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translation: + x: 0.0242061858130713 + y: 0.07137107769940886 + z: -0.06013160430595553 diff --git a/2024-12-09-11-28-28/metadata/depth_camera_left_caminfo.yaml b/2024-12-09-11-28-28/metadata/depth_camera_left_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a8afa6379cc89c4b72924527dcf040608871ee18 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/depth_camera_left_caminfo.yaml @@ -0,0 +1,52 @@ +camera_info: + D: + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: + - 427.0599060058594 + - 0.0 + - 423.9487609863281 + - 0.0 + - 427.0599060058594 + - 230.01365661621094 + - 0.0 + - 0.0 + - 1.0 + P: + - 427.0599060058594 + - 0.0 + - 423.9487609863281 + - 0.0 + - 0.0 + - 427.0599060058594 + - 230.01365661621094 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + - 0.0 + R: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + binning_x: 0 + binning_y: 0 + distortion_model: plumb_bob + frame_id: depth_camera_left + height: 480 + roi: + do_rectify: false + height: 0 + width: 0 + x_offset: 0 + y_offset: 0 + width: 848 diff --git a/2024-12-09-11-28-28/metadata/depth_camera_rear_lower.yaml b/2024-12-09-11-28-28/metadata/depth_camera_rear_lower.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ad7c4284bdf6a3f7f804144674abd29318b09cb3 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/depth_camera_rear_lower.yaml @@ -0,0 +1,14 @@ +frame_id: depth_camera_rear_lower +topic: depth_camera_rear_lower +transform: + base_frame_id: base + child_frame_id: depth_camera_rear_lower + rotation: + w: -0.1818562220566243 + x: 0.6753182459089098 + y: -0.6923967447153604 + z: -0.1773705983227687 + translation: + x: 0.01771644477911219 + y: -0.291914920763388 + z: -0.2333051716531234 diff --git a/2024-12-09-11-28-28/metadata/depth_camera_rear_lower_caminfo.yaml b/2024-12-09-11-28-28/metadata/depth_camera_rear_lower_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7fe6caa86742343436b5e65620a2b4e057894620 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/depth_camera_rear_lower_caminfo.yaml @@ -0,0 +1,52 @@ +camera_info: + D: + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: + - 429.2091369628906 + - 0.0 + - 430.5784912109375 + - 0.0 + - 429.2091369628906 + - 236.21705627441406 + - 0.0 + - 0.0 + - 1.0 + P: + - 429.2091369628906 + - 0.0 + - 430.5784912109375 + - 0.0 + - 0.0 + - 429.2091369628906 + - 236.21705627441406 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + - 0.0 + R: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + binning_x: 0 + binning_y: 0 + distortion_model: plumb_bob + frame_id: depth_camera_rear_lower + height: 480 + roi: + do_rectify: false + height: 0 + width: 0 + x_offset: 0 + y_offset: 0 + width: 848 diff --git a/2024-12-09-11-28-28/metadata/depth_camera_rear_upper.yaml b/2024-12-09-11-28-28/metadata/depth_camera_rear_upper.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1ac798820fb0139f1359c8bd54b463afce22f0d0 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/depth_camera_rear_upper.yaml @@ -0,0 +1,14 @@ +frame_id: depth_camera_rear_upper +topic: depth_camera_rear_upper +transform: + base_frame_id: base + child_frame_id: depth_camera_rear_upper + rotation: + w: -0.4288525438138612 + x: 0.5606297691810952 + y: -0.567966630879787 + z: -0.42331272574704876 + translation: + x: 0.023834299957984015 + y: -0.08981592717100904 + z: -0.38913513060622656 diff --git a/2024-12-09-11-28-28/metadata/depth_camera_rear_upper_caminfo.yaml b/2024-12-09-11-28-28/metadata/depth_camera_rear_upper_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47a6ed31c0be6738001a0f9be807a741a916390f --- /dev/null +++ b/2024-12-09-11-28-28/metadata/depth_camera_rear_upper_caminfo.yaml @@ -0,0 +1,52 @@ +camera_info: + D: + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: + - 427.3077392578125 + - 0.0 + - 426.9342956542969 + - 0.0 + - 427.3077392578125 + - 233.3394012451172 + - 0.0 + - 0.0 + - 1.0 + P: + - 427.3077392578125 + - 0.0 + - 426.9342956542969 + - 0.0 + - 0.0 + - 