| --- |
| pretty_name: Galaxea R1 Lite Camera Calibration Sample |
| license: other |
| tags: |
| - robotics |
| - ros2 |
| - camera-calibration |
| - galaxea |
| --- |
| |
| # Galaxea R1 Lite distortion-corrected camera sample |
|
|
| This is a stationary ROS 2 data-collection test made on 2026-07-26. No |
| chassis, torso, arm, gripper, IK, teleoperation, odometry, or pose-control |
| command was run during the test. |
|
|
| ## Result |
|
|
| | Stream | Resolution | Messages | Effective bag rate | |
| |---|---:|---:|---:| |
| | Head left, rectified | 1920 x 1536 | 318 | 26.1 FPS | |
| | Head right, rectified | 1920 x 1536 | 320 | 26.3 FPS | |
| | Wrist left, unchanged | 1280 x 720 | 364 | 29.9 FPS | |
| | Wrist right, unchanged | 1280 x 720 | 361 | 29.7 FPS | |
|
|
| The bag duration is 12.1689 seconds. It contains 21,943 original messages |
| plus one `/dataset/distortion_fix` marker. A byte-for-byte verification found |
| that all 21,943 source messages, timestamps, topic names, and serialized |
| payloads were preserved in the final package. |
|
|
| ## Correction method |
|
|
| Only the two head-camera streams are changed. Each camera is captured directly |
| from its 1920 x 1536 YUYV V4L2 device, then rectified using an NVIDIA VPI 3.1 |
| CUDA warp generated from the company-provided calibration file: |
|
|
| `/opt/galaxea/body/stereo_ros.yaml` |
|
|
| Calibration SHA-256: |
| `195ac1482e7d485cdb94a4a76fb42ed6faf706aefad1edb6e5b836b03701f00a` |
|
|
| The rectified image is JPEG encoded at quality 90 and published on the same |
| head-camera topic names used by the original recorder. A small C++ ROS 2 |
| publisher avoids Python serialization overhead. Head CameraInfo uses zero |
| distortion coefficients and the official rectified stereo projection matrices. |
| The right projection retains the stereo baseline (`P[3] = -66.4200456`). |
|
|
| The wrist-camera streams and all non-camera packets are unchanged. The final |
| packaging step does not decode or re-encode any image. |
|
|
| ## Files |
|
|
| - `20260726_DISTORTION_FIXED/...mcap`: complete ROS 2 MCAP episode. |
| - `20260726_DISTORTION_FIXED/metadata.yaml`: ROS bag metadata plus correction annotation. |
| - `20260726_DISTORTION_FIXED/distortion_fix.json`: human-readable correction metadata. |
| - `four_camera_20260726_DISTORTION_FIXED.mp4`: 1920 x 1080 four-camera preview at 15 FPS. |
|
|
| ## Why the previous method was slow |
|
|
| The older Python live pipeline subscribed to already-compressed JPEG ROS |
| messages, decoded both full-resolution images, remapped them, encoded them |
| again, and serialized large ROS messages in Python. The correction math was |
| not the main bottleneck. Direct V4L2 capture, CUDA remap, and a C++ publisher |
| remove the expensive ROS/Python path. |
|
|
| ## Operational notes |
|
|
| The vendor package files were not modified for this solution. The preferred |
| rollback is to stop the Jimmy rectifier and restart the unchanged vendor head |
| camera. The backup snapshot is stored at: |
|
|
| `/home/nvidia/jimmy/camera_distortion_backup_20260726_before_company_calibration` |
|
|
|
|
