diff --git a/2024-11-11-12-42-47/data/.zgroup b/2024-11-11-12-42-47/data/.zgroup new file mode 100644 index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1 --- /dev/null +++ b/2024-11-11-12-42-47/data/.zgroup @@ -0,0 +1,3 @@ +{ + "zarr_format": 2 +} \ No newline at end of file diff --git a/2024-11-11-12-42-47/data/adis_imu.tar b/2024-11-11-12-42-47/data/adis_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..868d49332c8f7e61e92a1cad2aae22f9fc376c21 --- /dev/null +++ b/2024-11-11-12-42-47/data/adis_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52c8f74f0ef43a27483ec19bfea539185ba662a7b21cc1a018ceb346f9afea94 +size 6758400 diff --git a/2024-11-11-12-42-47/data/alphasense_front_center.tar b/2024-11-11-12-42-47/data/alphasense_front_center.tar new file mode 100644 index 0000000000000000000000000000000000000000..3a9a822b554b287c2de22ab81df373da843f3a53 --- /dev/null +++ b/2024-11-11-12-42-47/data/alphasense_front_center.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79fda22c0364ce4981beaab2c940ca305cea3315b030dbbefa8f14aa96acb27a +size 2191360 diff --git a/2024-11-11-12-42-47/data/alphasense_front_left.tar b/2024-11-11-12-42-47/data/alphasense_front_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..864122560c11e385b763621305124608f845f601 --- /dev/null +++ b/2024-11-11-12-42-47/data/alphasense_front_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0f231b9da8b61e00469823255bf8c1c6a454549c47f873484229cab2bff7242 +size 2191360 diff --git a/2024-11-11-12-42-47/data/alphasense_front_right.tar b/2024-11-11-12-42-47/data/alphasense_front_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..ee549ba9cf9f2758feff1b6e36ac2794e6b6347d --- /dev/null +++ b/2024-11-11-12-42-47/data/alphasense_front_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0dbaa20ffd79ca030b45ea199769840937d43ccd95293ff87fff44c4fd1e124c +size 2191360 diff --git a/2024-11-11-12-42-47/data/alphasense_imu.tar b/2024-11-11-12-42-47/data/alphasense_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..d5926d3cda8715d234205dc1287f8c107369bced --- /dev/null +++ b/2024-11-11-12-42-47/data/alphasense_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32a6b10ddd8d1fc3ed4f54ea8eaf45d9bdd7f35cac9b5c8b01786d5d52a3d64d +size 6758400 diff --git a/2024-11-11-12-42-47/data/alphasense_left.tar b/2024-11-11-12-42-47/data/alphasense_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..c15025562729d28d1b5aff131c8e0a48cca262d5 --- /dev/null +++ b/2024-11-11-12-42-47/data/alphasense_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6dba3ce73dfc416d6544eb26ab124d2137d9a6f7c9e66ba9d8dcfedf2c610f80 +size 2191360 diff --git a/2024-11-11-12-42-47/data/alphasense_right.tar b/2024-11-11-12-42-47/data/alphasense_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..6a5e8f3596e69375ee308407f71eb21590a5a776 --- /dev/null +++ b/2024-11-11-12-42-47/data/alphasense_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58e1f47f4edfde8000452fef881326b59cb069a5b9b792603c8705561c376244 +size 2191360 diff --git a/2024-11-11-12-42-47/data/anymal_command_twist.tar b/2024-11-11-12-42-47/data/anymal_command_twist.tar new file mode 100644 index 0000000000000000000000000000000000000000..24e35f957a204ca2f62f0e6b0ab002fe41073828 --- /dev/null +++ b/2024-11-11-12-42-47/data/anymal_command_twist.