427.3077392578125 + - 233.3394012451172 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + - 0.0 + R: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + binning_x: 0 + binning_y: 0 + distortion_model: plumb_bob + frame_id: depth_camera_rear_upper + height: 480 + roi: + do_rectify: false + height: 0 + width: 0 + x_offset: 0 + y_offset: 0 + width: 848 diff --git a/2024-12-09-11-28-28/metadata/depth_camera_right.yaml b/2024-12-09-11-28-28/metadata/depth_camera_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5570ee28b01cbc5f0853fa0016d46b5ae08a9f75 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/depth_camera_right.yaml @@ -0,0 +1,14 @@ +frame_id: depth_camera_right +topic: depth_camera_right +transform: + base_frame_id: base + child_frame_id: depth_camera_right + rotation: + w: 0.0020469741271627595 + x: -0.004486598891874416 + y: -0.9097731195609077 + z: 0.41507656071105803 + translation: + x: 0.025687060614725817 + y: 0.06953460693100322 + z: -0.06164976363236345 diff --git a/2024-12-09-11-28-28/metadata/depth_camera_right_caminfo.yaml b/2024-12-09-11-28-28/metadata/depth_camera_right_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..627aa6ac34b7c56c110a708a8abb08f1d3670f89 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/depth_camera_right_caminfo.yaml @@ -0,0 +1,52 @@ +camera_info: + D: + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: + - 428.760009765625 + - 0.0 + - 425.7598571777344 + - 0.0 + - 428.760009765625 + - 232.03164672851562 + - 0.0 + - 0.0 + - 1.0 + P: + - 428.760009765625 + - 0.0 + - 425.7598571777344 + - 0.0 + - 0.0 + - 428.760009765625 + - 232.03164672851562 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + - 0.0 + R: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + binning_x: 0 + binning_y: 0 + distortion_model: plumb_bob + frame_id: depth_camera_right + height: 480 + roi: + do_rectify: false + height: 0 + width: 0 + x_offset: 0 + y_offset: 0 + width: 848 diff --git a/2024-12-09-11-28-28/metadata/dlio_hesai_points_undistorted.yaml b/2024-12-09-11-28-28/metadata/dlio_hesai_points_undistorted.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dc2eea3a0c71371ff342390f6695ee2a2ea3879a --- /dev/null +++ b/2024-12-09-11-28-28/metadata/dlio_hesai_points_undistorted.yaml @@ -0,0 +1,14 @@ +frame_id: hesai_lidar +topic: dlio_hesai_points_undistorted +transform: + base_frame_id: box_base + child_frame_id: hesai_lidar + rotation: + w: -0.004419949690193552 + x: -0.7093301791430758 + y: 0.7048516039326548 + z: 0.003921407292290494 + translation: + x: -0.04461184951630229 + y: 0.3022381420105506 + z: -0.01253994548350209 diff --git a/2024-12-09-11-28-28/metadata/dlio_map_odometry.yaml b/2024-12-09-11-28-28/metadata/dlio_map_odometry.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fc305524072a8b0e23cfddd7cd392de412d3b619 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/dlio_map_odometry.yaml @@ -0,0 +1,2 @@ +frame_id: dlio_map +topic: dlio_map_odometry diff --git a/2024-12-09-11-28-28/metadata/dlio_tf.yaml b/2024-12-09-11-28-28/metadata/dlio_tf.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dffe47f0b550f3004889496c8e146020233b7677 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/dlio_tf.yaml @@ -0,0 +1,14 @@ +frame_id: hesai_lidar +topic: dlio_tf +transform: + base_frame_id: box_base + child_frame_id: hesai_lidar + rotation: + w: -0.004419949690193552 + x: -0.7093301791430758 + y: 0.7048516039326548 + z: 0.003921407292290494 + translation: + x: -0.04461184951630229 + y: 0.3022381420105506 + z: -0.01253994548350209 diff --git a/2024-12-09-11-28-28/metadata/gnss_raw_cpt7_ie_rt.yaml b/2024-12-09-11-28-28/metadata/gnss_raw_cpt7_ie_rt.yaml new file mode 100644 index 0000000000000000000000000000000000000000..737743448c63b5bc1c97a73edaa7686b5a39e89b --- /dev/null +++ b/2024-12-09-11-28-28/metadata/gnss_raw_cpt7_ie_rt.yaml @@ -0,0 +1 @@ +topic: gnss_raw_cpt7_ie_rt diff --git a/2024-12-09-11-28-28/metadata/gnss_raw_cpt7_ie_tc.yaml b/2024-12-09-11-28-28/metadata/gnss_raw_cpt7_ie_tc.