diff --git a/2024-11-18-17-13-09/data/.zgroup b/2024-11-18-17-13-09/data/.zgroup new file mode 100644 index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1 --- /dev/null +++ b/2024-11-18-17-13-09/data/.zgroup @@ -0,0 +1,3 @@ +{ + "zarr_format": 2 +} \ No newline at end of file diff --git a/2024-11-18-17-13-09/data/adis_imu.tar b/2024-11-18-17-13-09/data/adis_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..63ebd52006dab9d495f5ac7b379d8d5e97c101cb --- /dev/null +++ b/2024-11-18-17-13-09/data/adis_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c63c55920abbe64a89fd03b8aa5e4f460055b85c8eb240db909eb95c62ec029f +size 9912320 diff --git a/2024-11-18-17-13-09/data/alphasense_front_center.tar b/2024-11-18-17-13-09/data/alphasense_front_center.tar new file mode 100644 index 0000000000000000000000000000000000000000..605735613a1bc4d391dc2fdf4e1a7b378ad04e56 --- /dev/null +++ b/2024-11-18-17-13-09/data/alphasense_front_center.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b432fcbc48106fcbc1877bb0f4e3eb5427f73eb9d11c4daef0b08d55130fd818 +size 2191360 diff --git a/2024-11-18-17-13-09/data/alphasense_front_left.tar b/2024-11-18-17-13-09/data/alphasense_front_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..4a2daae52a0358c30ef6e3ac54e8f540d28d63f5 --- /dev/null +++ b/2024-11-18-17-13-09/data/alphasense_front_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6179c42b77cb794931d80cac0938ccc8d61b9017fb6d2a69643cfc994d0ab7e6 +size 2191360 diff --git a/2024-11-18-17-13-09/data/alphasense_front_right.tar b/2024-11-18-17-13-09/data/alphasense_front_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..e70dc4a210968a1a77f638b79a06b623187611ef --- /dev/null +++ b/2024-11-18-17-13-09/data/alphasense_front_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d6760201b3a9e9cbe34e43045ccec88e7ac5960f88e507193bfb7a09ef8eb76 +size 2191360 diff --git a/2024-11-18-17-13-09/data/alphasense_imu.tar b/2024-11-18-17-13-09/data/alphasense_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..39e8ca673832300868d95effffe66593a6d7d57b --- /dev/null +++ b/2024-11-18-17-13-09/data/alphasense_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff52c4a5065ff5ffaccab61c4147abe93273663f3d7a098809605fdf4458214c +size 10004480 diff --git a/2024-11-18-17-13-09/data/alphasense_left.tar b/2024-11-18-17-13-09/data/alphasense_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..53e05ffbcf9135a1cb91fa261ec3e421d9c55159 --- /dev/null +++ b/2024-11-18-17-13-09/data/alphasense_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e86de6fe9d9bfb984ef18c20b3f8c46bf39550eea27342b0d7d0036389f5e09e +size 2191360 diff --git a/2024-11-18-17-13-09/data/alphasense_right.tar b/2024-11-18-17-13-09/data/alphasense_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..b8f0e041d27606e4110d2ba3503cd9b5bc876707 --- /dev/null +++ b/2024-11-18-17-13-09/data/alphasense_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf9bc1c72e08e3a2178e569fe3907619372f7e15499e5b9187c0956569d46680 +size 2191360 diff --git a/2024-11-18-17-13-09/data/anymal_command_twist.tar b/2024-11-18-17-13-09/data/anymal_command_twist.tar new file mode 100644 index 0000000000000000000000000000000000000000..7c2caa114004867c7c3d99718d479db177577231 --- /dev/null +++ b/2024-11-18-17-13-09/data/anymal_command_twist.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f8084a0021130826f8e4fdcbb95842f5cd20b124761c6aa3ce65e679c50fc4c +size 3850240 diff --git a/2024-11-18-17-13-09/data/anymal_imu.tar b/2024-11-18-17-13-09/data/anymal_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..230a3d56eddd405ecffa6abdfa0e7f04c6432bde --- /dev/null +++ b/2024-11-18-17-13-09/data/anymal_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a79c65b71b94a43c0b8aec53cdb5876503f2a294cdf70368b7b0605786e1481a +size 13271040 diff --git a/2024-11-18-17-13-09/data/anymal_state_actuator.tar b/2024-11-18-17-13-09/data/anymal_state_actuator.tar new file mode 100644 index 0000000000000000000000000000000000000000..bfb1e49294e03a0258509e16dbd01ebd8eff94a5 --- /dev/null +++ b/2024-11-18-17-13-09/data/anymal_state_actuator.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a88b2c86bf120f309827e46c2f9a3005c4b9fe97755848c573a690fef7a33ce5 +size 326993920 diff --git a/2024-11-18-17-13-09/data/anymal_state_battery.tar b/2024-11-18-17-13-09/data/anymal_state_battery.tar new file mode 100644 index 0000000000000000000000000000000000000000..006e5bf8605ebb8d7a3898c8fa2e230cdf4dd9fc --- /dev/null +++ b/2024-11-18-17-13-09/data/anymal_state_battery.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71018525a8d223ea39961c92c72edc5c905dbfd34c9095228e53ea210f8b1e5d +size 16424960 diff --git a/2024-11-18-17-13-09/data/anymal_state_odometry.tar b/2024-11-18-17-13-09/data/anymal_state_odometry.tar new file mode 100644 index 0000000000000000000000000000000000000000..4ad86bc203be04595d8704eed711f3961b1a273b --- /dev/null +++ b/2024-11-18-17-13-09/data/anymal_state_odometry.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06b9064a5aee0e60ae830a76921e3ed94aca0655cfa446a6de423919295b8504 +size 11130880 diff --git a/2024-11-18-17-13-09/data/anymal_state_state_estimator.tar b/2024-11-18-17-13-09/data/anymal_state_state_estimator.tar new file mode 100644 index 0000000000000000000000000000000000000000..1a9736bcf8a20a08d610eb35beff13e4c9e72e81 --- /dev/null +++ b/2024-11-18-17-13-09/data/anymal_state_state_estimator.