new

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.     ]

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.     ]

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.     ]

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.     ]

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.     ]

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.     ]

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.     ]

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.     ]

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}],