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c2a8b679646b56ca9ae78ec2e60dab30ff0cc987 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/gnss_raw_cpt7_ie_tc.yaml @@ -0,0 +1 @@ +topic: gnss_raw_cpt7_ie_tc diff --git a/2024-12-09-11-28-28/metadata/hdr_front_caminfo.yaml b/2024-12-09-11-28-28/metadata/hdr_front_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a45c08e6a6ed08f7036fd2d172ab57b9a4ae2628 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/hdr_front_caminfo.yaml @@ -0,0 +1,51 @@ +camera_info: + D: + - -0.06150262047071293 + - 0.003455916289334078 + - -0.001233506511528716 + - -1.770797322903057e-07 + K: + - 984.407734999804 + - 0.0 + - 952.3920462113495 + - 0.0 + - 983.8103917846685 + - 638.6385463949282 + - 0.0 + - 0.0 + - 1.0 + P: + - 984.407734999804 + - 0.0 + - 952.3920462113495 + - 0.0 + - 0.0 + - 983.8103917846685 + - 638.6385463949282 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + - 0.0 + R: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + binning_x: 0 + binning_y: 0 + distortion_model: equidistant + frame_id: hdr_front + height: 1280 + roi: + do_rectify: false + height: 0 + width: 0 + x_offset: 0 + y_offset: 0 + width: 1920 diff --git a/2024-12-09-11-28-28/metadata/hdr_left.yaml b/2024-12-09-11-28-28/metadata/hdr_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..55e7e8a3462001d0243f5172c17aa8162aac12eb --- /dev/null +++ b/2024-12-09-11-28-28/metadata/hdr_left.yaml @@ -0,0 +1,14 @@ +frame_id: hdr_left +topic: hdr_left +transform: + base_frame_id: box_base + child_frame_id: hdr_left + rotation: + w: 0.6981144475823984 + x: -0.7106446365240748 + y: 0.06071950908492229 + z: 0.06271809844673303 + translation: + x: -0.3123877547915767 + y: -0.1040746815988313 + z: -0.0946004294028184 diff --git a/2024-12-09-11-28-28/metadata/hdr_left_caminfo.yaml b/2024-12-09-11-28-28/metadata/hdr_left_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7c0cf9bac3618896a084fae58ada5994ac52a264 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/hdr_left_caminfo.yaml @@ -0,0 +1,51 @@ +camera_info: + D: + - -0.06197316482293826 + - 0.004006257468933251 + - -0.001841005641481967 + - 0.000127217281951442 + K: + - 989.5113761548931 + - 0.0 + - 941.6012985424921 + - 0.0 + - 989.4529900290106 + - 638.5569783252755 + - 0.0 + - 0.0 + - 1.0 + P: + - 989.5113761548931 + - 0.0 + - 941.6012985424921 + - 0.0 + - 0.0 + - 989.4529900290106 + - 638.5569783252755 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + - 0.0 + R: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + binning_x: 0 + binning_y: 0 + distortion_model: equidistant + frame_id: hdr_left + height: 1280 + roi: + do_rectify: false + height: 0 + width: 0 + x_offset: 0 + y_offset: 0 + width: 1920 diff --git a/2024-12-09-11-28-28/metadata/hdr_right.yaml b/2024-12-09-11-28-28/metadata/hdr_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fae1ccc6ef8c7203a45bdff8a2a221716a62fc5 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/hdr_right.yaml @@ -0,0 +1,14 @@ +frame_id: hdr_right +topic: hdr_right +transform: + base_frame_id: box_base + child_frame_id: hdr_right + rotation: + w: -0.05968925863378414 + x: 0.06271504848629056 + y: -0.701622990300235 + z: -0.7072688276598 + translation: + x: 0.2984670188513917 + y: -0.1021873680871323 + z: -0.007282571655555148 diff --git a/2024-12-09-11-28-28/metadata/hdr_right_caminfo.yaml b/2024-12-09-11-28-28/metadata/hdr_right_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d6e0da5227c586744533b2b32cdbe37e2bfda17 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/hdr_right_caminfo.yaml @@ -0,0 +1,51 @@ +camera_info: + D: + - -0.06226555154591874 + - 0.006984942920386333 + - -0.005291335660179726 + - 0.001455018149071658 + K: + - 984.8643239835407 + - 0.0 + - 946.7086445278437 + - 0.0 + - 984.5008837495056 + - 636.9616008492758 + - 0.0 + - 0.0 + - 1.0 + P: + - 984.8643239835407 + - 0.0 + - 946.7086445278437 + - 0.0 + - 0.0 + - 984.5008837495056 + - 636.9616008492758 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + - 0.0 + R: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + binning_x: 0 + binning_y: 0 + distortion_model: equidistant + frame_id: hdr_right + height: 1280 + roi: + do_rectify: false + height: 0 + width: 0 + x_offset: 0 + y_offset: 0 + width: 1920 diff --git a/2024-12-09-11-28-28/metadata/hesai_points.yaml b/2024-12-09-11-28-28/metadata/hesai_points.