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:350c65565a8ca70a83e38d81557b588216275fa154aaf21e86addda146af0b99 +size 97146880 diff --git a/2024-11-18-17-13-09/data/ap20_imu.tar b/2024-11-18-17-13-09/data/ap20_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..91f3056bfefa8a386f4ff1cf4bdb8983b67a773a --- /dev/null +++ b/2024-11-18-17-13-09/data/ap20_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f8e6d10a6d4c21ea496b3eef01b83f32d255c543f5057f0aeb5412206189007 +size 8591360 diff --git a/2024-11-18-17-13-09/data/cpt7_imu.tar b/2024-11-18-17-13-09/data/cpt7_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..df90cfa0369f3ec748afa07ff8684925973a5478 --- /dev/null +++ b/2024-11-18-17-13-09/data/cpt7_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87288f674a7f1dfa3e7037bb4c7492e551365b299b56ed549c2fc4e7dbf109b2 +size 7731200 diff --git a/2024-11-18-17-13-09/data/depth_camera_front_lower.tar b/2024-11-18-17-13-09/data/depth_camera_front_lower.tar new file mode 100644 index 0000000000000000000000000000000000000000..246562d1c07eb93f2252cc7711061fcb75dde38e --- /dev/null +++ b/2024-11-18-17-13-09/data/depth_camera_front_lower.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a60d87812b4546b2547393fadacda60bd8fa75c8711497253efaa050ee21df2b +size 2201600 diff --git a/2024-11-18-17-13-09/data/depth_camera_front_upper.tar b/2024-11-18-17-13-09/data/depth_camera_front_upper.tar new file mode 100644 index 0000000000000000000000000000000000000000..7e8f066e22f8cfc2ebcdc4fd0b97229ac055a7c0 --- /dev/null +++ b/2024-11-18-17-13-09/data/depth_camera_front_upper.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37a88c8d70d3c89fa38dc3b1a8fa17820e79d31bc473db80b47f7a63f3dbc7c3 +size 2201600 diff --git a/2024-11-18-17-13-09/data/depth_camera_left.tar b/2024-11-18-17-13-09/data/depth_camera_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..3f64040eabcfa74d24d1c9d1beb7d91379a26d82 --- /dev/null +++ b/2024-11-18-17-13-09/data/depth_camera_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9bbcc4a7e3809e2eb339d85f39e67340957236245c0168d618b7ffcf5dff26a +size 2191360 diff --git a/2024-11-18-17-13-09/data/depth_camera_rear_lower.tar b/2024-11-18-17-13-09/data/depth_camera_rear_lower.tar new file mode 100644 index 0000000000000000000000000000000000000000..b725d4d1edde5f05890ccab65e64b1d7c6e659e0 --- /dev/null +++ b/2024-11-18-17-13-09/data/depth_camera_rear_lower.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3863e4876630e25835f4878d896c195a3514eb017182153d610a41e2d7a322c2 +size 2191360 diff --git a/2024-11-18-17-13-09/data/depth_camera_rear_upper.tar b/2024-11-18-17-13-09/data/depth_camera_rear_upper.tar new file mode 100644 index 0000000000000000000000000000000000000000..63cc6bb307963d484ba4060171c33c74758d5afe --- /dev/null +++ b/2024-11-18-17-13-09/data/depth_camera_rear_upper.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2225e651ad09b3ebfb1b0d5741cb0e32f1d827a7e9d846dbba69b06fd755efe5 +size 2201600 diff --git a/2024-11-18-17-13-09/data/depth_camera_right.tar b/2024-11-18-17-13-09/data/depth_camera_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..e86a05647800792655f9c965c5571cc4524e2902 --- /dev/null +++ b/2024-11-18-17-13-09/data/depth_camera_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f56bb327cf4ddf21e6854efc074b954f86cc4355bae961e694ee69426209ca51 +size 2191360 diff --git a/2024-11-18-17-13-09/data/dlio_hesai_points_undistorted.tar b/2024-11-18-17-13-09/data/dlio_hesai_points_undistorted.tar new file mode 100644 index 0000000000000000000000000000000000000000..e2895e342d360418f6adf9d600d7712639d56a65 --- /dev/null +++ b/2024-11-18-17-13-09/data/dlio_hesai_points_undistorted.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75a4ac49f5c4c03ae26f3e638db03adb9f374b5dc5542ab2ff8f432ada53bb25 +size 1793443840 diff --git a/2024-11-18-17-13-09/data/dlio_map_odometry.tar b/2024-11-18-17-13-09/data/dlio_map_odometry.tar new file mode 100644 index 0000000000000000000000000000000000000000..cd0aaa80fbc56038f059c5acc3b4dac7ae1fb564 --- /dev/null +++ b/2024-11-18-17-13-09/data/dlio_map_odometry.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c280badee9548b5ba39ae03ebf369f91119ff016f3b861e38329680595f79b0 +size 7157760 diff --git a/2024-11-18-17-13-09/data/dlio_tf.tar b/2024-11-18-17-13-09/data/dlio_tf.tar new file mode 100644 index 0000000000000000000000000000000000000000..518685ee0dbb88c227890b4dc3d3109d64968bdc --- /dev/null +++ b/2024-11-18-17-13-09/data/dlio_tf.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dcd58b4276b2fd09d602ba117046dac9d1900e07f247ee14f899e5d111da8130 +size 5140480 diff --git a/2024-11-18-17-13-09/data/hdr_front.tar b/2024-11-18-17-13-09/data/hdr_front.tar new file mode 100644 index 0000000000000000000000000000000000000000..90a0c5ac280b6c4f155b445248ec2eff2fb2a0d4 --- /dev/null +++ b/2024-11-18-17-13-09/data/hdr_front.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a355aa133df136bc16f7d3f4ae9f41d231da6d2928b599a367172d7171681012 +size 2191360 diff --git a/2024-11-18-17-13-09/data/hdr_left.tar b/2024-11-18-17-13-09/data/hdr_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..c438b513a0b21b6f2129e2943b593665b7045f69 --- /dev/null +++ b/2024-11-18-17-13-09/data/hdr_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59b2dc41163e22b28e4dbe25794e954f69fb7ff8a4e25bfeb4cb14eba4147f55 +size 2191360 diff --git a/2024-11-18-17-13-09/data/hdr_right.tar b/2024-11-18-17-13-09/data/hdr_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..9d3b3df78601c681b6c0dbd74d5a4d51c79426e4 --- /dev/null +++ b/2024-11-18-17-13-09/data/hdr_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c69044da857280f523d12df65a7c04dc07acd2f29aa3e6a0d8f6465f7be0154d +size 2191360 diff --git a/2024-11-18-17-13-09/data/hesai_points.tar b/2024-11-18-17-13-09/data/hesai_points.tar new file mode 100644 index 0000000000000000000000000000000000000000..08d9510c2e390dce69ebe5f0485426d270dfcf4d --- /dev/null +++ b/2024-11-18-17-13-09/data/hesai_points.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ba1d516c45883e7609455a9eec8ba859e22d68f1d151bc3e4f0a5cfc58fcb5d +size 1907630080 diff --git a/2024-11-18-17-13-09/data/hesai_points_undistorted.tar b/2024-11-18-17-13-09/data/hesai_points_undistorted.tar new file mode 100644 index 0000000000000000000000000000000000000000..ea23594a522589c14a58c1a04c8ccdf066612862 --- /dev/null +++ b/2024-11-18-17-13-09/data/hesai_points_undistorted.