From f02926f4217fb5bcb9024b3e02f35750dba3b549 Mon Sep 17 00:00:00 2001 From: Aditya Pulipaka Date: Mon, 6 Apr 2026 15:10:34 -0500 Subject: [PATCH] new --- calibs/1_25235293_right.yaml | 26 +++++++++++++++++++ calibs/2_25282106_left.yaml | 26 +++++++++++++++++++ calibs/3_25462560_right.yaml | 26 +++++++++++++++++++ calibs/4_25502289_left.yaml | 26 +++++++++++++++++++ calibs/5_25503480_right.yaml | 26 +++++++++++++++++++ calibs/6_25503478_left.yaml | 26 +++++++++++++++++++ tracking_re_id/calibration/left.yaml | 16 ++++++++---- tracking_re_id/calibration/right.yaml | 16 ++++++++---- .../launch/start_cameras_only.launch.py | 4 +-- 9 files changed, 180 insertions(+), 12 deletions(-) create mode 100644 calibs/1_25235293_right.yaml create mode 100644 calibs/2_25282106_left.yaml create mode 100644 calibs/3_25462560_right.yaml create mode 100644 calibs/4_25502289_left.yaml create mode 100644 calibs/5_25503480_right.yaml create mode 100644 calibs/6_25503478_left.yaml diff --git a/calibs/1_25235293_right.yaml b/calibs/1_25235293_right.yaml new file mode 100644 index 0000000..d46f58e --- /dev/null +++ b/calibs/1_25235293_right.yaml @@ -0,0 +1,26 @@ +image_width: 1440 +image_height: 1080 +camera_name: stereo/right +camera_matrix: + rows: 3 + cols: 3 + data: [1269.74474, 0. , 760.15551, + 0. , 1267.45607, 522.31581, + 0. , 0. , 1. ] +distortion_model: plumb_bob +distortion_coefficients: + rows: 1 + cols: 5 + data: [-0.381294, 0.153290, 0.000474, -0.000930, 0.000000] +rectification_matrix: + rows: 3 + cols: 3 + data: [ 0.99938087, 0.00859203, 0.03411828, + -0.00801615, 0.9998237 , -0.01697993, + -0.03425815, 0.01669592, 0.99927355] +projection_matrix: + rows: 3 + cols: 4 + data: [1216.34701, 0. , 740.37407, -556.04457, + 0. , 1216.34701, 531.57756, 0. , + 0. , 0. , 1. , 0. ] diff --git a/calibs/2_25282106_left.yaml b/calibs/2_25282106_left.yaml new file mode 100644 index 0000000..567a064 --- /dev/null +++ b/calibs/2_25282106_left.yaml @@ -0,0 +1,26 @@ +image_width: 1440 +image_height: 1080 +camera_name: stereo/left +camera_matrix: + rows: 3 + cols: 3 + data: [1286.66791, 0. , 745.16448, + 0. , 1282.77949, 544.48338, + 0. , 0. , 1. ] +distortion_model: plumb_bob +distortion_coefficients: + rows: 1 + cols: 5 + data: [-0.367441, 0.127306, -0.000022, 0.001156, 0.000000] +rectification_matrix: + rows: 3 + cols: 3 + data: [ 0.99996745, -0.0080634 , -0.00026715, + 0.00806676, 0.99982566, 0.01683959, + 0.00013132, -0.0168412 , 0.99985817] +projection_matrix: + rows: 3 + cols: 4 + data: [1216.34701, 0. , 740.37407, 0. , + 0. , 1216.34701, 531.57756, 0. , + 0. , 0. , 1. , 0. ] diff --git a/calibs/3_25462560_right.yaml b/calibs/3_25462560_right.yaml new file mode 100644 index 0000000..4ab15db --- /dev/null +++ b/calibs/3_25462560_right.yaml @@ -0,0 +1,26 @@ +image_width: 1440 +image_height: 1080 +camera_name: narrow_stereo/right +camera_matrix: + rows: 3 + cols: 3 + data: [1290.47011, 0. , 739.78524, + 0. , 1289.71737, 567.53111, + 0. , 0. , 1. ] +distortion_model: plumb_bob +distortion_coefficients: + rows: 1 + cols: 5 + data: [-0.381983, 0.159777, 0.000497, -0.000491, 0.000000] +rectification_matrix: + rows: 3 + cols: 3 + data: [ 0.99462851, 0.01416803, -0.1025348 , + -0.01549098, 0.99980658, -0.01211759, + 0.10234328, 0.01364086, 0.99465561] +projection_matrix: + rows: 3 + cols: 4 + data: [1237.34409, 0. , 940.91473, -575.62908, + 0. , 1237.34409, 584.32687, 0. , + 0. , 0. , 1. , 0. ] diff --git a/calibs/4_25502289_left.yaml b/calibs/4_25502289_left.yaml new file mode 100644 index 0000000..4cc9eb7 --- /dev/null +++ b/calibs/4_25502289_left.yaml @@ -0,0 +1,26 @@ +image_width: 1440 +image_height: 1080 +camera_name: narrow_stereo/left +camera_matrix: + rows: 3 + cols: 3 + data: [1279.12874, 0. , 703.5194 , + 0. , 1276.40173, 578.67346, + 0. , 0. , 1. ] +distortion_model: plumb_bob +distortion_coefficients: + rows: 1 + cols: 5 + data: [-0.385976, 0.161647, -0.003145, 0.002069, 0.000000] +rectification_matrix: + rows: 3 + cols: 3 + data: [ 0.99248595, -0.02289772, -0.12019708, + 0.02444886, 0.99963556, 0.01144597, + 0.11989119, -0.01429864, 0.99268406] +projection_matrix: + rows: 3 + cols: 4 + data: [1237.34409, 0. , 940.91473, 0. , + 0. , 1237.34409, 584.32687, 0. , + 0. , 0. , 1. , 0. ] diff --git a/calibs/5_25503480_right.yaml b/calibs/5_25503480_right.yaml new file mode 100644 index 0000000..0fbb4a8 --- /dev/null +++ b/calibs/5_25503480_right.yaml @@ -0,0 +1,26 @@ +image_width: 1440 +image_height: 1080 +camera_name: narrow_stereo/right +camera_matrix: + rows: 3 + cols: 3 + data: [1140.50437, 0. , 729.33819, + 0. , 1138.09869, 573.8711 , + 0. , 0. , 1. ] +distortion_model: plumb_bob +distortion_coefficients: + rows: 1 + cols: 5 + data: [-0.351645, 0.119879, -0.000250, -0.001973, 0.000000] +rectification_matrix: + rows: 3 + cols: 3 + data: [ 0.99879507, 0.01187418, -0.04761745, + -0.0123277 , 0.9998813 , -0.00924195, + 0.04750206, 0.00981782, 0.99882289] +projection_matrix: + rows: 3 + cols: 4 + data: [1079.14113, 0. , 823.44205, -493.59296, + 0. , 1079.14113, 588.52183, 0. , + 0. , 0. , 1. , 0. ] diff --git a/calibs/6_25503478_left.yaml b/calibs/6_25503478_left.yaml new file mode 100644 index 0000000..e3f575a --- /dev/null +++ b/calibs/6_25503478_left.yaml @@ -0,0 +1,26 @@ +image_width: 1440 +image_height: 1080 +camera_name: narrow_stereo/left +camera_matrix: + rows: 3 + cols: 3 + data: [1135.37523, 0. , 726.25468, + 0. , 1135.35182, 577.53868, + 0. , 0. , 1. ] +distortion_model: plumb_bob +distortion_coefficients: + rows: 1 + cols: 5 + data: [-0.344777, 0.117188, -0.002895, 0.000324, 0.000000] +rectification_matrix: + rows: 3 + cols: 3 + data: [ 0.99840959, -0.02412373, -0.05095416, + 0.02460856, 0.99965746, 0.0089091 , + 0.05072179, -0.01014884, 0.99866125] +projection_matrix: + rows: 3 + cols: 4 + data: [1079.14113, 