469143867493 +- 0.0605529248714447 +- 0.00016242921992670745 +- 0.0005478920065797865 +- -0.020335007458925247 +k: +- 217.2623748779297 +- 0.0 +- 212.0091552734375 +- 0.0 +- 216.99351501464844 +- 122.0171127319336 +- 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: +- 217.2623748779297 +- 0.0 +- 212.0091552734375 +- 0.0 +- 0.0 +- 216.99351501464844 +- 122.0171127319336 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/11/camera_info/camera_metadata.yaml b/11/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/11/camera_info/camera_metadata.yaml @@ -0,0 +1,23 @@ +format_version: robotis_camera_metadata_v1 +source: robot_config +cameras: + cam_left_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/left/image_rect_color/compressed + camera_info_topic: /zed/zed_node/left/camera_info + cam_left_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_left/camera_left/color/image_rect_raw/compressed + camera_info_topic: /camera_left/camera_left/color/camera_info + cam_right_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/right/image_rect_color/compressed + camera_info_topic: /zed/zed_node/right/camera_info + cam_right_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_right/camera_right/color/image_rect_raw/compressed + camera_info_topic: /camera_right/camera_right/color/camera_info diff --git a/11/videos/11_0/cam_left_head_recorder_stats.json 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0000000000000000000000000000000000000000..00e81687625b6c9117f036b95d41638ec8850c33 --- /dev/null +++ b/14/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1787014952 + nanosec: 522051514 +height: 240 +width: 424 +distortion_model: plumb_bob +d: +- -0.055807001888751984 +- 0.06341736763715744 +- 1.8616066881804727e-05 +- 0.00040977270691655576 +- -0.02199416421353817 +k: +- 217.81771850585938 +- 0.0 +- 211.0225830078125 +- 0.0 +- 217.53515625 +- 120.03814697265625 +- 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: +- 217.81771850585938 +- 0.0 +- 211.0225830078125 +- 0.0 +- 0.0 +- 217.53515625 +- 120.03814697265625 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/14/camera_info/cam_right_head.yaml b/14/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aa2b5f708fdae43e11c4a3ab754f65859d0e9e65 --- /dev/null +++ b/14/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1787014952 + nanosec: 545633899 +height: 376 +width: 672 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 364.6078186035156 +- 0.0 +- 335.171875 +- 0.0 +- 364.6078186035156 +- 185.6189727783203 +- 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: +- 364.6078186035156 +- 0.0 +- 335.171875 +- -22.995315551757812 +- 0.0 +- 364.6078186035156 +- 185.6189727783203 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/14/camera_info/cam_right_wrist.yaml b/14/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d44a83946f8d49992351a5f1400db4604208c5a4 --- /dev/null +++ b/14/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1787014952 + nanosec: 545712646 +height: 240 +width: 424 +distortion_model: plumb_bob +d: +- -0.05417469143867493 +- 0.0605529248714447 +- 0.00016242921992670745 +- 0.0005478920065797865 +- -0.020335007458925247 +k: +- 217.2623748779297 +- 0.0 +- 212.0091552734375 +- 0.0 +- 216.99351501464844 +- 122.0171127319336 +- 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: +- 217.2623748779297 +- 0.0 +- 212.0091552734375 +- 0.0 +- 0.0 +- 216.99351501464844 +- 122.0171127319336 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/14/camera_info/camera_metadata.yaml b/14/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/14/camera_info/camera_metadata.yaml @@ -0,0 +1,23 @@ +format_version: robotis_camera_metadata_v1 +source: robot_config +cameras: + cam_left_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/left/image_rect_color/compressed + camera_info_topic: /zed/zed_node/left/camera_info + cam_left_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_left/camera_left/color/image_rect_raw/compressed + camera_info_topic: /camera_left/camera_left/color/camera_info + cam_right_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/right/image_rect_color/compressed + camera_info_topic: /zed/zed_node/right/camera_info + cam_right_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_right/camera_right/color/image_rect_raw/compressed + camera_info_topic: /camera_right/camera_right/color/camera_info diff --git a/14/videos/14_0/cam_left_head_recorder_stats.json 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b/20/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1787015991 + nanosec: 572285899 +height: 376 +width: 672 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 364.6078186035156 +- 0.0 +- 335.171875 +- 0.0 +- 364.6078186035156 +- 185.6189727783203 +- 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: +- 364.6078186035156 +- 0.0 +- 335.171875 +- 0.0 +- 0.0 +- 364.6078186035156 +- 185.6189727783203 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/20/camera_info/cam_left_wrist.yaml b/20/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4befa143317d0cb4bb2298e2af629d81f45335ed --- /dev/null +++ b/20/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1787015991 + nanosec: 551721191 +height: 240 +width: 424 +distortion_model: plumb_bob +d: +- -0.055807001888751984 +- 0.06341736763715744 +- 1.8616066881804727e-05 +- 0.00040977270691655576 +- -0.02199416421353817 +k: +- 217.81771850585938 +- 0.0 +- 211.0225830078125 +- 0.0 +- 217.53515625 +- 120.03814697265625 +- 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: +- 217.81771850585938 +- 0.0 +- 211.0225830078125 +- 0.0 +- 0.0 +- 217.53515625 +- 120.03814697265625 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/20/camera_info/cam_right_head.yaml