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4330974fe65b81672049cd43363ea409f8828342c7acf4b828a012f9a4eea856 +size 1908387840 diff --git a/2024-11-18-17-13-09/data/livox_imu.tar b/2024-11-18-17-13-09/data/livox_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..6293afd6a9a24c3dd07eeb52ea68649977d71e3a --- /dev/null +++ b/2024-11-18-17-13-09/data/livox_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66a71df8caa1f1243b2ebae31eb2857c70fbb991f7161b534d0d428b3176c47c +size 9349120 diff --git a/2024-11-18-17-13-09/data/livox_points.tar b/2024-11-18-17-13-09/data/livox_points.tar new file mode 100644 index 0000000000000000000000000000000000000000..a0d511befc7b917c0ea564cd035714278e149e2e --- /dev/null +++ b/2024-11-18-17-13-09/data/livox_points.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b36db3d8ed4c9bcbdef0bfd57074b5464efe3b77f12e5b6cf8cc673ef6ac916 +size 571432960 diff --git a/2024-11-18-17-13-09/data/livox_points_undistorted.tar b/2024-11-18-17-13-09/data/livox_points_undistorted.tar new file mode 100644 index 0000000000000000000000000000000000000000..39f5a2ca9eb076929de73c6ece0695e8903c673d --- /dev/null +++ b/2024-11-18-17-13-09/data/livox_points_undistorted.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa64afc81d7641fd436567e6381fa89938aaa1eda4021395972ccfcb2946dc5f +size 571525120 diff --git a/2024-11-18-17-13-09/data/prism_position.tar b/2024-11-18-17-13-09/data/prism_position.tar new file mode 100644 index 0000000000000000000000000000000000000000..addc895efee309f3b9d6178ec36ee51276afd58b --- /dev/null +++ b/2024-11-18-17-13-09/data/prism_position.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ec7d6d845308b3998754f4defabadedcf7a5f41ce18f9423b2b807b3872c3b2 +size 3041280 diff --git a/2024-11-18-17-13-09/data/stim320_imu.tar b/2024-11-18-17-13-09/data/stim320_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..ac273c96fc869ab265893c2a092cb28770236361 --- /dev/null +++ b/2024-11-18-17-13-09/data/stim320_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36bff668958c22ba2f935c6f59d581f0eb5de76c222578816c302520e12e18df +size 14602240 diff --git a/2024-11-18-17-13-09/data/tf.tar b/2024-11-18-17-13-09/data/tf.tar new file mode 100644 index 0000000000000000000000000000000000000000..99afbc784267e34dec0b2f299e04360c6c4397b6 --- /dev/null +++ b/2024-11-18-17-13-09/data/tf.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:169ab09a9eb371cbc6c544e507ed0b1e7a0f4d10ef094adf2fd894802277a26c +size 30720 diff --git a/2024-11-18-17-13-09/data/velodyne_points.tar b/2024-11-18-17-13-09/data/velodyne_points.tar new file mode 100644 index 0000000000000000000000000000000000000000..1982da5368077fffefb51074c47fa3ae35b59b3c --- /dev/null +++ b/2024-11-18-17-13-09/data/velodyne_points.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:358a49b265e3fa0a17d78e4c43f2848b13a54efd0b810b3450be6915a009c506 +size 913643520 diff --git a/2024-11-18-17-13-09/data/velodyne_points_undistorted.tar b/2024-11-18-17-13-09/data/velodyne_points_undistorted.tar new file mode 100644 index 0000000000000000000000000000000000000000..91e6719b318d47bc8aeb7f1d833f2be921b3115c --- /dev/null +++ b/2024-11-18-17-13-09/data/velodyne_points_undistorted.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:072f2a42876b0e99dc4f5a82694d2e4f7396ac3e1d1fe5faab682aa94eec369a +size 914800640 diff --git a/2024-11-18-17-13-09/data/zed2i_depth_confidence_image.tar b/2024-11-18-17-13-09/data/zed2i_depth_confidence_image.tar new file mode 100644 index 0000000000000000000000000000000000000000..74b78845f7738e5a02453907af9d4cfff1746713 --- /dev/null +++ b/2024-11-18-17-13-09/data/zed2i_depth_confidence_image.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4e408d24e88eecda5f94dc24114bdd73d8ea45d163482eb4d5b257ca44de179 +size 2201600 diff --git a/2024-11-18-17-13-09/data/zed2i_depth_image.tar b/2024-11-18-17-13-09/data/zed2i_depth_image.tar new file mode 100644 index 0000000000000000000000000000000000000000..0c7c2bfdc7829cc714b322632ae22f9906f81d05 --- /dev/null +++ b/2024-11-18-17-13-09/data/zed2i_depth_image.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5225ae986c0705ddc94e2697685321df8e3f2837b721d4bb5228c600dea8a4f +size 2201600 diff --git a/2024-11-18-17-13-09/data/zed2i_left_images.tar b/2024-11-18-17-13-09/data/zed2i_left_images.tar new file mode 100644 index 0000000000000000000000000000000000000000..a87a2bc02e24c20c18d853e3b6dea6253feca59b --- /dev/null +++ b/2024-11-18-17-13-09/data/zed2i_left_images.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2f303cf2c082f8214ac2189b8555675ff855f0c82c81847933f1786e240904d +size 2201600 diff --git a/2024-11-18-17-13-09/data/zed2i_right_images.tar b/2024-11-18-17-13-09/data/zed2i_right_images.tar new file mode 100644 index 0000000000000000000000000000000000000000..99f485b3b3f72e72b431ea2f42df858e7aa3e14f --- /dev/null +++ b/2024-11-18-17-13-09/data/zed2i_right_images.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:811c99c443f753336d8250a8e0ea9caa50a00e21f76b9298531100f2ccb92bd1 +size 2201600 diff --git a/2024-11-18-17-13-09/data/zed2i_vio_map.tar b/2024-11-18-17-13-09/data/zed2i_vio_map.tar new file mode 100644 index 0000000000000000000000000000000000000000..26344d2b819792fc3c8221fea738717fbd80562c --- /dev/null +++ b/2024-11-18-17-13-09/data/zed2i_vio_map.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd6239d302e053906232071f339d67638b69bb88769618acc78d14d1ff244fc4 +size 5601280 diff --git a/2024-11-18-17-13-09/images/alphasense_front_center.tar b/2024-11-18-17-13-09/images/alphasense_front_center.tar new file mode 100644 index 0000000000000000000000000000000000000000..d8edc2fb9538a5842cb77ade9c8a0bda1b37badd --- /dev/null +++ b/2024-11-18-17-13-09/images/alphasense_front_center.