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe823a5c34b61497ca6949d2f8a9246281f10599 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/hesai_points.yaml @@ -0,0 +1,14 @@ +frame_id: hesai_lidar +topic: hesai_points +transform: + base_frame_id: box_base + child_frame_id: hesai_lidar + rotation: + w: -0.004419949690193552 + x: -0.7093301791430758 + y: 0.7048516039326548 + z: 0.003921407292290494 + translation: + x: -0.04461184951630229 + y: 0.3022381420105506 + z: -0.01253994548350209 diff --git a/2024-12-09-11-28-28/metadata/hesai_points_undistorted.yaml b/2024-12-09-11-28-28/metadata/hesai_points_undistorted.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0a1e2daf0f452ee54f85409ddac3ce90ab177a1f --- /dev/null +++ b/2024-12-09-11-28-28/metadata/hesai_points_undistorted.yaml @@ -0,0 +1,14 @@ +frame_id: hesai_lidar +topic: hesai_points_undistorted +transform: + base_frame_id: box_base + child_frame_id: hesai_lidar + rotation: + w: -0.004419949690193552 + x: -0.7093301791430758 + y: 0.7048516039326548 + z: 0.003921407292290494 + translation: + x: -0.04461184951630229 + y: 0.3022381420105506 + z: -0.01253994548350209 diff --git a/2024-12-09-11-28-28/metadata/livox_imu.yaml b/2024-12-09-11-28-28/metadata/livox_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..81d97abbb08c9b2f16448f66f883f16492cffa07 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/livox_imu.yaml @@ -0,0 +1,14 @@ +frame_id: livox_imu +topic: livox_imu +transform: + base_frame_id: box_base + child_frame_id: livox_imu + rotation: + w: 0.9999514279010147 + x: -0.007862897821623277 + y: 0.0001266741714154213 + z: -0.005941433347507674 + translation: + x: -0.309334506793968 + y: 0.02772866572054537 + z: 0.15059851991550668 diff --git a/2024-12-09-11-28-28/metadata/livox_points.yaml b/2024-12-09-11-28-28/metadata/livox_points.yaml new file mode 100644 index 0000000000000000000000000000000000000000..186ba1e78ad9ffb774488861b547a64ddc80e72a --- /dev/null +++ b/2024-12-09-11-28-28/metadata/livox_points.yaml @@ -0,0 +1,14 @@ +frame_id: livox_lidar +topic: livox_points +transform: + base_frame_id: box_base + child_frame_id: livox_lidar + rotation: + w: 0.9999743041039169 + x: -0.006935301181255335 + y: 0.0015623437878433857 + z: -0.0009229362387923458 + translation: + x: -0.30263164816469024 + y: 0.04875595821861217 + z: 0.1098417136717083 diff --git a/2024-12-09-11-28-28/metadata/livox_points_undistorted.yaml b/2024-12-09-11-28-28/metadata/livox_points_undistorted.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a028990de1269e9749daaebe4a4f59e2edb172a0 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/livox_points_undistorted.yaml @@ -0,0 +1,14 @@ +frame_id: livox_lidar +topic: livox_points_undistorted +transform: + base_frame_id: box_base + child_frame_id: livox_lidar + rotation: + w: 0.9999743041039169 + x: -0.006935301181255335 + y: 0.0015623437878433857 + z: -0.0009229362387923458 + translation: + x: -0.30263164816469024 + y: 0.04875595821861217 + z: 0.1098417136717083 diff --git a/2024-12-09-11-28-28/metadata/navsatfix_cpt7_ie_rt.yaml b/2024-12-09-11-28-28/metadata/navsatfix_cpt7_ie_rt.yaml new file mode 100644 index 0000000000000000000000000000000000000000..22ab34e9a7668192957b84898c68de69aeda38b0 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/navsatfix_cpt7_ie_rt.yaml @@ -0,0 +1 @@ +topic: navsatfix_cpt7_ie_rt diff --git a/2024-12-09-11-28-28/metadata/navsatfix_cpt7_ie_tc.yaml b/2024-12-09-11-28-28/metadata/navsatfix_cpt7_ie_tc.