diff --git a/0/camera_info/cam_left_head.yaml b/0/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..70cf2698a6f3c0066977fba999a6599874b125be --- /dev/null +++ b/0/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783067608 + nanosec: 423400484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/0/camera_info/cam_left_wrist.yaml b/0/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe9f93642af1c493b5024f71befb9ec6a6fecfbe --- /dev/null +++ b/0/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783067608 + nanosec: 443078857 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/0/camera_info/cam_right_head.yaml b/0/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b7f989b86b2c2e21321a01d69882bb23b11645ec --- /dev/null +++ b/0/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783067608 + nanosec: 423400484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/0/camera_info/cam_right_wrist.yaml b/0/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..efdfc7c4eec0a4390d8b850cf37c069a98fab00c --- /dev/null +++ b/0/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783067608 + nanosec: 425779785 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/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..83b2a9a4417d9272d6fe1616d15b3ce8c8db01ad --- /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": 1783067593363046180, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 227, + "frames_received": 227, + "frames_remuxed": 227, + "frames_written": 227, + "last_recv_ns": 1783067608495458945, + "max_callback_queue_bytes": 166409, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 26304, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1770154, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 166409, + "max_raw_queue_items": 1, + "max_raw_write_ns": 9112404, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/0/segments/0/videos/cam_left_head.mp4", + "name": "cam_left_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/0/segments/0/videos/cam_left_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 326674693, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/0/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..38a0033a52e805eee3af9e535f6664ab1c034315 --- /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": 1783067593343919511, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 229, + "frames_received": 229, + "frames_remuxed": 229, + "frames_written": 229, + "last_recv_ns": 1783067608531813040, + "max_callback_queue_bytes": 70167, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 2534095, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 890437, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 70167, + "max_raw_queue_items": 1, + "max_raw_write_ns": 5470559, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/0/segments/0/videos/cam_left_wrist.mp4", + "name": "cam_left_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/0/segments/0/videos/cam_left_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 266528366, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/0/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..5c59c16a3b1acd350b9afdd55f933087d4b12091 --- /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": 1783067593371280339, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 227, + "frames_received": 227, + "frames_remuxed": 227, + "frames_written": 227, + "last_recv_ns": 1783067608502239304, + "max_callback_queue_bytes": 164703, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 18976, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1496937, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 164703, + "max_raw_queue_items": 1, + "max_raw_write_ns": 4430521, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/0/segments/0/videos/cam_right_head.mp4", + "name": "cam_right_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/0/segments/0/videos/cam_right_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 292032159, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/0/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..25c14667eec7f89a4fd8ba32a1de5c4ef0429cb1 --- /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": 1783067593325327885, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 229, + "frames_received": 229, + "frames_remuxed": 229, + "frames_written": 229, + "last_recv_ns": 1783067608513965803, + "max_callback_queue_bytes": 64438, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 30368, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 2254637, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 64438, + "max_raw_queue_items": 1, + "max_raw_write_ns": 5366911, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/0/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/0/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 220971467, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/0/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..03e2735b061654a4c7e8ba6b6d35952fe35667e5 --- /dev/null +++ b/1/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783067631 + nanosec: 91173484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/1/camera_info/cam_left_wrist.yaml b/1/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..44ed761857a4ba8b7adc1640e83e26f838b95692 --- /dev/null +++ b/1/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783067631 + nanosec: 17771484 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/1/camera_info/cam_right_head.yaml b/1/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0172e22495079c2ad0a084e579e8bb33abd09533 --- /dev/null +++ b/1/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783067631 + nanosec: 24551484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/1/camera_info/cam_right_wrist.yaml b/1/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ac8bb1bbd023281d0a4002b7f9768a8165da0945 --- /dev/null +++ b/1/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783067631 + nanosec: 68585938 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/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 b/1/videos/1_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..7da8652eb238791019865bac268148b24be35070 --- /dev/null +++ b/1/videos/1_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": 1783067618700157100, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 187, + "frames_received": 187, + "frames_remuxed": 187, + "frames_written": 187, + "last_recv_ns": 1783067631100005429, + "max_callback_queue_bytes": 167964, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 23104, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 926117, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 167964, + "max_raw_queue_items": 1, + "max_raw_write_ns": 8772754, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/1/segments/0/videos/cam_left_head.mp4", + "name": "cam_left_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/1/segments/0/videos/cam_left_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 294112907, + 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"/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/1/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/10/camera_info/cam_left_head.yaml b/10/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..12cebeb0a07691821b03f895c8365a389dcdb544 --- /dev/null +++ b/10/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783067832 + nanosec: 634100484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/10/camera_info/cam_left_wrist.yaml b/10/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2d6faa3633e56ce6c9bda47210051024b869b603 --- /dev/null +++ b/10/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783067832 + nanosec: 602106689 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 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/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..8bd5006a4738c77bf714c2f85aaa88992df10741 --- /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": 1783067817782320343, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 225, + "frames_received": 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+roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/12/camera_info/cam_left_wrist.yaml b/12/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2768046c052d29eda61a91184939384255254957 --- /dev/null +++ b/12/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783067876 + nanosec: 21398926 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/12/camera_info/cam_right_head.yaml b/12/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..89ee1a0eff52c25615e3e35a2f96b2b33875690b --- /dev/null +++ b/12/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783067876 + nanosec: 38579484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/12/camera_info/cam_right_wrist.yaml b/12/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8a330a09b37a2fb03ff4dcc3daf7d5f17605d4c4 --- /dev/null +++ b/12/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783067876 + nanosec: 3534424 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/12/videos/12_0/cam_left_head_recorder_stats.json b/12/videos/12_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..038482cca4330725b7291098dbd4093b3256c432 --- /dev/null +++ b/12/videos/12_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": 1783067862452398399, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 206, + "frames_received": 206, + "frames_remuxed": 206, + "frames_written": 206, + "last_recv_ns": 1783067876112103251, + "max_callback_queue_bytes": 168494, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 33504, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1166566, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 168494, + "max_raw_queue_items": 1, + "max_raw_write_ns": 8850322, + "metadata_error": null, + 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b/12/videos/12_0/cam_right_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..19195be326732155b013764496dc67ec89796475 --- /dev/null +++ b/12/videos/12_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": 1783067862463252957, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 206, + "frames_received": 206, + "frames_remuxed": 206, + "frames_written": 206, + "last_recv_ns": 1783067876121938955, + "max_callback_queue_bytes": 167561, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 71137, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1036454, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 167561, + "max_raw_queue_items": 1, + "max_raw_write_ns": 6289348, + "metadata_error": null, + "mp4_path": 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new file mode 100644 index 0000000000000000000000000000000000000000..a7ec32896455b8971660c35e7ae0be4ae8612311 --- /dev/null +++ b/12/videos/12_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": 1783067862452923778, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 206, + "frames_received": 206, + "frames_remuxed": 206, + "frames_written": 206, + "last_recv_ns": 1783067876096670331, + "max_callback_queue_bytes": 64849, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 28161, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1274983, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 64849, + "max_raw_queue_items": 1, + "max_raw_write_ns": 5221182, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/12/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/12/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 234748472, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/12/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..a017978fe7edb51ad186a33c0b402cba24de8ef8 --- /dev/null +++ b/13/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783067896 + nanosec: 970563484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/13/camera_info/cam_left_wrist.yaml b/13/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..184a03b9920271373748a7a643d9c29c6c1a5b35 --- /dev/null +++ b/13/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783067896 + nanosec: 932156738 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/13/camera_info/cam_right_head.yaml b/13/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4251192c60d187b11c6ec6cff1dab613cb6c3ac7 --- /dev/null +++ b/13/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783067896 + nanosec: 970563484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/13/camera_info/cam_right_wrist.yaml b/13/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..83f70b4ec09ff23614a27db842a42af7f7861fa4 --- /dev/null +++ b/13/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783067896 + nanosec: 980589844 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/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..792cb0b7ea25d52abf978fae3e3de9d3f5bbbc29 --- /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": 1783067885111443145, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 180, + "frames_received": 180, + "frames_remuxed": 180, + "frames_written": 180, + "last_recv_ns": 1783067897043432584, + "max_callback_queue_bytes": 166974, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 38656, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1435752, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 166974, + "max_raw_queue_items": 1, + "max_raw_write_ns": 4300921, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/13/segments/0/videos/cam_left_head.mp4", + "name": "cam_left_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/13/segments/0/videos/cam_left_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 279728154, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/13/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/13/videos/13_0/cam_left_wrist_recorder_stats.json b/13/videos/13_0/cam_left_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..8b4e56593183ed2fcc0b06643940ee54b46b0237 --- /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": 1783067885094875915, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 180, + "frames_received": 180, + "frames_remuxed": 180, + "frames_written": 180, + "last_recv_ns": 1783067897017419380, + "max_callback_queue_bytes": 73317, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 56768, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 817061, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 73317, + "max_raw_queue_items": 1, + "max_raw_write_ns": 3910679, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/13/segments/0/videos/cam_left_wrist.mp4", + "name": "cam_left_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/13/segments/0/videos/cam_left_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 205794197, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/13/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/13/videos/13_0/cam_right_head_recorder_stats.json b/13/videos/13_0/cam_right_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..83f7bbfd87c314b4803059fa82f14ad16ae364d2 --- /dev/null +++ b/13/videos/13_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": 1783067885120316700, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 180, + "frames_received": 180, + "frames_remuxed": 180, + "frames_written": 180, + "last_recv_ns": 1783067897051265108, + "max_callback_queue_bytes": 165216, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 158817, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 790308, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 165216, + "max_raw_queue_items": 1, + "max_raw_write_ns": 3994551, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/13/segments/0/videos/cam_right_head.mp4", + "name": "cam_right_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/13/segments/0/videos/cam_right_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 274669212, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/13/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..eea667f52e3c2f1c64699a6abd323a1994931cb8 --- /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": 1783067885083408713, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 180, + "frames_received": 180, + "frames_remuxed": 180, + "frames_written": 180, + "last_recv_ns": 1783067897015833931, + "max_callback_queue_bytes": 64594, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 16960, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1011110, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 64594, + "max_raw_queue_items": 1, + "max_raw_write_ns": 5145565, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/13/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/13/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 194696021, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/13/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..c3f635d42a0f582149f334317e12aea0e03e3427 --- /dev/null +++ b/15/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783067940 + nanosec: 772699484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/15/camera_info/cam_left_wrist.yaml b/15/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..01a028e2aa691682f523f50f9beb8e708672b937 --- /dev/null +++ b/15/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783067940 + nanosec: 751352783 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/15/camera_info/cam_right_head.yaml b/15/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..12b095aeb9f71f1ccd8fa447414da762e5907062 --- /dev/null +++ b/15/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783067940 + nanosec: 706205484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/15/camera_info/cam_right_wrist.yaml b/15/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0f3005dd4cf4779526eb08791db374b90d74a207 --- /dev/null +++ b/15/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783067940 + nanosec: 734186279 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/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..053ddba559333ca81906834ec1452fefae36a47c --- /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": 1783067927868910429, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 195, + "frames_received": 195, + "frames_remuxed": 195, + "frames_written": 195, + "last_recv_ns": 1783067940783438107, + "max_callback_queue_bytes": 165762, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 999014, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 882821, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 165762, + "max_raw_queue_items": 1, + "max_raw_write_ns": 8240399, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/15/segments/0/videos/cam_left_head.mp4", + "name": "cam_left_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/15/segments/0/videos/cam_left_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 322942639, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/15/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..378388490ba9b90eee68c7d8dd4841d4723df7f8 --- /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": 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--git a/18/camera_info/cam_left_head.yaml b/18/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..496d98764c409471a3895f5a5a6a114764d13b89 --- /dev/null +++ b/18/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783068006 + nanosec: 909187484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/18/camera_info/cam_left_wrist.yaml b/18/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6d4070fe06162aef7822ba368ef7b60e579e5f70 --- /dev/null +++ b/18/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783068006 + nanosec: 879265625 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/18/camera_info/cam_right_head.yaml b/18/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b5e84919b7c4a2a510c3382252aa6f23bb303d3b --- /dev/null +++ b/18/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783068006 + nanosec: 909187484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/18/camera_info/cam_right_wrist.yaml b/18/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e6e61a3d7ba9ed8911bf6f79a2b8a92d584de490 --- /dev/null +++ b/18/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783068006 + nanosec: 928584717 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/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..e251e5f3b499d0ff29769ef83736dfb63f00f918 --- /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": 1783067993184451229, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 208, + "frames_received": 208, + "frames_remuxed": 208, + "frames_written": 208, + "last_recv_ns": 1783068006983008233, + "max_callback_queue_bytes": 164125, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 3323027, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 5740097, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 164125, + "max_raw_queue_items": 1, + "max_raw_write_ns": 9389814, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/18/segments/0/videos/cam_left_head.mp4", + "name": "cam_left_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/18/segments/0/videos/cam_left_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 323005297, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/18/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..458342d2ec6cf424b899ce492be5d7e90e8ff563 --- /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": 1783067993190477567, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 208, + "frames_received": 208, + "frames_remuxed": 208, + "frames_written": 208, + "last_recv_ns": 1783068006964688576, + "max_callback_queue_bytes": 71711, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 793700, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 4437881, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 71711, + "max_raw_queue_items": 1, + "max_raw_write_ns": 3940150, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/18/segments/0/videos/cam_left_wrist.mp4", + "name": "cam_left_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/18/segments/0/videos/cam_left_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 222527507, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/18/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..9477125dc49dcf494aca38079c13fa1a3b71941f --- /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": 1783067993193282927, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 208, + "frames_received": 208, + "frames_remuxed": 208, + "frames_written": 208, + "last_recv_ns": 1783068006991503161, + "max_callback_queue_bytes": 162629, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 26496, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 6927047, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 162629, + "max_raw_queue_items": 1, + "max_raw_write_ns": 9783192, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/18/segments/0/videos/cam_right_head.mp4", + "name": "cam_right_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/18/segments/0/videos/cam_right_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 290217813, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/18/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/18/videos/18_0/cam_right_wrist_recorder_stats.json b/18/videos/18_0/cam_right_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..639ff6e76aeb04af09b50f04ad58d09b964de158 --- /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": 1783067993230156481, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 207, + "frames_received": 207, + "frames_remuxed": 207, + "frames_written": 207, + "last_recv_ns": 1783068006940516214, + "max_callback_queue_bytes": 62724, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 17504, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 4845340, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 62724, + "max_raw_queue_items": 1, + "max_raw_write_ns": 4763899, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/18/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/18/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 228684566, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/18/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..ae79bc2c76fbb169f8485ecfd09c71f8b779e4c9 --- /dev/null +++ b/2/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783067654 + nanosec: 225673484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/2/camera_info/cam_left_wrist.yaml b/2/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f1f7605fa1377e596b6869ed25c4e9e88d3df400 --- /dev/null +++ b/2/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783067654 + nanosec: 192735596 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/2/camera_info/cam_right_head.yaml b/2/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..98f1baa9f6ad6350dda3686e3cad3a2013da82ce --- /dev/null +++ b/2/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783067654 + nanosec: 225673484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/2/camera_info/cam_right_wrist.yaml b/2/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..344d0f06606fb7062cf6fa4826b67add2637dd71 --- /dev/null +++ b/2/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783067654 + nanosec: 176510498 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/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 b/2/videos/2_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..8936230ffe647c1cd9840743d4323c4bb3e9383d --- /dev/null +++ b/2/videos/2_0/cam_left_head_recorder_stats.json @@ -0,0 +1,43 @@ +{ + "callback_queue_bytes_current": 0, + 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"/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/2/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/21/camera_info/cam_left_head.yaml b/21/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..31c48345e4ed7dc0fbe7a6e5ae6503d3c4178a20 --- /dev/null +++ b/21/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783068069 + nanosec: 178793484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/21/camera_info/cam_left_wrist.yaml b/21/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bb8ca519feac5ac202ef5ae1275d5bc2452df4fe --- /dev/null +++ b/21/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783068069 + nanosec: 211443359 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 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/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 0000000000000000000000000000000000000000..36e472483485dcfd7e2de45fe02b447f6a28210f --- /dev/null +++ b/21/videos/21_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": 1783068055801004711, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 