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f053190f708568d8d4527f2afea5ad2cfaf9acf87cd20fd2feac2656de7a69c +size 169093120 diff --git a/2024-11-18-17-13-09/images/alphasense_front_left.tar b/2024-11-18-17-13-09/images/alphasense_front_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..8ec3246404c16672eec8e23170f706f1418f86f1 --- /dev/null +++ b/2024-11-18-17-13-09/images/alphasense_front_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aba09bb0b60259270c4009da7c48db5a60efe01384ffd9928c659f80d50b2492 +size 217466880 diff --git a/2024-11-18-17-13-09/images/alphasense_front_right.tar b/2024-11-18-17-13-09/images/alphasense_front_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..da0238ed0ff084adbd7def3c105a872abc04ba52 --- /dev/null +++ b/2024-11-18-17-13-09/images/alphasense_front_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68e7ce46ec3f6751be0377c5d07033f9197f77e4b04d132b555beb8c23a91d9f +size 225576960 diff --git a/2024-11-18-17-13-09/images/alphasense_left.tar b/2024-11-18-17-13-09/images/alphasense_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..e3740756bc560c24870e8947ba6ceb5ca33d562d --- /dev/null +++ b/2024-11-18-17-13-09/images/alphasense_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06c987e248d6a00f33f07e510f41c71700131fa07bac0e0523b84553acab4822 +size 161925120 diff --git a/2024-11-18-17-13-09/images/alphasense_right.tar b/2024-11-18-17-13-09/images/alphasense_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..70e986951c08ccc417152545148b2134b0c61660 --- /dev/null +++ b/2024-11-18-17-13-09/images/alphasense_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e3f540656ab4363e583fb040bdce9d43a8702b038851336e5d25a57d6295137 +size 158085120 diff --git a/2024-11-18-17-13-09/images/depth_camera_front_lower.tar b/2024-11-18-17-13-09/images/depth_camera_front_lower.tar new file mode 100644 index 0000000000000000000000000000000000000000..479ca523b7db977afa2d5102df31e457f7b727e2 --- /dev/null +++ b/2024-11-18-17-13-09/images/depth_camera_front_lower.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:614c40585facf4827a1d8106da6af281453c9dedeb647b85b1eabe12c47cad63 +size 305254400 diff --git a/2024-11-18-17-13-09/images/depth_camera_front_upper.tar b/2024-11-18-17-13-09/images/depth_camera_front_upper.tar new file mode 100644 index 0000000000000000000000000000000000000000..da2bc1d5defdd78ed83f3ebb27c0f690be159251 --- /dev/null +++ b/2024-11-18-17-13-09/images/depth_camera_front_upper.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7f8a8005c19ae1bfc25c0d54c08373dbebe6f3a90f972f447d3cae0c3c42a1b +size 797286400 diff --git a/2024-11-18-17-13-09/images/depth_camera_left.tar b/2024-11-18-17-13-09/images/depth_camera_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..057fe937a4b2ef01df3099d4d748878074969e93 --- /dev/null +++ b/2024-11-18-17-13-09/images/depth_camera_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:baafef8a98d64efa176a5d413094a9437bd2c766c8e5f571b115ec91288c1356 +size 486789120 diff --git a/2024-11-18-17-13-09/images/depth_camera_rear_lower.tar b/2024-11-18-17-13-09/images/depth_camera_rear_lower.tar new file mode 100644 index 0000000000000000000000000000000000000000..6ed319ff7e0d5819eca3ae3e8ac4e6eb20ff8367 --- /dev/null +++ b/2024-11-18-17-13-09/images/depth_camera_rear_lower.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:794660514c93f9cbb7f04c2e99f8fd5c5b5a244c67ea03ffc9d7443dbc71e5f8 +size 334305280 diff --git a/2024-11-18-17-13-09/images/depth_camera_rear_upper.tar b/2024-11-18-17-13-09/images/depth_camera_rear_upper.tar new file mode 100644 index 0000000000000000000000000000000000000000..67a1d19f6fc5acced0db5ab04900cb068303ec19 --- /dev/null +++ b/2024-11-18-17-13-09/images/depth_camera_rear_upper.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:073534e357953f3b357a9d51e96c2e38c81e6e07aa2e32967b1a4354d7d51d32 +size 851445760 diff --git a/2024-11-18-17-13-09/images/depth_camera_right.tar b/2024-11-18-17-13-09/images/depth_camera_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..7321127ec5311283d4bd07d2f542785dffe5efb8 --- /dev/null +++ b/2024-11-18-17-13-09/images/depth_camera_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8546076eb26d3ae33cf89446b959c4c84b10199ab9291275a786b9c44ea7f271 +size 472145920 diff --git a/2024-11-18-17-13-09/images/hdr_front.tar b/2024-11-18-17-13-09/images/hdr_front.tar new file mode 100644 index 0000000000000000000000000000000000000000..2fe1c4b438c02a4e057f3c0a35052e071f438692 --- /dev/null +++ b/2024-11-18-17-13-09/images/hdr_front.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47fdb4564ac9ee059625dc3930b2973642610179108a8f7c9f61ab2f4cf89aa6 +size 619939840 diff --git a/2024-11-18-17-13-09/images/hdr_left.tar b/2024-11-18-17-13-09/images/hdr_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..70192171334cdc758def27c673a021dc96913351 --- /dev/null +++ b/2024-11-18-17-13-09/images/hdr_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:205720000980d36fc358f298637c485f4a7f3094b20e67036b9453185bf84927 +size 947466240 diff --git a/2024-11-18-17-13-09/images/hdr_right.tar b/2024-11-18-17-13-09/images/hdr_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..f870b93713b2e9584a36999e65c36af39dd6c4db --- /dev/null +++ b/2024-11-18-17-13-09/images/hdr_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22823b4fdcb5307f39493d462e72b5cf96e1166bcdbb6e5b26bc8c9eeb052dcf +size 955207680 diff --git a/2024-11-18-17-13-09/images/zed2i_depth_confidence_image.tar b/2024-11-18-17-13-09/images/zed2i_depth_confidence_image.tar new file mode 100644 index 0000000000000000000000000000000000000000..d1742b6524280e303456dfed3ce6cf63cac85915 --- /dev/null +++ b/2024-11-18-17-13-09/images/zed2i_depth_confidence_image.