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:259e8a96d68770501ddc9ee301ed080eb9998e7abf15f8d9aa53551f1bbd5a81 +size 3819520 diff --git a/2024-11-11-12-42-47/data/anymal_imu.tar b/2024-11-11-12-42-47/data/anymal_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..71ac85dabfc32de1ca9f5f797468a31d0c698040 --- /dev/null +++ b/2024-11-11-12-42-47/data/anymal_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1146a78f705bb1cdcb86252fdcb5d524421ecc5b5f6ff5745fe13a32a254cfe +size 6758400 diff --git a/2024-11-11-12-42-47/data/anymal_state_actuator.tar b/2024-11-11-12-42-47/data/anymal_state_actuator.tar new file mode 100644 index 0000000000000000000000000000000000000000..b6b2b9261f3b6c4faddf61ecb6a23b96546ed715 --- /dev/null +++ b/2024-11-11-12-42-47/data/anymal_state_actuator.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0d812939bc5bb2bb872ba4a5266009a95d88959ff86ee85770d09e9f9555e57 +size 266004480 diff --git a/2024-11-11-12-42-47/data/anymal_state_battery.tar b/2024-11-11-12-42-47/data/anymal_state_battery.tar new file mode 100644 index 0000000000000000000000000000000000000000..9d7181dec5d1510e0ca8da6ac0cc362b4d1a8efb --- /dev/null +++ b/2024-11-11-12-42-47/data/anymal_state_battery.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b5f834100631c726b0920d68ba2bc7294501e2f39f83fc22814f23da813f20d +size 16363520 diff --git a/2024-11-11-12-42-47/data/anymal_state_odometry.tar b/2024-11-11-12-42-47/data/anymal_state_odometry.tar new file mode 100644 index 0000000000000000000000000000000000000000..22d66e50fd9f92cb91a62b15502eb6509e529447 --- /dev/null +++ b/2024-11-11-12-42-47/data/anymal_state_odometry.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bde56c3b42c92d3c8ebe6f5eda0d8edb6d2fc5d485358337ee2099e720ca8195 +size 6963200 diff --git a/2024-11-11-12-42-47/data/anymal_state_state_estimator.tar b/2024-11-11-12-42-47/data/anymal_state_state_estimator.tar new file mode 100644 index 0000000000000000000000000000000000000000..ef5b917b77afe98c299429d0d73f71b9f70cd565 --- /dev/null +++ b/2024-11-11-12-42-47/data/anymal_state_state_estimator.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f1f4a2d2faf7dd8f4e50c7f96cd51619bfe2f9b92255d67c491af7821a8a7d5 +size 36280320 diff --git a/2024-11-11-12-42-47/data/ap20_imu.tar b/2024-11-11-12-42-47/data/ap20_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..55e1939386b0d5108d2f51544bb953a8f480f26f --- /dev/null +++ b/2024-11-11-12-42-47/data/ap20_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b898bb1171b67caa946f5a4618d2657a0fcc0e7b1cc1ff269a8dd894d017e146 +size 6758400 diff --git a/2024-11-11-12-42-47/data/cpt7_ie_rt_odometry.tar b/2024-11-11-12-42-47/data/cpt7_ie_rt_odometry.tar new file mode 100644 index 0000000000000000000000000000000000000000..5693fe6c3f81b441a61614d16ad6b843b1186a36 --- /dev/null +++ b/2024-11-11-12-42-47/data/cpt7_ie_rt_odometry.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6dd8b2e28991373c85add4c29af7ba4166daf51bfb6fd0d17b2c3de822db7653 +size 6963200 diff --git a/2024-11-11-12-42-47/data/cpt7_ie_rt_tf.tar b/2024-11-11-12-42-47/data/cpt7_ie_rt_tf.tar new file mode 100644 index 0000000000000000000000000000000000000000..0de60891e6b86fb1fdd670923884fdedaa3422ce --- /dev/null +++ b/2024-11-11-12-42-47/data/cpt7_ie_rt_tf.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e24e748afa55fe13807c87247bd7b62f93dcdc548410feb40ea157f48642067 +size 4096000 diff --git a/2024-11-11-12-42-47/data/cpt7_ie_tc_odometry.tar b/2024-11-11-12-42-47/data/cpt7_ie_tc_odometry.tar new file mode 100644 index 0000000000000000000000000000000000000000..2f39cb6de542e6ce8e5e0f281b34ebe6dffb47f7 --- /dev/null +++ b/2024-11-11-12-42-47/data/cpt7_ie_tc_odometry.