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This commit is contained in:
Aditya Pulipaka
2026-04-06 15:10:34 -05:00
parent 66dd16ddc7
commit f02926f421
9 changed files with 180 additions and 12 deletions
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26
calibs/1_25235293_right.yaml Normal file
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@@ -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. ]

26
calibs/2_25282106_left.yaml Normal file
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@@ -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. ]

26
calibs/3_25462560_right.yaml Normal file
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@@ -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. ]

26
calibs/4_25502289_left.yaml Normal file
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@@ -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. ]

26
calibs/5_25503480_right.yaml Normal file
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@@ -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. ]

26
calibs/6_25503478_left.yaml Normal file
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@@ -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. ]

16
tracking_re_id/calibration/left.yaml
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@@ -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. ]

16
tracking_re_id/calibration/right.yaml
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@@ -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. ]

4
tracking_re_id/launch/start_cameras_only.launch.py
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@@ -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}],