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b38a4518e53d8e5c509b76718a66208330e4b830580dca95fe9ee8bc88ffd70 +size 7936665600 diff --git a/2024-11-18-17-13-09/images/zed2i_depth_image.tar b/2024-11-18-17-13-09/images/zed2i_depth_image.tar new file mode 100644 index 0000000000000000000000000000000000000000..084dfaa2b5a8e17c37cb6a796e78ad2a78db0165 --- /dev/null +++ b/2024-11-18-17-13-09/images/zed2i_depth_image.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e9c93374786686e6e2324da5cd7fc29b2ca6ed2ff904c2d9ec00aa46e8b38cd +size 2929879040 diff --git a/2024-11-18-17-13-09/images/zed2i_left_images.tar b/2024-11-18-17-13-09/images/zed2i_left_images.tar new file mode 100644 index 0000000000000000000000000000000000000000..a3eb2aaa39baeb248a6503faad423c8674a02318 --- /dev/null +++ b/2024-11-18-17-13-09/images/zed2i_left_images.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5a2de76d111317dc774c39722b2941aab5e94b1e48ce0044711db29f4515e5a +size 918599680 diff --git a/2024-11-18-17-13-09/images/zed2i_right_images.tar b/2024-11-18-17-13-09/images/zed2i_right_images.tar new file mode 100644 index 0000000000000000000000000000000000000000..e0a694902c2854a4cf83347436ce67e3556e54cd --- /dev/null +++ b/2024-11-18-17-13-09/images/zed2i_right_images.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24943b7f5c5e7cd6e55e00dd639e0613bb0a202bf080166ba3c302dff3e7aea7 +size 902625280 diff --git a/2024-11-18-17-13-09/metadata/adis_imu.yaml b/2024-11-18-17-13-09/metadata/adis_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..760ede863205c6321ef5fe2b33c0aa3b83c02f3c --- /dev/null +++ b/2024-11-18-17-13-09/metadata/adis_imu.yaml @@ -0,0 +1,14 @@ +frame_id: adis16475_imu +topic: adis_imu +transform: + 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 diff --git a/2024-11-18-17-13-09/metadata/alphasense_front_center.yaml b/2024-11-18-17-13-09/metadata/alphasense_front_center.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fa4cce98b10953f95ec009582cd63c70704640ec --- /dev/null +++ b/2024-11-18-17-13-09/metadata/alphasense_front_center.yaml @@ -0,0 +1,14 @@ +frame_id: alphasense_front_center +topic: alphasense_front_center +transform: + 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 diff --git a/2024-11-18-17-13-09/metadata/alphasense_front_center_caminfo.yaml b/2024-11-18-17-13-09/metadata/alphasense_front_center_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..55818806fad1cf1e8d39bed8ca6738281b28b81a --- /dev/null +++ b/2024-11-18-17-13-09/metadata/alphasense_front_center_caminfo.yaml @@ -0,0 +1,51 @@ +camera_info: + D: + - -0.0385234391527932 + - -0.006412522405808069 + - 0.00607744610815908 + - -0.002388499938007876 + K: + - 700.3894350332721 + - 0.0 + - 682.8896513142247 + - 0.0 + - 700.1313839578163 + - 523.1354161020042 + - 0.0 + - 0.0 + - 1.0 + P: + - 700.3894350332721 + - 0.0 + - 682.8896513142247 + - 0.0 + - 0.0 + - 700.1313839578163 + - 523.1354161020042 + - 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: alphasense_front_center + height: 1080 + roi: + do_rectify: false + height: 0 + width: 0 + x_offset: 0 + y_offset: 0 + width: 1440 diff --git a/2024-11-18-17-13-09/metadata/alphasense_front_left.yaml b/2024-11-18-17-13-09/metadata/alphasense_front_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cf86229c1b96b74219ab9dc283098931e12e9585 --- /dev/null +++ b/2024-11-18-17-13-09/metadata/alphasense_front_left.yaml @@ -0,0 +1,14 @@ +frame_id: alphasense_front_left +topic: alphasense_front_left +transform: + 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 diff --git a/2024-11-18-17-13-09/metadata/alphasense_front_left_caminfo.yaml b/2024-11-18-17-13-09/metadata/alphasense_front_left_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..64f003f7e902ace58a541836d5a90d3647d03d2b --- /dev/null +++ b/2024-11-18-17-13-09/metadata/alphasense_front_left_caminfo.yaml @@ -0,0 +1,51 @@ +camera_info: + D: + - -0.03843622792783702 + - -0.002634177248264113 + - 0.002422949539367233 + - -0.001382691294699419 + K: + - 701.4545727023193 + - 0.0 + - 680.2585465191044 + - 0.0 + - 700.1179107526791 + - 537.6794158094971 + - 0.0 + - 0.0 + - 1.0 + P: + - 701.4545727023193 + - 0.0 + - 680.2585465191044 + - 0.0 + - 0.0 + - 700.1179107526791 + - 537.6794158094971 + - 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: alphasense_front_left + height: 1080 + roi: + do_rectify: false + height: 0 + width: 0 + x_offset: 0 + y_offset: 0 + width: 1440 diff --git a/2024-11-18-17-13-09/metadata/alphasense_front_right.yaml b/2024-11-18-17-13-09/metadata/alphasense_front_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7db90d40c484f9452faa819e9748fa7ac45c09bb --- /dev/null +++ b/2024-11-18-17-13-09/metadata/alphasense_front_right.yaml @@ -0,0 +1,14 @@ +frame_id: alphasense_front_right +topic: alphasense_front_right +transform: + 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 diff --git a/2024-11-18-17-13-09/metadata/alphasense_front_right_caminfo.yaml b/2024-11-18-17-13-09/metadata/alphasense_front_right_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b7a9cb7f0a49b5d546978edaf913796d1d7b109e --- /dev/null +++ b/2024-11-18-17-13-09/metadata/alphasense_front_right_caminfo.yaml @@ -0,0 +1,51 @@ +camera_info: + D: + - -0.04459393782932651 + - 0.01237852934390858 + - -0.01313451092983728 + - 0.003895777285135927 + K: + - 701.6656970672693 + - 0.0 + - 675.8628766265481 + - 0.0 + - 700.8504216642683 + - 534.6583586732144 + - 0.0 + - 0.0 + - 1.0 + P: + - 701.6656970672693 + - 0.0 + - 675.8628766265481 + - 0.0 + - 0.0 + - 700.8504216642683 + - 534.6583586732144 + - 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: alphasense_front_right + height: 1080 + roi: + do_rectify: false + height: 0 + width: 0 + x_offset: 0 + y_offset: 0 + width: 1440 diff --git