203, + "frames_received": 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"timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/camera_right/camera_right/color/image_rect_raw/compressed" +} diff --git a/26/camera_info/cam_left_head.yaml b/26/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43eddb7f024d3231359e28356e605c314048cf54 --- /dev/null +++ b/26/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783068249 + nanosec: 54189908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/26/camera_info/cam_left_wrist.yaml b/26/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..13a4375018e9fd03fd2108d57e66c747c423693f --- /dev/null +++ b/26/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783068249 + nanosec: 67740967 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/26/camera_info/cam_right_head.yaml b/26/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3d06ba7d2ee20bb47f8d37ca5a58b402b1efd9a9 --- /dev/null +++ b/26/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783068249 + nanosec: 54189908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/26/camera_info/cam_right_wrist.yaml b/26/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..172b6ed52a3be023a555eb06d6d374d86356dc00 --- /dev/null +++ b/26/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783068249 + nanosec: 54890625 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/26/camera_info/camera_metadata.yaml b/26/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/26/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/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..26e560b73acb9b290f5daf8573b5b9a098f89f18 --- /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": 1783068235466212755, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 206, + "frames_received": 206, + "frames_remuxed": 206, + "frames_written": 206, + "last_recv_ns": 1783068249127375056, + "max_callback_queue_bytes": 163571, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 33600, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 7062856, + 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"/zed/zed_node/left/image_rect_color/compressed" +} diff --git a/26/videos/26_0/cam_left_wrist_recorder_stats.json b/26/videos/26_0/cam_left_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..0d9a3c10bc7fe81e56b90b22949865dc4605ef55 --- /dev/null +++ b/26/videos/26_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": 1783068235444403735, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 207, + "frames_received": 207, + "frames_remuxed": 207, + "frames_written": 207, + "last_recv_ns": 1783068249162649145, + "max_callback_queue_bytes": 72615, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 30528, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 6645062, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 72615, + "max_raw_queue_items": 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a/26/videos/26_0/cam_right_head_recorder_stats.json b/26/videos/26_0/cam_right_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..43314e139da319e916e9e0da57c676d09f300ef9 --- /dev/null +++ b/26/videos/26_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": 1783068235415212529, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 207, + "frames_received": 207, + "frames_remuxed": 207, + "frames_written": 207, + "last_recv_ns": 1783068249135362654, + "max_callback_queue_bytes": 163077, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 60769, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 6329892, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 163077, + "max_raw_queue_items": 1, + "max_raw_write_ns": 8419312, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/26/segments/0/videos/cam_right_head.mp4", + "name": "cam_right_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/26/segments/0/videos/cam_right_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 272974548, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/26/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/26/videos/26_0/cam_right_wrist_recorder_stats.json b/26/videos/26_0/cam_right_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..e80d0b13a4eeae8386864d6c66aa218f49910caf --- /dev/null +++ b/26/videos/26_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": 1783068235435784934, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 207, + "frames_received": 207, + "frames_remuxed": 207, + "frames_written": 207, + "last_recv_ns": 1783068249137621483, + "max_callback_queue_bytes": 74369, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 23712, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 5885441, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 74369, + "max_raw_queue_items": 1, + "max_raw_write_ns": 8965619, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/26/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/26/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 254782859, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/26/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/27/camera_info/cam_left_head.yaml b/27/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5ea0222d3142a6a68699df9c0e0882d4f28622ff --- /dev/null +++ b/27/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783068265 + nanosec: 854926908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/27/camera_info/cam_left_wrist.yaml b/27/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..437909cddfc36626555b6c5127c286dea1be895f --- /dev/null +++ b/27/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783068265 + nanosec: 850445313 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/27/camera_info/cam_right_head.yaml b/27/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7eeff9ca1be041136181dafbda7079fc1d9f678e --- /dev/null +++ b/27/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783068265 + nanosec: 854926908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/27/camera_info/cam_right_wrist.yaml b/27/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..560c2fd667ee6cf381a08487f3b72fb0a843fa08 --- /dev/null +++ b/27/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783068265 + nanosec: 838210693 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/27/camera_info/camera_metadata.yaml b/27/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/27/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/27/videos/27_0/cam_left_head_recorder_stats.json b/27/videos/27_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..16cab9ad21b48445b8d9a3ca7130f6ac05939240 --- /dev/null +++ b/27/videos/27_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": 1783068252741369220, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 198, + "frames_received": 198, + "frames_remuxed": 198, + "frames_written": 198, + "last_recv_ns": 1783068265864566215, + "max_callback_queue_bytes": 163096, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 207361, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 851013, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 163096, + "max_raw_queue_items": 1, + "max_raw_write_ns": 6334948, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/27/segments/0/videos/cam_left_head.mp4", + "name": "cam_left_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/27/segments/0/videos/cam_left_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 219003168, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/27/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/27/videos/27_0/cam_left_wrist_recorder_stats.json b/27/videos/27_0/cam_left_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..ec8e27602090284b1d1c4cbe3b417a5b9646431c --- /dev/null +++ b/27/videos/27_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": 1783068252799622768, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 198, + "frames_received": 198, + "frames_remuxed": 198, + "frames_written": 198, + "last_recv_ns": 1783068265868319804, + "max_callback_queue_bytes": 71407, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 1074854, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 2137132, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 71407, + "max_raw_queue_items": 1, + "max_raw_write_ns": 6795783, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/27/segments/0/videos/cam_left_wrist.mp4", + "name": "cam_left_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/27/segments/0/videos/cam_left_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 301663639, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/27/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/27/videos/27_0/cam_right_head_recorder_stats.json b/27/videos/27_0/cam_right_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..33e9cacd6d8415302e3e6985f5b59c91b8361c9d --- /dev/null +++ b/27/videos/27_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": 