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bb0884d01e8e70f5b5166c722961008e3651b69c --- /dev/null +++ b/2024-12-09-11-28-28/metadata/navsatfix_cpt7_ie_tc.yaml @@ -0,0 +1 @@ +topic: navsatfix_cpt7_ie_tc diff --git a/2024-12-09-11-28-28/metadata/prism_position.yaml b/2024-12-09-11-28-28/metadata/prism_position.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2ece0e648bbe8f4ada5545f51f61cc24e8fdf0fe --- /dev/null +++ b/2024-12-09-11-28-28/metadata/prism_position.yaml @@ -0,0 +1,2 @@ +frame_id: leica_total_station +topic: prism_position diff --git a/2024-12-09-11-28-28/metadata/stim320_imu.yaml b/2024-12-09-11-28-28/metadata/stim320_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..21d5bbe0f18350ea1f5821e979bfa5f06e46fb27 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/stim320_imu.yaml @@ -0,0 +1,14 @@ +frame_id: stim320_imu +topic: stim320_imu +transform: + base_frame_id: box_base + child_frame_id: stim320_imu + rotation: + w: -0.005861732683034935 + x: -0.999969253444768 + y: -0.005117285966486087 + z: 0.0009724399227390018 + translation: + x: -0.28505604358365294 + y: -0.07158336465343071 + z: 0.15961588385259787 diff --git a/2024-12-09-11-28-28/metadata/tf.yaml b/2024-12-09-11-28-28/metadata/tf.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e51dffed486dd2ce848260235baa5660ffaf2a89 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/tf.yaml @@ -0,0 +1,348 @@ +adis16475_imu: + base_frame_id: box_base + child_frame_id: adis16475_imu + rotation: + w: 0.005251232714324072 + x: 0.7046754024829419 + y: -0.7094799413019802 + z: -0.006573779782016809 + translation: + x: -0.015846751421098565 + y: 0.19322607669094574 + z: 0.07956850717224997 +alphasense_base: + base_frame_id: box_base + child_frame_id: alphasense_base + rotation: + w: 0.541225186106887 + x: -0.45494336062045815 + y: -0.4544944669145965 + z: -0.5417901956430607 + translation: + x: 0.04600713143181777 + y: -0.0032140911178705073 + z: -0.3751986320280252 +alphasense_front_center: + base_frame_id: box_base + child_frame_id: alphasense_front_center + rotation: + w: 0.541225186106887 + x: -0.45494336062045815 + y: -0.4544944669145965 + z: -0.5417901956430607 + translation: + x: 0.04600713143181777 + y: -0.0032140911178705073 + z: -0.3751986320280252 +alphasense_front_left: + base_frame_id: box_base + child_frame_id: alphasense_front_left + rotation: + w: 0.5368758638762299 + x: -0.45974498896225247 + y: -0.45019665401233916 + z: -0.5456389141431761 + translation: + x: 0.10008743117500188 + y: -0.005044106160423112 + z: -0.3759478344493785 +alphasense_front_right: + base_frame_id: box_base + child_frame_id: alphasense_front_right + rotation: + w: 0.5415552717416523 + x: -0.45428021832487614 + y: -0.45594501981218066 + z: -0.5407971059426985 + translation: + x: -0.008591409149567839 + y: -0.004939215486247553 + z: -0.3747769505103547 +alphasense_imu: + base_frame_id: box_base + child_frame_id: alphasense_imu + rotation: + w: 0.9992675697949326 + x: -0.00720142304148732 + y: -0.036738890418011295 + z: -0.007919431365965667 + translation: + x: -0.3022307436356707 + y: 0.061798150722505 + z: -0.08410765585489798 +alphasense_left: + base_frame_id: box_base + child_frame_id: alphasense_left + rotation: + w: 0.7629309956447421 + x: -0.6464698403272188 + y: 0.0035455747661431447 + z: 0.0006858071159475156 + translation: + x: -0.2991991707202636 + y: -0.040493099699673664 + z: -0.15557014858322163 +alphasense_right: + base_frame_id: box_base + child_frame_id: alphasense_right + rotation: + w: 0.0024233744493068338 + x: 0.007051890013999862 + y: -0.6356317567377696 + z: -0.7719563899145896 + translation: + x: 0.3005096713964913 + y: -0.05350472559028527 + z: -0.06790435993644765 +anymal_imu: + base_frame_id: base + child_frame_id: anymal_imu + rotation: + w: 3.749399456654644e-33 + x: -6.123233995736766e-17 + y: -1.0 + z: -6.123233995736766e-17 + translation: + x: -0.25565 + y: -0.0025499999999999785 + z: 0.07672 +ap20_imu: + base_frame_id: box_base + child_frame_id: ap20_imu + rotation: + w: 0.7118234995434812 + x: 0.7023441372038522 + y: 0.002839101058711715 + z: -0.003458025191722333 + translation: + x: -0.0019815872862082684 + y: 0.002909799597334762 + z: 0.10495166375034842 +box_base: + base_frame_id: base + child_frame_id: box_base + rotation: + w: 4.0026794885936924e-05 + x: -0.9999999991989279 + y: 0.0 + z: 0.0 + translation: + x: -0.0764038 + y: -0.036122437224394885 + z: 0.2802761091673168 +cpt7_imu: + base_frame_id: box_base + child_frame_id: cpt7_imu + rotation: + w: 1.0 + x: -0.0 + y: -0.0 + z: -0.0 + translation: + x: 0.0 + y: 0.0 + z: 0.0 +depth_camera_front_lower: + base_frame_id: base + child_frame_id: depth_camera_front_lower + rotation: + w: 0.1853242209410057 + x: -0.682120823997394 + y: -0.6827000055661541 + z: -0.1851669976040512 + translation: + x: 0.025244004785019813 + y: -0.28748365097540396 + z: -0.23806593024678288 +depth_camera_front_upper: + base_frame_id: base + child_frame_id: depth_camera_front_upper + rotation: + w: 0.4306894486036953 + x: -0.5608677721283586 + y: -0.560580238989435 + z: -0.43091035808363254 + translation: + x: 0.024957449516778196 + y: -0.0829849350915826 + z: -0.3905787382352799 +depth_camera_left: + base_frame_id: base + child_frame_id: depth_camera_left + rotation: + w: -0.40524782131784814 + x: -0.9141898919041819 + y: -0.0050937542777571565 + z: -0.002257991301008538 + translation: + x: 0.0242061858130713 + y: 0.07137107769940886 + z: -0.06013160430595553 +depth_camera_rear_lower: + base_frame_id: base + child_frame_id: depth_camera_rear_lower + rotation: + w: -0.1818562220566243 + x: 0.6753182459089098 + y: -0.6923967447153604 + z: -0.1773705983227687 + translation: + x: 0.01771644477911219 + y: -0.291914920763388 + z: -0.2333051716531234 +depth_camera_rear_upper: + base_frame_id: base + child_frame_id: depth_camera_rear_upper + rotation: + w: -0.4288525438138612 + x: 0.5606297691810952 + y: -0.567966630879787 + z: -0.42331272574704876 + translation: + x: 0.023834299957984015 + y: -0.08981592717100904 + z: -0.38913513060622656 +depth_camera_right: + base_frame_id: base + child_frame_id: depth_camera_right + rotation: + w: 0.0020469741271627595 + x: -0.004486598891874416 + y: -0.9097731195609077 + z: 0.41507656071105803 + translation: + x: 0.025687060614725817 + y: 0.06953460693100322 + z: -0.06164976363236345 +hdr_front: + base_frame_id: box_base + child_frame_id: hdr_front + rotation: + w: 0.4970495903927929 + x: -0.499305922637098 + y: -0.5005829735777374 + z: -0.5030427286761467 + translation: + x: 0.04836030494808155 + y: -0.10282483832595525 + z: -0.36926064730524666 +hdr_left: + base_frame_id: box_base + child_frame_id: hdr_left + rotation: + w: 0.6981144475823984 + x: -0.7106446365240748 + y: 0.06071950908492229 + z: 0.06271809844673303 + translation: + x: -0.3123877547915767 + y: -0.1040746815988313 + z: -0.0946004294028184 +hdr_right: + base_frame_id: box_base + child_frame_id: hdr_right + rotation: + w: -0.05968925863378414 + x: 0.06271504848629056 + y: -0.701622990300235 + z: -0.7072688276598 + translation: + x: 0.2984670188513917 + y: -0.1021873680871323 + z: -0.007282571655555148 +hesai_lidar: + base_frame_id: box_base + child_frame_id: hesai_lidar + rotation: + w: -0.004419949690193552 + x: -0.7093301791430758 + y: 0.7048516039326548 + z: 0.003921407292290494 + translation: + x: -0.04461184951630229 + y: 0.3022381420105506 + z: -0.01253994548350209 +livox_imu: + base_frame_id: box_base + child_frame_id: livox_imu + rotation: + w: 0.9999514279010147 + x: -0.007862897821623277 + y: 0.0001266741714154213 + z: -0.005941433347507674 + translation: + x: -0.309334506793968 + y: 0.02772866572054537 + z: 0.15059851991550668 +livox_lidar: + base_frame_id: box_base + child_frame_id: livox_lidar + rotation: + w: 0.9999743041039169 + x: -0.006935301181255335 + y: 0.0015623437878433857 + z: -0.0009229362387923458 + translation: + x: -0.30263164816469024 + y: 0.04875595821861217 + z: 0.1098417136717083 +stim320_imu: + base_frame_id: box_base + child_frame_id: stim320_imu + rotation: + w: -0.005861732683034935 + x: -0.999969253444768 + y: -0.005117285966486087 + z: 0.0009724399227390018 + translation: + x: -0.28505604358365294 + y: -0.07158336465343071 + z: 0.15961588385259787 +velodyne_lidar: + base_frame_id: base + child_frame_id: velodyne_lidar + rotation: + w: 2.220446049250313e-16 + x: 0.0 + y: 0.0 + z: -1.0 + translation: + x: -0.31 + y: -1.376676550535194e-16 + z: -0.1585 +zed2i_base: + base_frame_id: box_base + child_frame_id: zed2i_base + rotation: + w: 0.9962118648543207 + x: -0.006581941621942168 + y: 0.08669318635449509 + z: -0.0016999434304889223 + translation: + x: -0.40482353372271573 + y: 0.047230058607942466 + z: -0.06326319217368467 +zed2i_left: + base_frame_id: box_base + child_frame_id: zed2i_left + rotation: + w: 0.5376457335765262 + x: -0.4560279507472064 + y: -0.45330473617163086 + z: -0.5454267957009725 + translation: + x: 0.10794130666130296 + y: -0.07812765789668064 + z: -0.3950964183927077 +zed2i_right: + base_frame_id: box_base + child_frame_id: zed2i_right + rotation: + w: 0.5373115821826182 + x: -0.45720033826192996 + y: -0.4523183402260819 + z: -0.5455934690231464 + translation: + x: -0.012769940823864567 + y: -0.07826319215076401 + z: -0.39482353374563656 diff --git a/2024-12-09-11-28-28/metadata/velodyne_points.yaml b/2024-12-09-11-28-28/metadata/velodyne_points.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f65d5af5a8c90062c81140acf4a43b3cfef8019a --- /dev/null +++ b/2024-12-09-11-28-28/metadata/velodyne_points.yaml @@ -0,0 +1,14 @@ +frame_id: velodyne_lidar +topic: velodyne_points +transform: + base_frame_id: base + child_frame_id: velodyne_lidar + rotation: + w: 2.220446049250313e-16 + x: 0.0 + y: 0.0 + z: -1.0 + translation: + x: -0.31 + y: -1.376676550535194e-16 + z: -0.1585 diff --git a/2024-12-09-11-28-28/metadata/velodyne_points_undistorted.yaml b/2024-12-09-11-28-28/metadata/velodyne_points_undistorted.yaml new file mode 100644 index 0000000000000000000000000000000000000000..728fa5ff983859fcf0700298660e55b442dc4e4b --- /dev/null +++ b/2024-12-09-11-28-28/metadata/velodyne_points_undistorted.yaml @@ -0,0 +1,14 @@ +frame_id: velodyne_lidar +topic: velodyne_points_undistorted +transform: + base_frame_id: base + child_frame_id: velodyne_lidar + rotation: + w: 2.220446049250313e-16 + x: 0.0 + y: 0.0 + z: -1.0 + translation: + x: -0.31 + y: -1.376676550535194e-16 + z: -0.1585 diff --git a/2024-12-09-11-28-28/metadata/zed2i_depth_caminfo.yaml b/2024-12-09-11-28-28/metadata/zed2i_depth_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..221ac12dc18b5255395858223e15b5a2b86aec0f --- /dev/null +++ b/2024-12-09-11-28-28/metadata/zed2i_depth_caminfo.yaml @@ -0,0 +1,52 @@ +camera_info: + D: + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: + - 1052.7877197265625 + - 0.0 + - 956.3419189453125 + - 0.0 + - 1052.7877197265625 + - 553.9558715820312 + - 0.0 + - 0.0 + - 1.0 + P: + - 1052.7877197265625 + - 0.0 + - 956.3419189453125 + - 0.0 + - 0.0 + - 1052.7877197265625 + - 553.9558715820312 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + - 0.0 + R: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + binning_x: 0 + binning_y: 0 + distortion_model: plumb_bob + frame_id: zed2i_right + height: 1080 + roi: + do_rectify: false + height: 0 + width: 0 + x_offset: 0 + y_offset: 0 + width: 1920 diff --git a/2024-12-09-11-28-28/metadata/zed2i_depth_confidence_image.yaml b/2024-12-09-11-28-28/metadata/zed2i_depth_confidence_image.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ec5b9f6c7bbb894197cee4662403771db7619cb --- /dev/null +++ b/2024-12-09-11-28-28/metadata/zed2i_depth_confidence_image.yaml @@ -0,0 +1,14 @@ +frame_id: zed2i_right +topic: zed2i_depth_confidence_image +transform: + base_frame_id: box_base + child_frame_id: zed2i_right + rotation: + w: 0.5373115821826182 + x: -0.45720033826192996 + y: -0.4523183402260819 + z: -0.5455934690231464 + translation: + x: -0.012769940823864567 + y: -0.07826319215076401 + z: -0.39482353374563656 diff --git a/2024-12-09-11-28-28/metadata/zed2i_depth_image.yaml b/2024-12-09-11-28-28/metadata/zed2i_depth_image.