diff --git a/17/camera_info/cam_left_head.yaml b/17/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc5d4fdc89fe4ea327ac9b995658c89af0ed2af7 --- /dev/null +++ b/17/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1787015706 + nanosec: 441302899 +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/17/camera_info/cam_left_wrist.yaml b/17/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1a32ccb7725c08aba16b5a490136caf96945dbb6 --- /dev/null +++ b/17/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1787015706 + nanosec: 427687256 +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/17/camera_info/cam_right_head.yaml b/17/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a23db66f74a0e5af683a8e24c453b24c5193057d --- /dev/null +++ b/17/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1787015706 + nanosec: 408290899 +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/17/camera_info/cam_right_wrist.yaml b/17/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1c3df2a8875c66835febb74881058fe169530e57 --- /dev/null +++ b/17/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1787015706 + nanosec: 419558350 +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/17/camera_info/camera_metadata.yaml b/17/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/17/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/17/videos/17_0/cam_left_head_recorder_stats.json 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b/23/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1787016405 + nanosec: 151047899 +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/23/camera_info/cam_left_wrist.yaml b/23/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..959c92425ce95f10ea50908e21191faacfa13c55 --- /dev/null +++ b/23/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + 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nanosec: 151047899 +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/23/camera_info/cam_right_wrist.yaml b/23/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e4d0a4f55513560c0bc3b5e8998a64a3f55cf7d4 --- /dev/null +++ b/23/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1787016405 + nanosec: 151696777 +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/23/videos/23_0/cam_left_head_recorder_stats.json b/23/videos/23_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..c9f9a9ff74c84c7226936929185a41acfc9f3dbc --- /dev/null +++ b/23/videos/23_0/cam_left_head_recorder_stats.json @@ -0,0 +1,43 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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/30/videos/30_0/cam_left_head_recorder_stats.json b/30/videos/30_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..3f968beb4fcd28297991fd9b7e878b380aa3182b --- /dev/null +++ b/30/videos/30_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": 1787017003694636527, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 210, + "frames_received": 210, + "frames_remuxed": 210, + "frames_written": 210, + "last_recv_ns": 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+binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/8/camera_info/cam_left_wrist.yaml b/8/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3fc30317c583cd0d6935c575fb0872a8afee178c --- /dev/null +++ b/8/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1787013499 + nanosec: 742834961 +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: 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a/8/camera_info/cam_right_wrist.yaml b/8/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3410b06f49898d4fbb7454e7147c2190b72140dd --- /dev/null +++ b/8/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1787013499 + nanosec: 742846924 +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/8/camera_info/camera_metadata.yaml b/8/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/8/camera_info/camera_metadata.yaml @@ -0,0 +1,23 @@ +format_version: robotis_camera_metadata_v1 +source: robot_config +cameras: + cam_left_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/left/image_rect_color/compressed + camera_info_topic: /zed/zed_node/left/camera_info + cam_left_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_left/camera_left/color/image_rect_raw/compressed + camera_info_topic: /camera_left/camera_left/color/camera_info + cam_right_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/right/image_rect_color/compressed + camera_info_topic: /zed/zed_node/right/camera_info + cam_right_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: 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