1783068252758953736, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 198, + "frames_received": 198, + "frames_remuxed": 198, + "frames_written": 198, + "last_recv_ns": 1783068265875967624, + "max_callback_queue_bytes": 161397, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 161985, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 7939405, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 161397, + "max_raw_queue_items": 1, + "max_raw_write_ns": 5576800, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/27/segments/0/videos/cam_right_head.mp4", + "name": "cam_right_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/27/segments/0/videos/cam_right_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 314197503, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/27/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/27/videos/27_0/cam_right_wrist_recorder_stats.json b/27/videos/27_0/cam_right_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..14bbddf1bd012b96faff6ff71af04e407e5f3a1c --- /dev/null +++ b/27/videos/27_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": 1783068252751318108, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 198, + "frames_received": 198, + "frames_remuxed": 198, + "frames_written": 198, + "last_recv_ns": 1783068265853536808, + "max_callback_queue_bytes": 71388, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 1651497, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 8345680, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 71388, + "max_raw_queue_items": 1, + "max_raw_write_ns": 9514934, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/27/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/27/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 249556045, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/27/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/28/camera_info/cam_left_head.yaml b/28/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b7e3e79e192ea15dfbb700c7bd3dd2dc24bfc21c --- /dev/null +++ b/28/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783068286 + nanosec: 255908908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/28/camera_info/cam_left_wrist.yaml b/28/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5b7401b4c7ffe98b9125cb7759965d0463ff41ed --- /dev/null +++ b/28/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783068286 + nanosec: 228346924 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/28/camera_info/cam_right_head.yaml b/28/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1b857cfa8898d4f51340c5057917d966e2ec2bda --- /dev/null +++ b/28/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783068286 + nanosec: 255908908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/28/camera_info/cam_right_wrist.yaml b/28/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7445a5517fde942bd1c9b069e0846b5ef444a23c --- /dev/null +++ b/28/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783068286 + nanosec: 281467041 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/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: /camera_right/camera_right/color/image_rect_raw/compressed + camera_info_topic: /camera_right/camera_right/color/camera_info diff --git a/28/videos/28_0/cam_left_head_recorder_stats.json b/28/videos/28_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..48c26fe7ecf444aa13e55dd26493764e5f0c766c --- /dev/null +++ b/28/videos/28_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": 1783068272735859645, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 205, + "frames_received": 205, + "frames_remuxed": 205, + "frames_written": 205, + "last_recv_ns": 1783068286327730255, + "max_callback_queue_bytes": 164089, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 27840, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 852965, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 164089, + "max_raw_queue_items": 1, + "max_raw_write_ns": 6953256, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/28/segments/0/videos/cam_left_head.mp4", + "name": "cam_left_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/28/segments/0/videos/cam_left_head.mjpeg.tmp", + "raw_queue_bytes_current": 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/camera_left/camera_left/color/camera_info + cam_right_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/right/image_rect_color/compressed + camera_info_topic: /zed/zed_node/right/camera_info + cam_right_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_right/camera_right/color/image_rect_raw/compressed + camera_info_topic: /camera_right/camera_right/color/camera_info diff --git a/31/videos/31_0/cam_left_head_recorder_stats.json b/31/videos/31_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..a8221aff074edb30b4ec2ef7405a18fd3836c96d --- /dev/null +++ b/31/videos/31_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": 1783068324806256130, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 212, + "frames_received": 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"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/32/camera_info/cam_left_head.yaml b/32/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..649df5d0a53b22dff637f709c862c6d8654f5ab7 --- /dev/null +++ b/32/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783068357 + nanosec: 192806908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/32/camera_info/cam_left_wrist.yaml b/32/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2c8079c2d53140fa9175e1348330ad3c70a94085 --- /dev/null +++ b/32/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783068357 + nanosec: 219716064 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/32/camera_info/cam_right_head.yaml b/32/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ce13ef323361c10e090fe1a6049bc48bbded75aa --- /dev/null +++ b/32/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783068357 + nanosec: 192806908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/32/camera_info/cam_right_wrist.yaml b/32/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e03a806ecf51d0b8e921cb04917f14d2008c6c9d --- /dev/null +++ b/32/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783068357 + nanosec: 206255371 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/32/camera_info/camera_metadata.yaml b/32/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/32/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/32/videos/32_0/cam_left_head_recorder_stats.json b/32/videos/32_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..946e31d0e16881f20a2dca5c84c164539ac534f3 --- /dev/null +++ b/32/videos/32_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": 1783068343797707368, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 203, + "frames_received": 203, + "frames_remuxed": 203, + "frames_written": 203, + "last_recv_ns": 1783068357267766148, + "max_callback_queue_bytes": 163968, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 3802806, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 7890157, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 163968, + "max_raw_queue_items": 1, + "max_raw_write_ns": 10161402, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/32/segments/0/videos/cam_left_head.mp4", + "name": "cam_left_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/32/segments/0/videos/cam_left_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 295609779, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/32/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/32/videos/32_0/cam_left_wrist_recorder_stats.json b/32/videos/32_0/cam_left_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..e08fbaa987e6d2d8534c11e756bdc7fd81d72e55 --- /dev/null +++ b/32/videos/32_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": 1783068343783318742, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 203, + "frames_received": 203, + "frames_remuxed": 203, + "frames_written": 203, + "last_recv_ns": 1783068357235802478, + "max_callback_queue_bytes": 72463, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 62336, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1708841, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 72463, + "max_raw_queue_items": 1, + "max_raw_write_ns": 5973314, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/32/segments/0/videos/cam_left_wrist.mp4", + "name": "cam_left_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/32/segments/0/videos/cam_left_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 203819144, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/32/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/32/videos/32_0/cam_right_head_recorder_stats.json b/32/videos/32_0/cam_right_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..0378015b0d3f2134a84e1748bebe66e3ee5c43e5 --- /dev/null +++ b/32/videos/32_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": 1783068343741876330, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 204, + "frames_received": 204, + "frames_remuxed": 204, + "frames_written": 204, + "last_recv_ns": 1783068357276305524, + "max_callback_queue_bytes": 162229, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 13728, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1258119, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 162229, + "max_raw_queue_items": 1, + "max_raw_write_ns": 6077955, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/32/segments/0/videos/cam_right_head.mp4", + "name": "cam_right_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/32/segments/0/videos/cam_right_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 304900104, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/32/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/32/videos/32_0/cam_right_wrist_recorder_stats.json b/32/videos/32_0/cam_right_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..1274ed260ec982301c21e1b9ada921cd5b48b107 --- /dev/null +++ b/32/videos/32_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": 1783068343767063417, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 204, + "frames_received": 204, + "frames_remuxed": 204, + "frames_written": 204, + "last_recv_ns": 1783068357288533530, + "max_callback_queue_bytes": 70580, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 27712, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 4719899, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 70580, + "max_raw_queue_items": 1, + "max_raw_write_ns": 5777633, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/32/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/32/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 231034533, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/32/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/34/camera_info/cam_left_head.yaml b/34/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..88288d0bfaf806345741ec310a9b440af7f301e1 --- /dev/null +++ b/34/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783068390 + nanosec: 927825908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/34/camera_info/cam_left_wrist.yaml b/34/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5a8ebcdd443ca16676649553da93ce88ce434504 --- /dev/null +++ b/34/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783068390 + nanosec: 849156982 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/34/camera_info/cam_right_head.yaml b/34/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..64b40b76e2d763b07a8b3f7747d27e537eba3949 --- /dev/null +++ b/34/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783068390 + nanosec: 861699908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/34/camera_info/camera_metadata.yaml b/34/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/34/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/38/camera_info/cam_left_head.yaml b/38/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ff51780b068137efcc3fce1a98f9e0a12f6a8490 --- /dev/null +++ b/38/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783068455 + nanosec: 730879908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/38/camera_info/cam_left_wrist.yaml b/38/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ea79314615224edc9a2f3cf2d3648270e5f71f81 --- /dev/null +++ b/38/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783068455 + nanosec: 711734375 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/38/camera_info/cam_right_head.yaml b/38/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0e06e5ee82b0f4a4a80756885bfff4accc5fcbbc --- /dev/null +++ b/38/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783068455 + nanosec: 730879908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/38/camera_info/cam_right_wrist.yaml b/38/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6abd68b7fea3ff058a1568d3e33930e7005eb2ae --- /dev/null +++ b/38/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783068455 + nanosec: 699580811 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/38/camera_info/camera_metadata.yaml b/38/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/38/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/38/videos/38_0/cam_left_head_recorder_stats.json b/38/videos/38_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..d66a124d82bf54b31775c481034da19825151b15 --- /dev/null +++ b/38/videos/38_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": 1783068442744100240, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 197, + "frames_received": 197, + "frames_remuxed": 197, + "frames_written": 197, + "last_recv_ns": 1783068455805677844, + "max_callback_queue_bytes": 163957, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 4531098, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 4386457, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 163957, + "max_raw_queue_items": 1, + "max_raw_write_ns": 6290852, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/38/segments/0/videos/cam_left_head.mp4", + "name": "cam_left_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/38/segments/0/videos/cam_left_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 257956798, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/38/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/38/videos/38_0/cam_left_wrist_recorder_stats.json b/38/videos/38_0/cam_left_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..1c5ea38eea9c040e6d6726ec781da7f7e2d33b8c --- /dev/null +++ b/38/videos/38_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": 1783068442748818059, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 197, + "frames_received": 197, + "frames_remuxed": 197, + "frames_written": 197, + "last_recv_ns": 1783068455797046339, + "max_callback_queue_bytes": 73509, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 53120, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 2652463, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 73509, + "max_raw_queue_items": 1, + "max_raw_write_ns": 6672422, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/38/segments/0/videos/cam_left_wrist.mp4", + "name": "cam_left_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/38/segments/0/videos/cam_left_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 228855159, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/38/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/38/videos/38_0/cam_right_head_recorder_stats.json b/38/videos/38_0/cam_right_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..492e73e3f07d3dbf8ff2488b18e81a81c7b679ba --- /dev/null +++ b/38/videos/38_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": 1783068442751667931, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 197, + "frames_received": 197, + "frames_remuxed": 197, + "frames_written": 197, + "last_recv_ns": 1783068455809475370, + "max_callback_queue_bytes": 162119, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 19297, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1224231, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 162119, + "max_raw_queue_items": 1, + "max_raw_write_ns": 7825357, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/38/segments/0/videos/cam_right_head.mp4", + "name": "cam_right_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/38/segments/0/videos/cam_right_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 310241639, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/38/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/38/videos/38_0/cam_right_wrist_recorder_stats.json b/38/videos/38_0/cam_right_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..a9e680a96b21f2887080d54a449a7f367cf5ff30 --- /dev/null +++ b/38/videos/38_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": 1783068442739376117, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 197, + "frames_received": 197, + "frames_remuxed": 197, + "frames_written": 197, + "last_recv_ns": 1783068455778854907, + "max_callback_queue_bytes": 72212, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 414850, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1516680, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 72212, + "max_raw_queue_items": 1, + "max_raw_write_ns": 9794904, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/38/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/38/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 223049590, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/38/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/43/camera_info/cam_left_head.yaml b/43/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..79bf225b3781cf7d0a43bc566fb7a995918a53bf --- /dev/null +++ b/43/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783068536 + nanosec: 