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8438ba6a39902ce78192bf7df414a3801e8ada65 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/zed2i_depth_image.yaml @@ -0,0 +1,14 @@ +frame_id: zed2i_right +topic: zed2i_depth_image +transform: + base_frame_id: box_base + child_frame_id: zed2i_right + rotation: + w: 0.5373115821826182 + x: -0.45720033826192996 + y: -0.4523183402260819 + z: -0.5455934690231464 + translation: + x: -0.012769940823864567 + y: -0.07826319215076401 + z: -0.39482353374563656 diff --git a/2024-12-09-11-28-28/metadata/zed2i_left_caminfo.yaml b/2024-12-09-11-28-28/metadata/zed2i_left_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..55ba1db58115555683cef0424d1dbcafa56459a1 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/zed2i_left_caminfo.yaml @@ -0,0 +1,51 @@ +camera_info: + D: + - -0.06500657463932444 + - 0.0331724401464621 + - 0.0002780243674173525 + - -0.0002130544788201019 + K: + - 1066.992160463982 + - 0.0 + - 964.8906181241582 + - 0.0 + - 1066.617034517532 + - 527.1921430815046 + - 0.0 + - 0.0 + - 1.0 + P: + - 1066.992160463982 + - 0.0 + - 964.8906181241582 + - 0.0 + - 0.0 + - 1066.617034517532 + - 527.1921430815046 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + - 0.0 + R: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + binning_x: 0 + binning_y: 0 + distortion_model: radtan + frame_id: zed2i_left + height: 1080 + roi: + do_rectify: false + height: 0 + width: 0 + x_offset: 0 + y_offset: 0 + width: 1920 diff --git a/2024-12-09-11-28-28/metadata/zed2i_left_images.yaml b/2024-12-09-11-28-28/metadata/zed2i_left_images.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4e8831bf7ed6bcd2bb07456e4cd3fc40488b9c72 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/zed2i_left_images.yaml @@ -0,0 +1,14 @@ +frame_id: zed2i_left +topic: zed2i_left_images +transform: + base_frame_id: box_base + child_frame_id: zed2i_left + rotation: + w: 0.5376457335765262 + x: -0.4560279507472064 + y: -0.45330473617163086 + z: -0.5454267957009725 + translation: + x: 0.10794130666130296 + y: -0.07812765789668064 + z: -0.3950964183927077 diff --git a/2024-12-09-11-28-28/metadata/zed2i_right_caminfo.yaml b/2024-12-09-11-28-28/metadata/zed2i_right_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..42436c2b86d460bba0fdfb6f9cf97d4cb36f4b14 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/zed2i_right_caminfo.yaml @@ -0,0 +1,51 @@ +camera_info: + D: + - -0.05949100052783383 + - 0.02580145339341 + - 0.0006844742767657103 + - -2.812601174983881e-05 + K: + - 1065.714590429908 + - 0.0 + - 965.3962131920014 + - 0.0 + - 1065.014105108313 + - 526.4008218581453 + - 0.0 + - 0.0 + - 1.0 + P: + - 1065.714590429908 + - 0.0 + - 965.3962131920014 + - 0.0 + - 0.0 + - 1065.014105108313 + - 526.4008218581453 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + - 0.0 + R: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + binning_x: 0 + binning_y: 0 + distortion_model: radtan + frame_id: zed2i_right + height: 1080 + roi: + do_rectify: false + height: 0 + width: 0 + x_offset: 0 + y_offset: 0 + width: 1920 diff --git a/2024-12-09-11-28-28/metadata/zed2i_right_images.yaml b/2024-12-09-11-28-28/metadata/zed2i_right_images.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4f7e5a68a2a82c2b33779c6b35ac7bffd69543b5 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/zed2i_right_images.yaml @@ -0,0 +1,14 @@ +frame_id: zed2i_right +topic: zed2i_right_images +transform: + base_frame_id: box_base + child_frame_id: zed2i_right + rotation: + w: 0.5373115821826182 + x: -0.45720033826192996 + y: -0.4523183402260819 + z: -0.5455934690231464 + translation: + x: -0.012769940823864567 + y: -0.07826319215076401 + z: -0.39482353374563656 diff --git a/2024-12-09-11-28-28/metadata/zed2i_vio_map.yaml b/2024-12-09-11-28-28/metadata/zed2i_vio_map.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d81e3809fc1e98b2f0949315fe072bf14ddc82f6 --- /dev/null +++ b/2024-12-09-11-28-28/metadata/zed2i_vio_map.yaml @@ -0,0 +1,2 @@ +frame_id: zed2i_map +topic: zed2i_vio_map