0. , 823.44205, 0. , + 0. , 1079.14113, 588.52183, 0. , + 0. , 0. , 1. , 0. ] diff --git a/tracking_re_id/calibration/left.yaml b/tracking_re_id/calibration/left.yaml index 24bf6c1..873122a 100644 --- a/tracking_re_id/calibration/left.yaml +++ b/tracking_re_id/calibration/left.yaml @@ -4,21 +4,27 @@ image_width: 1440 image_height: 1080 -camera_name: left +camera_name: stereo/left camera_matrix: rows: 3 cols: 3 - data: [1, 0, 0, 0, 1, 0, 0, 0, 1] + data: [1286.66791, 0. , 745.16448, + 0. , 1282.77949, 544.48338, + 0. , 0. , 1. ] distortion_model: plumb_bob distortion_coefficients: rows: 1 cols: 5 - data: [0, 0, 0, 0, 0] + data: [-0.367441, 0.127306, -0.000022, 0.001156, 0.000000] rectification_matrix: rows: 3 cols: 3 - data: [1, 0, 0, 0, 1, 0, 0, 0, 1] + data: [ 0.99996745, -0.0080634 , -0.00026715, + 0.00806676, 0.99982566, 0.01683959, + 0.00013132, -0.0168412 , 0.99985817] projection_matrix: rows: 3 cols: 4 - data: [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0] + data: [1216.34701, 0. , 740.37407, 0. , + 0. , 1216.34701, 531.57756, 0. , + 0. , 0. , 1. , 0. ] diff --git a/tracking_re_id/calibration/right.yaml b/tracking_re_id/calibration/right.yaml index f077180..05d0a8d 100644 --- a/tracking_re_id/calibration/right.yaml +++ b/tracking_re_id/calibration/right.yaml @@ -4,21 +4,27 @@ image_width: 1440 image_height: 1080 -camera_name: right +camera_name: stereo/right camera_matrix: rows: 3 cols: 3 - data: [1, 0, 0, 0, 1, 0, 0, 0, 1] + data: [1269.74474, 0. , 760.15551, + 0. , 1267.45607, 522.31581, + 0. , 0. , 1. ] distortion_model: plumb_bob distortion_coefficients: rows: 1 cols: 5 - data: [0, 0, 0, 0, 0] + data: [-0.381294, 0.153290, 0.000474, -0.000930, 0.000000] rectification_matrix: rows: 3 cols: 3 - data: [1, 0, 0, 0, 1, 0, 0, 0, 1] + data: [ 0.99938087, 0.00859203, 0.03411828, + -0.00801615, 0.9998237 , -0.01697993, + -0.03425815, 0.01669592, 0.99927355] projection_matrix: rows: 3 cols: 4 - data: [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0] + data: [1216.34701, 0. , 740.37407, -556.04457, + 0. , 1216.34701, 531.57756, 0. , + 0. , 0. , 1. , 0. ] diff --git a/tracking_re_id/launch/start_cameras_only.launch.py b/tracking_re_id/launch/start_cameras_only.launch.py index 62915aa..80146a7 100644 --- a/tracking_re_id/launch/start_cameras_only.launch.py +++ b/tracking_re_id/launch/start_cameras_only.launch.py @@ -43,7 +43,7 @@ def generate_launch_description(): namespace='stereo', parameters=[{ 'parameter_file': config_path, - 'serial_number': '25282106', + 'serial_number': '25503478', 'camera_info_url': left_cal, }], extra_arguments=[{'use_intra_process_comms': True}], @@ -55,7 +55,7 @@ def generate_launch_description(): namespace='stereo', parameters=[{ 'parameter_file': config_path, - 'serial_number': '25235293', + 'serial_number': '25503480', 'camera_info_url': right_cal, }], extra_arguments=[{'use_intra_process_comms': True}],