1210908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/43/camera_info/cam_left_wrist.yaml b/43/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..25580bec9bc4801ee0c851195f84ed6b463d588b --- /dev/null +++ b/43/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783068535 + nanosec: 959194092 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/43/camera_info/cam_right_head.yaml b/43/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9199e5b543188bcfce7bc0d9e4b6f68b12971a2e --- /dev/null +++ b/43/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783068535 + nanosec: 934698908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/43/camera_info/cam_right_wrist.yaml b/43/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d7b81a0497abb00da4b0a69acbe3572ddb7baef0 --- /dev/null +++ b/43/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783068535 + nanosec: 944640137 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/43/camera_info/camera_metadata.yaml b/43/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/43/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/43/videos/43_0/cam_left_head_recorder_stats.json b/43/videos/43_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..407fb8308f7e9a03d000bc1816e44ed25db8fafb --- /dev/null +++ b/43/videos/43_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": 1783068523083829444, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 195, + "frames_received": 195, + "frames_remuxed": 195, + "frames_written": 195, + "last_recv_ns": 1783068536006507824, + "max_callback_queue_bytes": 164036, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 22208, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 913285, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 164036, + "max_raw_queue_items": 1, + "max_raw_write_ns": 7068745, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/43/segments/0/videos/cam_left_head.mp4", + "name": "cam_left_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/43/segments/0/videos/cam_left_head.mjpeg.tmp", + "raw_queue_bytes_current": 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/camera_left/camera_left/color/camera_info + cam_right_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/right/image_rect_color/compressed + camera_info_topic: /zed/zed_node/right/camera_info + cam_right_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_right/camera_right/color/image_rect_raw/compressed + camera_info_topic: /camera_right/camera_right/color/camera_info diff --git a/44/videos/44_0/cam_left_head_recorder_stats.json b/44/videos/44_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..825d42b180e382fa6f4f4771087fa443620c5840 --- /dev/null +++ b/44/videos/44_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": 1783068539764587961, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 196, + "frames_received": 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"timestamp_past_warning_count": 0, + "timestamp_warning_count": 0, + "topic": "/camera_right/camera_right/color/image_rect_raw/compressed" +} diff --git a/46/camera_info/cam_left_head.yaml b/46/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d0f6a2039f2cfb88b63e6de3f8c1300d62b8616f --- /dev/null +++ b/46/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783068585 + nanosec: 803608908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/46/camera_info/cam_left_wrist.yaml b/46/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6ed5021ebcf0f8ae9ce6bca81b9e682d00e6af09 --- /dev/null +++ b/46/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783068585 + nanosec: 772005859 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/46/camera_info/cam_right_head.yaml b/46/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1ea0d492af4af0c1d4a49b61b4fb70f6665639e1 --- /dev/null +++ b/46/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783068585 + nanosec: 803608908 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/46/camera_info/cam_right_wrist.yaml b/46/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3ae654115790721d0baf32ab8edadc89c914993a --- /dev/null +++ b/46/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783068585 + nanosec: 824721191 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/46/camera_info/camera_metadata.yaml b/46/camera_info/camera_metadata.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1b725fc3dd75567d6c906402dfebf5d772e7693 --- /dev/null +++ b/46/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/46/videos/46_0/cam_left_head_recorder_stats.json b/46/videos/46_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..2ff92a1d53b35b2910003a6f845eac335bc7d2f7 --- /dev/null +++ b/46/videos/46_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": 1783068572684133709, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 199, + "frames_received": 199, + "frames_remuxed": 199, + "frames_written": 199, + "last_recv_ns": 1783068585875954967, + "max_callback_queue_bytes": 160261, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 30304, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 6727047, + 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"/zed/zed_node/left/image_rect_color/compressed" +} diff --git a/46/videos/46_0/cam_left_wrist_recorder_stats.json b/46/videos/46_0/cam_left_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..72f1a177e5c078553c860eacdf9cb36a2244e0cd --- /dev/null +++ b/46/videos/46_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": 1783068572669292664, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 199, + "frames_received": 199, + "frames_remuxed": 199, + "frames_written": 199, + "last_recv_ns": 1783068585854847774, + "max_callback_queue_bytes": 73777, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 29312, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1108391, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 73777, + "max_raw_queue_items": 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a/46/videos/46_0/cam_right_head_recorder_stats.json b/46/videos/46_0/cam_right_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..1f3b878933dce2765e14bd3300c144f37a62f4b1 --- /dev/null +++ b/46/videos/46_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": 1783068572626165922, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 200, + "frames_received": 200, + "frames_remuxed": 200, + "frames_written": 200, + "last_recv_ns": 1783068585884060293, + "max_callback_queue_bytes": 161190, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 38688, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 917605, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 161190, + "max_raw_queue_items": 1, + "max_raw_write_ns": 5977890, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/46/segments/0/videos/cam_right_head.mp4", + "name": "cam_right_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/46/segments/0/videos/cam_right_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 269696704, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/46/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/46/videos/46_0/cam_right_wrist_recorder_stats.json b/46/videos/46_0/cam_right_wrist_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..3f581393eaf3f7703967b1b1345d37b417059535 --- /dev/null +++ b/46/videos/46_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": 1783068572656019884, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 199, + "frames_received": 199, + "frames_remuxed": 199, + "frames_written": 199, + "last_recv_ns": 1783068585844935046, + "max_callback_queue_bytes": 68316, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 1623658, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 2423726, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 68316, + "max_raw_queue_items": 1, + "max_raw_write_ns": 6867560, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/46/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/46/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 199319536, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/46/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..570b70e795daf72ac6b7a263329405592d23e8ee --- /dev/null +++ b/5/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783067719 + nanosec: 28671484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/5/camera_info/cam_left_wrist.yaml b/5/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43963648cef149fdcc4829d72971123c118c16e0 --- /dev/null +++ b/5/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783067718 + nanosec: 990585938 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/5/camera_info/cam_right_head.yaml b/5/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bc23f82c1ab136d3bc3b75daea307bbec37530df --- /dev/null +++ b/5/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783067719 + nanosec: 