a/2024-11-18-17-13-09/metadata/alphasense_imu.yaml b/2024-11-18-17-13-09/metadata/alphasense_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bd4d08c165928d94bce7f8b8d2502b4c545017f9 --- /dev/null +++ b/2024-11-18-17-13-09/metadata/alphasense_imu.yaml @@ -0,0 +1,14 @@ +frame_id: alphasense_imu +topic: alphasense_imu +transform: + 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 diff --git a/2024-11-18-17-13-09/metadata/alphasense_left.yaml b/2024-11-18-17-13-09/metadata/alphasense_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..835abd6470147d51dbe65f08f882e5ef1c1b5940 --- /dev/null +++ b/2024-11-18-17-13-09/metadata/alphasense_left.yaml @@ -0,0 +1,14 @@ +frame_id: alphasense_left +topic: alphasense_left +transform: + 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 diff --git a/2024-11-18-17-13-09/metadata/alphasense_left_caminfo.yaml b/2024-11-18-17-13-09/metadata/alphasense_left_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9418e583d22ba1e798e30e2e063a49230a4f9e37 --- /dev/null +++ b/2024-11-18-17-13-09/metadata/alphasense_left_caminfo.yaml @@ -0,0 +1,51 @@ +camera_info: + D: + - -0.04153221153112917 + - -0.001458244747164001 + - 0.002246288862899356 + - -0.00119721270298716 + K: + - 700.8972615106184 + - 0.0 + - 706.2319041225614 + - 0.0 + - 701.0200085909775 + - 525.8760223159921 + - 0.0 + - 0.0 + - 1.0 + P: + - 700.8972615106184 + - 0.0 + - 706.2319041225614 + - 0.0 + - 0.0 + - 701.0200085909775 + - 525.8760223159921 + - 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: alphasense_left + height: 1080 + roi: + do_rectify: false + height: 0 + width: 0 + x_offset: 0 + y_offset: 0 + width: 1440 diff --git a/2024-11-18-17-13-09/metadata/alphasense_right.yaml b/2024-11-18-17-13-09/metadata/alphasense_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8a5944ff619400951640fe4aadef48a840a81ad8 --- /dev/null +++ b/2024-11-18-17-13-09/metadata/alphasense_right.yaml @@ -0,0 +1,14 @@ +frame_id: alphasense_right +topic: alphasense_right +transform: + 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 diff --git a/2024-11-18-17-13-09/metadata/alphasense_right_caminfo.yaml b/2024-11-18-17-13-09/metadata/alphasense_right_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7f8455fe0473e771ee32c4874969c755f1a70b8a --- /dev/null +++ b/2024-11-18-17-13-09/metadata/alphasense_right_caminfo.yaml @@ -0,0 +1,51 @@ +camera_info: + D: + - -0.0412338408417994 + - 0.004285261971427854 + - -0.005208088628229656 + - 0.001463833354868288 + K: + - 697.11736829549 + - 0.0 + - 750.1699243236521 + - 0.0 + - 697.2298815427183 + - 553.3557744884637 + - 0.0 + - 0.0 + - 1.0 + P: + - 697.11736829549 + - 0.0 + - 750.1699243236521 + - 0.0 + - 0.0 + - 697.2298815427183 + - 553.3557744884637 + - 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: alphasense_right + height: 1080 + roi: + do_rectify: false + height: 0 + width: 0 + x_offset: 0 + y_offset: 0 + width: 1440 diff --git a/2024-11-18-17-13-09/metadata/anymal_command_twist.yaml b/2024-11-18-17-13-09/metadata/anymal_command_twist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2e40adb1f88af85db46c14701e39f56ac4847bd5 --- /dev/null +++ b/2024-11-18-17-13-09/metadata/anymal_command_twist.yaml @@ -0,0 +1,2 @@ +frame_id: base +topic: anymal_command_twist diff --git a/2024-11-18-17-13-09/metadata/anymal_imu.yaml b/2024-11-18-17-13-09/metadata/anymal_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..25de0ce02af9c0413098f951323494454f14ff11 --- /dev/null +++ b/2024-11-18-17-13-09/metadata/anymal_imu.yaml @@ -0,0 +1,14 @@ +frame_id: anymal_imu +topic: anymal_imu +transform: + 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 diff --git a/2024-11-18-17-13-09/metadata/anymal_state_actuator.yaml b/2024-11-18-17-13-09/metadata/anymal_state_actuator.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f3f460b14a7fdd3b953f59752921f8fa23d484e9 --- /dev/null +++ b/2024-11-18-17-13-09/metadata/anymal_state_actuator.yaml @@ -0,0 +1,2 @@ +frame_id: '' +topic: anymal_state_actuator diff --git a/2024-11-18-17-13-09/metadata/anymal_state_battery.yaml b/2024-11-18-17-13-09/metadata/anymal_state_battery.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bebc05e78fe821a246b4ff2fea9083511a191c49 --- /dev/null +++ b/2024-11-18-17-13-09/metadata/anymal_state_battery.yaml @@ -0,0 +1,2 @@ +frame_id: '' +topic: anymal_state_battery diff --git a/2024-11-18-17-13-09/metadata/anymal_state_odometry.yaml b/2024-11-18-17-13-09/metadata/anymal_state_odometry.yaml new file mode 100644 index 0000000000000000000000000000000000000000..54b0d9d66520be33eba8d3b2f93ca9e709ed2efa --- /dev/null +++ b/2024-11-18-17-13-09/metadata/anymal_state_odometry.yaml @@ -0,0 +1,2 @@ +frame_id: odom +topic: anymal_state_odometry diff --git a/2024-11-18-17-13-09/metadata/anymal_state_state_estimator.yaml b/2024-11-18-17-13-09/metadata/anymal_state_state_estimator.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1bbd1aad91162c4ad9b8067e9d06b649a0f22e97 --- /dev/null +++ b/2024-11-18-17-13-09/metadata/anymal_state_state_estimator.yaml @@ -0,0 +1,2 @@ +frame_id: odom +topic: anymal_state_state_estimator diff --git a/2024-11-18-17-13-09/metadata/ap20_imu.yaml b/2024-11-18-17-13-09/metadata/ap20_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ab6c0f9f9c6d5f9fc8bfcc9481e5921ba1cd0fc9 --- /dev/null +++ b/2024-11-18-17-13-09/metadata/ap20_imu.yaml @@ -0,0 +1,14 @@ +frame_id: ap20_imu +topic: ap20_imu +transform: + 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 diff --git a/2024-11-18-17-13-09/metadata/cpt7_imu.yaml b/2024-11-18-17-13-09/metadata/cpt7_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3e392a99392a5ec6c065bf80554a346595fbaadf --- /dev/null +++ b/2024-11-18-17-13-09/metadata/cpt7_imu.yaml @@ -0,0 +1,14 @@ +frame_id: cpt7_imu +topic: cpt7_imu +transform: + 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 