b/20/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..53a36b0abc4d230caf5447f051a614c144638eb0 --- /dev/null +++ b/20/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1787015991 + nanosec: 572285899 +height: 376 +width: 672 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 364.6078186035156 +- 0.0 +- 335.171875 +- 0.0 +- 364.6078186035156 +- 185.6189727783203 +- 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: +- 364.6078186035156 +- 0.0 +- 335.171875 +- -22.995315551757812 +- 0.0 +- 364.6078186035156 +- 185.6189727783203 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/20/camera_info/cam_right_wrist.yaml b/20/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f4388e4ad0906908a66f1ac5c81f8316add376d6 --- /dev/null +++ b/20/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1787015991 + nanosec: 545050781 +height: 240 +width: 424 +distortion_model: plumb_bob +d: +- 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/zed/zed_node/left/image_rect_color/compressed + camera_info_topic: /zed/zed_node/left/camera_info + cam_left_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_left/camera_left/color/image_rect_raw/compressed + camera_info_topic: /camera_left/camera_left/color/camera_info + cam_right_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/right/image_rect_color/compressed + camera_info_topic: /zed/zed_node/right/camera_info + cam_right_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_right/camera_right/color/image_rect_raw/compressed + camera_info_topic: /camera_right/camera_right/color/camera_info diff --git a/20/videos/20_0/cam_left_head_recorder_stats.json b/20/videos/20_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..b64e5a85100991bd90c447b26bd02d291afc5439 --- /dev/null +++ b/20/videos/20_0/cam_left_head_recorder_stats.json @@ -0,0 +1,43 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a/25/camera_info/camera_metadata.yaml b/25/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/25/camera_info/camera_metadata.yaml @@ -0,0 +1,23 @@ +format_version: robotis_camera_metadata_v1 +source: robot_config +cameras: + cam_left_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/left/image_rect_color/compressed + camera_info_topic: /zed/zed_node/left/camera_info + cam_left_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_left/camera_left/color/image_rect_raw/compressed + camera_info_topic: /camera_left/camera_left/color/camera_info + cam_right_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/right/image_rect_color/compressed + camera_info_topic: /zed/zed_node/right/camera_info + cam_right_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: 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+binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/4/camera_info/cam_left_wrist.yaml b/4/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d31df9a115303bab6bbad0379e4e6918ac2ac0ae --- /dev/null +++ b/4/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1787012620 + nanosec: 825841064 +height: 240 +width: 424 +distortion_model: plumb_bob +d: +- -0.055807001888751984 +- 0.06341736763715744 +- 1.8616066881804727e-05 +- 0.00040977270691655576 +- -0.02199416421353817 +k: +- 217.81771850585938 +- 0.0 +- 211.0225830078125 +- 0.0 +- 217.53515625 +- 120.03814697265625 +- 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: +- 217.81771850585938 +- 0.0 +- 211.0225830078125 +- 0.0 +- 0.0 +- 217.53515625 +- 120.03814697265625 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/4/camera_info/cam_right_head.yaml b/4/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5e453e5d25dc78eb507c28711e0652295d1d9c6c --- /dev/null +++ b/4/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1787012620 + nanosec: 842268377 +height: 376 +width: 672 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 364.6078186035156 +- 0.0 +- 335.171875 +- 0.0 +- 364.6078186035156 +- 185.6189727783203 +- 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: +- 364.6078186035156 +- 0.0 +- 335.171875 +- -22.995315551757812 +- 0.0 +- 364.6078186035156 +- 185.6189727783203 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/4/camera_info/cam_right_wrist.yaml b/4/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ce5064ce283d02d9459d115887c25010311f6428 --- /dev/null +++ b/4/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1787012620 + nanosec: 824456055 +height: 240 +width: 424 +distortion_model: plumb_bob +d: +- -0.05417469143867493 +- 0.0605529248714447 +- 0.00016242921992670745 +- 0.0005478920065797865 +- -0.020335007458925247 +k: +- 217.2623748779297 +- 0.0 +- 212.0091552734375 +- 0.0 +- 216.99351501464844 +- 122.0171127319336 +- 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: +- 217.2623748779297 +- 0.0 +- 212.0091552734375 +- 0.0 +- 0.0 +- 216.99351501464844 +- 122.0171127319336 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/4/camera_info/camera_metadata.yaml b/4/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/4/camera_info/camera_metadata.yaml @@ -0,0 +1,23 @@ +format_version: robotis_camera_metadata_v1 +source: robot_config +cameras: + cam_left_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/left/image_rect_color/compressed + camera_info_topic: /zed/zed_node/left/camera_info + cam_left_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_left/camera_left/color/image_rect_raw/compressed + camera_info_topic: /camera_left/camera_left/color/camera_info + cam_right_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/right/image_rect_color/compressed + camera_info_topic: /zed/zed_node/right/camera_info + cam_right_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: 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