28671484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/5/camera_info/cam_right_wrist.yaml b/5/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..248b6dc12e101c24a6fb06da1bffd071b7866162 --- /dev/null +++ b/5/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783067718 + nanosec: 973564453 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/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..8154331fb311bb9133cc9de649a8092cddfc8b4f --- /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": 1783067707903941779, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 169, + "frames_received": 169, + "frames_remuxed": 169, + "frames_written": 169, + "last_recv_ns": 1783067719100920501, + "max_callback_queue_bytes": 166457, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 45920, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 899877, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 166457, + "max_raw_queue_items": 1, + "max_raw_write_ns": 9470262, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/5/segments/0/videos/cam_left_head.mp4", + "name": "cam_left_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/5/segments/0/videos/cam_left_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 244646290, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/5/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..6ccf8cb79910fbd927c2782b5cc654de5d7ad6d0 --- /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": 1783067707892200464, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 169, + "frames_received": 169, + "frames_remuxed": 169, + "frames_written": 169, + "last_recv_ns": 1783067719074946753, + "max_callback_queue_bytes": 76338, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 63104, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 915270, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 76338, + "max_raw_queue_items": 1, + "max_raw_write_ns": 3667285, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/5/segments/0/videos/cam_left_wrist.mp4", + "name": "cam_left_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/5/segments/0/videos/cam_left_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 265626697, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/5/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..19b3390ea95c1b0fe1963849918a6fb6644b8628 --- /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": 1783067707914866161, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 169, + "frames_received": 169, + "frames_remuxed": 169, + "frames_written": 169, + "last_recv_ns": 1783067719109355109, + "max_callback_queue_bytes": 163810, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 19456, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 819301, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 163810, + "max_raw_queue_items": 1, + "max_raw_write_ns": 6236227, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/5/segments/0/videos/cam_right_head.mp4", + "name": "cam_right_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/5/segments/0/videos/cam_right_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 294258444, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/5/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..82ba37a8fe993a41ab5877a2bd46d867abc70637 --- /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": 1783067707873482053, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 169, + "frames_received": 169, + "frames_remuxed": 169, + "frames_written": 169, + "last_recv_ns": 1783067719058846597, + "max_callback_queue_bytes": 73531, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 324514, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1245799, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 73531, + "max_raw_queue_items": 1, + "max_raw_write_ns": 4747867, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/5/segments/0/videos/cam_right_wrist.mp4", + "name": "cam_right_wrist", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/5/segments/0/videos/cam_right_wrist.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + "remux_duration_ns": 201391162, + "remux_error": null, + "remux_status": "done", + "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_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/7/camera_info/cam_left_head.yaml b/7/camera_info/cam_left_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cbe337f57b1d7421db5fe5f8b6d97dab15da6a2c --- /dev/null +++ b/7/camera_info/cam_left_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_left_camera_optical_frame + stamp: + sec: 1783067761 + nanosec: 697513484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/7/camera_info/cam_left_wrist.yaml b/7/camera_info/cam_left_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..42a5d090689b207113eee13b730540019db2153f --- /dev/null +++ b/7/camera_info/cam_left_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_left_color_optical_frame + stamp: + sec: 1783067761 + nanosec: 677705078 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05390038341283798 +- 0.05999734625220299 +- -0.0001955493789864704 +- 0.00022923003416508436 +- -0.020182626321911812 +k: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 392.8999938964844 +- 0.0 +- 322.5819091796875 +- 0.0 +- 0.0 +- 392.46600341796875 +- 241.36207580566406 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/7/camera_info/cam_right_head.yaml b/7/camera_info/cam_right_head.yaml new file mode 100644 index 0000000000000000000000000000000000000000..24d6afa4c6cd139b83ae14df5e7788bf77b3ec44 --- /dev/null +++ b/7/camera_info/cam_right_head.yaml @@ -0,0 +1,55 @@ +header: + frame_id: zed_right_camera_optical_frame + stamp: + sec: 1783067761 + nanosec: 697513484 +height: 720 +width: 1280 +distortion_model: plumb_bob +d: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +k: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 735.4571533203125 +- 0.0 +- 625.3748779296875 +- -46.180625915527344 +- 0.0 +- 735.4571533203125 +- 361.1747131347656 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/7/camera_info/cam_right_wrist.yaml b/7/camera_info/cam_right_wrist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0d3141e3190ab1e7ef750e5d93b3e08a1b7efd71 --- /dev/null +++ b/7/camera_info/cam_right_wrist.yaml @@ -0,0 +1,55 @@ +header: + frame_id: camera_right_color_optical_frame + stamp: + sec: 1783067761 + nanosec: 660031250 +height: 480 +width: 640 +distortion_model: plumb_bob +d: +- -0.05225568264722824 +- 0.058933865278959274 +- 2.339007733098697e-05 +- 0.00047302478924393654 +- -0.01994648575782776 +k: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 1.0 +r: +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +p: +- 391.7255859375 +- 0.0 +- 323.91400146484375 +- 0.0 +- 0.0 +- 391.1866760253906 +- 241.0968017578125 +- 0.0 +- 0.0 +- 0.0 +- 1.0 +- 0.0 +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: false diff --git a/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..7ea1df0b49b011326c6bd95a2081a5190590d2cc --- /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": 1783067749312395423, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 188, + "frames_received": 188, + "frames_remuxed": 188, + "frames_written": 188, + "last_recv_ns": 1783067761780215883, + "max_callback_queue_bytes": 167339, + "max_callback_queue_items": 1, + "max_enqueue_wait_ns": 129569, + "max_header_ahead_ns": 0, + "max_header_behind_ns": 0, + "max_metadata_flush_ns": 1651850, + "max_metadata_queue_items": 1, + "max_raw_queue_bytes": 167339, + "max_raw_queue_items": 1, + "max_raw_write_ns": 4621851, + "metadata_error": null, + "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/7/segments/0/videos/cam_left_head.mp4", + "name": "cam_left_head", + "pressure_warning_count": 0, + "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/7/segments/0/videos/cam_left_head.mjpeg.tmp", + "raw_queue_bytes_current": 0, + "raw_write_error": null, + 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/camera_left/camera_left/color/camera_info + cam_right_head: + rotation_deg: 0 + rotation_applied_at: record + image_topic: /zed/zed_node/right/image_rect_color/compressed + camera_info_topic: /zed/zed_node/right/camera_info + cam_right_wrist: + rotation_deg: 270 + rotation_applied_at: record + image_topic: /camera_right/camera_right/color/image_rect_raw/compressed + camera_info_topic: /camera_right/camera_right/color/camera_info diff --git a/9/videos/9_0/cam_left_head_recorder_stats.json b/9/videos/9_0/cam_left_head_recorder_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..4efe99d372524eaa0e711e4f52f2e91f386ca63f --- /dev/null +++ b/9/videos/9_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": 1783067795848325040, + "frames_dropped_invalid": 0, + "frames_dropped_queue": 0, + "frames_metadata_written": 182, + "frames_received": 182, + 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