diff --git a/.gitattributes b/.gitattributes index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..ccdb4dca74793dadfa58261076a6bd8dbb977c7b 100644 --- a/.gitattributes +++ b/.gitattributes @@ -58,3 +58,8 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text # Video files - compressed *.mp4 filter=lfs diff=lfs merge=lfs -text *.webm filter=lfs diff=lfs merge=lfs -text +24/24_0.mcap filter=lfs diff=lfs merge=lfs -text +24/24_2.mcap filter=lfs diff=lfs merge=lfs -text +24/24_3.mcap filter=lfs diff=lfs merge=lfs -text +24/24_1.mcap filter=lfs diff=lfs merge=lfs -text +29/29_1.mcap filter=lfs diff=lfs merge=lfs -text diff --git a/0/camera_info/cam_left_head.yaml b/0/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bd0bcac0345d2ae85f62e4aa719ae022ff77da68 --- /dev/null +++ b/0/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1787012130 + nanosec: 8016377 +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/0/camera_info/cam_left_wrist.yaml b/0/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..950e44de362b8e6da092d8953125ba7ecbd0e2a2 --- /dev/null +++ b/0/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1787012130 + nanosec: 32262939 +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/0/camera_info/cam_right_head.yaml b/0/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9acddd65ea95a03684215ccb9e8447abdd2ab777 --- /dev/null +++ b/0/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1787012130 + nanosec: 8016377 +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/0/camera_info/cam_right_wrist.yaml b/0/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..08e0e28a8a8de1a63892e931d5cb490dbf19386d --- /dev/null +++ b/0/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1787012129 + nanosec: 997762207 +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 +- 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/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..df115b65e91a0a168306fe70bdb34bddad8ed7b6 --- /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": 1787012123229764044, + "frames_dropped_invalid": 0, + 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b/1/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b53c23a9bca3ed3a039604dd20b5488279520db5 --- /dev/null +++ b/1/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1787012216 + nanosec: 248919377 +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/1/camera_info/cam_right_wrist.yaml b/1/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..90b6e2a9ababe793ee8bca2b34042309e14922bb --- /dev/null +++ b/1/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1787012216 + nanosec: 246749268 +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/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: 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/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/10/videos/10_0/cam_left_head_recorder_stats.json b/10/videos/10_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..0ea3e859424dc5fdbe75feef6927db706490eb59 --- /dev/null +++ b/10/videos/10_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": 1787013705901513307, + "frames_dropped_invalid": 0, + 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0000000000000000000000000000000000000000..e02e10e75e752b1601bc70a5e848e5728d23bfac --- /dev/null +++ b/16/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1787015349 + nanosec: 61008899 +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/16/camera_info/cam_left_wrist.yaml b/16/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9aedc15dba0bf661bba30e297b96d677acb7d318 --- /dev/null +++ b/16/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1787015349 + nanosec: 72228027 +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/16/camera_info/cam_right_head.yaml b/16/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..80412cd5e7b3aa7e2b03640c3241f5981dd73f74 --- /dev/null +++ b/16/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1787015349 + nanosec: 61008899 +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/16/camera_info/cam_right_wrist.yaml b/16/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c40dc397c9446d403276f2b1814d990cd1b9ede0 --- /dev/null +++ b/16/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: 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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/16/videos/16_0/cam_left_head_recorder_stats.json b/16/videos/16_0/cam_left_head_recorder_stats.json new file mode 100644 index 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0000000000000000000000000000000000000000..f33d9b57068486eb291e7d06fdf6576248126a8e --- /dev/null +++ b/21/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1787016057 + nanosec: 347920899 +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/21/camera_info/cam_left_wrist.yaml b/21/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..39ac3e9041537503e94e9218bc16cb090ac797e0 --- /dev/null +++ b/21/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1787016057 + nanosec: 322044678 +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/21/camera_info/cam_right_head.yaml b/21/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4e00cdaef0ef5d1ca113a4dd4515dd3b489822c3 --- /dev/null +++ b/21/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1787016057 + nanosec: 347920899 +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/21/camera_info/cam_right_wrist.yaml b/21/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d8be74e7726d2d22103f73ce33f1a1bb09e399a0 --- /dev/null +++ b/21/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: 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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/21/videos/21_0/cam_left_head_recorder_stats.json b/21/videos/21_0/cam_left_head_recorder_stats.json new file mode 100644 index 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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/26/videos/26_0/cam_left_head_recorder_stats.json b/26/videos/26_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..27f34f34b7326bb8b2625bed2465494db1065362 --- /dev/null +++ b/26/videos/26_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": 1787016593196360269, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 200, + "frames_received": 200, + "frames_remuxed": 200, + "frames_written": 200, + "last_recv_ns": 1787016599837863295, + "max_callback_queue_bytes": 73601, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 17344, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + 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+roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/28/camera_info/cam_right_head.yaml b/28/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..81b853f1882a33e8f1a8e5a22e48f1adedd4d12a --- /dev/null +++ b/28/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1787016765 + nanosec: 340096899 +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/28/camera_info/cam_right_wrist.yaml b/28/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f7f30ea0506d08d74fbbfd06318e528686f4d7a3 --- /dev/null +++ b/28/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1787016765 + nanosec: 340626465 +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/28/camera_info/camera_metadata.yaml b/28/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/28/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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a/5/camera_info/cam_right_wrist.yaml b/5/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..de46247f9d61874995e1b85151c521989de1e9ce --- /dev/null +++ b/5/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1787012966 + nanosec: 692220947 +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/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: 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