diff --git a/2024-11-18-17-13-09/metadata/depth_camera_front_lower.yaml b/2024-11-18-17-13-09/metadata/depth_camera_front_lower.yaml new file mode 100644 index 0000000000000000000000000000000000000000..821340f063c8691d8049d627376054377c16ff3e --- /dev/null +++ b/2024-11-18-17-13-09/metadata/depth_camera_front_lower.yaml @@ -0,0 +1,14 @@ +frame_id: depth_camera_front_lower +topic: depth_camera_front_lower +transform: + 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 diff --git a/2024-11-18-17-13-09/metadata/depth_camera_front_lower_caminfo.yaml b/2024-11-18-17-13-09/metadata/depth_camera_front_lower_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9f13de22241c421a8c9eb10595897d49e17e1162 --- /dev/null +++ b/2024-11-18-17-13-09/metadata/depth_camera_front_lower_caminfo.yaml @@ -0,0 +1,52 @@ +camera_info: + D: + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: + - 424.9216003417969 + - 0.0 + - 428.3416748046875 + - 0.0 + - 424.9216003417969 + - 237.89300537109375 + - 0.0 + - 0.0 + - 1.0 + P: + - 424.9216003417969 + - 0.0 + - 428.3416748046875 + - 0.0 + - 0.0 + - 424.9216003417969 + - 237.89300537109375 + - 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_front_lower + height: 480 + roi: + do_rectify: false + height: 0 + width: 0 + x_offset: 0 + y_offset: 0 + width: 848 diff --git a/2024-11-18-17-13-09/metadata/depth_camera_front_upper.yaml b/2024-11-18-17-13-09/metadata/depth_camera_front_upper.yaml new file mode 100644 index 0000000000000000000000000000000000000000..22ae6f5b58704e68064abec63164db9213d12b89 --- /dev/null +++ b/2024-11-18-17-13-09/metadata/depth_camera_front_upper.yaml @@ -0,0 +1,14 @@ +frame_id: depth_camera_front_upper +topic: depth_camera_front_upper +transform: + 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 diff --git a/2024-11-18-17-13-09/metadata/depth_camera_front_upper_caminfo.yaml b/2024-11-18-17-13-09/metadata/depth_camera_front_upper_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5bb00e6322f40f8eb769b7b0fb1cced0c604c943 --- /dev/null +++ b/2024-11-18-17-13-09/metadata/depth_camera_front_upper_caminfo.yaml @@ -0,0 +1,52 @@ +camera_info: + D: + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: + - 428.0040283203125 + - 0.0 + - 429.46905517578125 + - 0.0 + - 428.0040283203125 + - 233.146240234375 + - 0.0 + - 0.0 + - 1.0 + P: + - 428.0040283203125 + - 0.0 + - 429.46905517578125 + - 0.0 + - 0.0 + - 428.0040283203125 + - 233.146240234375 + - 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_front_upper + height: 480 + roi: + do_rectify: false + height: 0 + width: 0 + x_offset: 0 + y_offset: 0 + width: 848 diff --git a/2024-11-18-17-13-09/metadata/depth_camera_left.yaml b/2024-11-18-17-13-09/metadata/depth_camera_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a35a60d8394059c3748abea6fa6cdee19cb0ddba --- /dev/null +++ b/2024-11-18-17-13-09/metadata/depth_camera_left.yaml @@ -0,0 +1,14 @@ +frame_id: depth_camera_left +topic: depth_camera_left +transform: + 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 diff --git a/2024-11-18-17-13-09/metadata/depth_camera_left_caminfo.yaml b/2024-11-18-17-13-09/metadata/depth_camera_left_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a8afa6379cc89c4b72924527dcf040608871ee18 --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/depth_camera_rear_lower.yaml b/2024-11-18-17-13-09/metadata/depth_camera_rear_lower.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ad7c4284bdf6a3f7f804144674abd29318b09cb3 --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/depth_camera_rear_lower_caminfo.yaml b/2024-11-18-17-13-09/metadata/depth_camera_rear_lower_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7fe6caa86742343436b5e65620a2b4e057894620 --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/depth_camera_rear_upper.yaml b/2024-11-18-17-13-09/metadata/depth_camera_rear_upper.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1ac798820fb0139f1359c8bd54b463afce22f0d0 --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/depth_camera_rear_upper_caminfo.yaml b/2024-11-18-17-13-09/metadata/depth_camera_rear_upper_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47a6ed31c0be6738001a0f9be807a741a916390f --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/depth_camera_right.yaml b/2024-11-18-17-13-09/metadata/depth_camera_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5570ee28b01cbc5f0853fa0016d46b5ae08a9f75 --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/depth_camera_right_caminfo.yaml b/2024-11-18-17-13-09/metadata/depth_camera_right_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..627aa6ac34b7c56c110a708a8abb08f1d3670f89 --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/dlio_hesai_points_undistorted.yaml b/2024-11-18-17-13-09/metadata/dlio_hesai_points_undistorted.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dc2eea3a0c71371ff342390f6695ee2a2ea3879a --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/dlio_map_odometry.yaml b/2024-11-18-17-13-09/metadata/dlio_map_odometry.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fc305524072a8b0e23cfddd7cd392de412d3b619 --- /dev/null +++ b/2024-11-18-17-13-09/metadata/dlio_map_odometry.yaml @@ -0,0 +1,2 @@ +frame_id: dlio_map +topic: dlio_map_odometry diff --git a/2024-11-18-17-13-09/metadata/dlio_tf.yaml b/2024-11-18-17-13-09/metadata/dlio_tf.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dffe47f0b550f3004889496c8e146020233b7677 --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/hdr_front.yaml b/2024-11-18-17-13-09/metadata/hdr_front.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4d5e82a3a2a4ca949ea01153d7cdb63e247cd07c --- /dev/null +++ b/2024-11-18-17-13-09/metadata/hdr_front.yaml @@ -0,0 +1,14 @@ +frame_id: hdr_front +topic: hdr_front +transform: + 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 diff --git a/2024-11-18-17-13-09/metadata/hdr_front_caminfo.yaml b/2024-11-18-17-13-09/metadata/hdr_front_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a45c08e6a6ed08f7036fd2d172ab57b9a4ae2628 --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/hdr_left.yaml b/2024-11-18-17-13-09/metadata/hdr_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..55e7e8a3462001d0243f5172c17aa8162aac12eb --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/hdr_left_caminfo.yaml b/2024-11-18-17-13-09/metadata/hdr_left_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7c0cf9bac3618896a084fae58ada5994ac52a264 --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/hdr_right.yaml b/2024-11-18-17-13-09/metadata/hdr_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fae1ccc6ef8c7203a45bdff8a2a221716a62fc5 --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/hdr_right_caminfo.yaml b/2024-11-18-17-13-09/metadata/hdr_right_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d6e0da5227c586744533b2b32cdbe37e2bfda17 --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/hesai_points.yaml b/2024-11-18-17-13-09/metadata/hesai_points.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe823a5c34b61497ca6949d2f8a9246281f10599 --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/hesai_points_undistorted.yaml b/2024-11-18-17-13-09/metadata/hesai_points_undistorted.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0a1e2daf0f452ee54f85409ddac3ce90ab177a1f --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/livox_imu.yaml b/2024-11-18-17-13-09/metadata/livox_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..81d97abbb08c9b2f16448f66f883f16492cffa07 --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/livox_points.yaml b/2024-11-18-17-13-09/metadata/livox_points.yaml new file mode 100644 index 0000000000000000000000000000000000000000..186ba1e78ad9ffb774488861b547a64ddc80e72a --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/livox_points_undistorted.yaml b/2024-11-18-17-13-09/metadata/livox_points_undistorted.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a028990de1269e9749daaebe4a4f59e2edb172a0 --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/prism_position.yaml b/2024-11-18-17-13-09/metadata/prism_position.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2ece0e648bbe8f4ada5545f51f61cc24e8fdf0fe --- /dev/null +++ b/2024-11-18-17-13-09/metadata/prism_position.yaml @@ -0,0 +1,2 @@ +frame_id: leica_total_station +topic: prism_position diff --git a/2024-11-18-17-13-09/metadata/stim320_imu.yaml b/2024-11-18-17-13-09/metadata/stim320_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..21d5bbe0f18350ea1f5821e979bfa5f06e46fb27 --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/tf.yaml b/2024-11-18-17-13-09/metadata/tf.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e51dffed486dd2ce848260235baa5660ffaf2a89 --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/velodyne_points.yaml b/2024-11-18-17-13-09/metadata/velodyne_points.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f65d5af5a8c90062c81140acf4a43b3cfef8019a --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/velodyne_points_undistorted.yaml b/2024-11-18-17-13-09/metadata/velodyne_points_undistorted.yaml new file mode 100644 index 0000000000000000000000000000000000000000..728fa5ff983859fcf0700298660e55b442dc4e4b --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/zed2i_depth_caminfo.yaml b/2024-11-18-17-13-09/metadata/zed2i_depth_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7394243a74225818daba7708322933387bfb98eb --- /dev/null +++ b/2024-11-18-17-13-09/metadata/zed2i_depth_caminfo.yaml @@ -0,0 +1,52 @@ +camera_info: + D: + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: + - 1052.8140869140625 + - 0.0 + - 956.342041015625 + - 0.0 + - 1052.8140869140625 + - 553.9554443359375 + - 0.0 + - 0.0 + - 1.0 + P: + - 1052.8140869140625 + - 0.0 + - 956.342041015625 + - 0.0 + - 0.0 + - 1052.8140869140625 + - 553.9554443359375 + - 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/2024-11-18-17-13-09/metadata/zed2i_depth_confidence_image.yaml b/2024-11-18-17-13-09/metadata/zed2i_depth_confidence_image.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ec5b9f6c7bbb894197cee4662403771db7619cb --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/zed2i_depth_image.yaml b/2024-11-18-17-13-09/metadata/zed2i_depth_image.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8438ba6a39902ce78192bf7df414a3801e8ada65 --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/zed2i_left_caminfo.yaml b/2024-11-18-17-13-09/metadata/zed2i_left_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..55ba1db58115555683cef0424d1dbcafa56459a1 --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/zed2i_left_images.yaml b/2024-11-18-17-13-09/metadata/zed2i_left_images.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4e8831bf7ed6bcd2bb07456e4cd3fc40488b9c72 --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/zed2i_right_caminfo.yaml b/2024-11-18-17-13-09/metadata/zed2i_right_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..42436c2b86d460bba0fdfb6f9cf97d4cb36f4b14 --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/zed2i_right_images.yaml b/2024-11-18-17-13-09/metadata/zed2i_right_images.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4f7e5a68a2a82c2b33779c6b35ac7bffd69543b5 --- /dev/null +++ b/2024-11-18-17-13-09/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/2024-11-18-17-13-09/metadata/zed2i_vio_map.yaml b/2024-11-18-17-13-09/metadata/zed2i_vio_map.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d81e3809fc1e98b2f0949315fe072bf14ddc82f6 --- /dev/null +++ b/2024-11-18-17-13-09/metadata/zed2i_vio_map.yaml @@ -0,0 +1,2 @@ +frame_id: zed2i_map +topic: zed2i_vio_map