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d5bb8b59f4a94af06d9aee41ed542274d330b33054ba82cf458667be0933183 +size 6963200 diff --git a/2024-11-11-12-42-47/data/cpt7_ie_tc_tf.tar b/2024-11-11-12-42-47/data/cpt7_ie_tc_tf.tar new file mode 100644 index 0000000000000000000000000000000000000000..46a84cf3aa5454a106264c6a739d26fc0310448c --- /dev/null +++ b/2024-11-11-12-42-47/data/cpt7_ie_tc_tf.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1519fabafc44be13d48f214bce97c424d51a32b441e67a60182a59b9fd24a58 +size 4096000 diff --git a/2024-11-11-12-42-47/data/cpt7_imu.tar b/2024-11-11-12-42-47/data/cpt7_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..2e7d484ffc8c0f4f55483faf6ef1fa2cc900585a --- /dev/null +++ b/2024-11-11-12-42-47/data/cpt7_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8955442f21dbb103709ae8478cf82ab6c9268d1f28c611fcd455db193c6e7ae2 +size 6758400 diff --git a/2024-11-11-12-42-47/data/depth_camera_front_lower.tar b/2024-11-11-12-42-47/data/depth_camera_front_lower.tar new file mode 100644 index 0000000000000000000000000000000000000000..8b0001765efe5ca7fa903988ced2755e3416b1e2 --- /dev/null +++ b/2024-11-11-12-42-47/data/depth_camera_front_lower.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cdcbcd9252181b9dd16dccf90e284662378d9b1a85ccfc95e9116694eddd7326 +size 2191360 diff --git a/2024-11-11-12-42-47/data/depth_camera_front_upper.tar b/2024-11-11-12-42-47/data/depth_camera_front_upper.tar new file mode 100644 index 0000000000000000000000000000000000000000..4221be311ce35c7635f530826a213c6df07d475f --- /dev/null +++ b/2024-11-11-12-42-47/data/depth_camera_front_upper.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6ce8a3eecac92a1124717d9d659b2d2854245951fca7e943f4c4f225704e994 +size 2191360 diff --git a/2024-11-11-12-42-47/data/depth_camera_left.tar b/2024-11-11-12-42-47/data/depth_camera_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..b610695bc9631e1674b749270eca11da3a69f2ff --- /dev/null +++ b/2024-11-11-12-42-47/data/depth_camera_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7fbfa323d52b446776b5c2600a96aaa26ee5299230164de7bc0375deeb79508 +size 2191360 diff --git a/2024-11-11-12-42-47/data/depth_camera_rear_lower.tar b/2024-11-11-12-42-47/data/depth_camera_rear_lower.tar new file mode 100644 index 0000000000000000000000000000000000000000..629e8315c138db96cd0ac4dd965c9318420cd838 --- /dev/null +++ b/2024-11-11-12-42-47/data/depth_camera_rear_lower.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4af3ba72d65c0ff4e3cb24171d63695d4ac38bf65f9de4e123ca13c753d7675 +size 2191360 diff --git a/2024-11-11-12-42-47/data/depth_camera_rear_upper.tar b/2024-11-11-12-42-47/data/depth_camera_rear_upper.tar new file mode 100644 index 0000000000000000000000000000000000000000..810d6bbc6ead07c852bb6acf11787b5b6b72e56f --- /dev/null +++ b/2024-11-11-12-42-47/data/depth_camera_rear_upper.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac500bea5fb1e60fdb19c92100525b0393bc49d6069ccfad8bdc19e8e4e97827 +size 2191360 diff --git a/2024-11-11-12-42-47/data/depth_camera_right.tar b/2024-11-11-12-42-47/data/depth_camera_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..d6347fa6252c0cd415e25b6c4ba82acd89cb0c74 --- /dev/null +++ b/2024-11-11-12-42-47/data/depth_camera_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:887fd6755109b40cd2d90bddd86bbf3fcea2c4084ee6eb6daf9ffde0340ff938 +size 2191360 diff --git a/2024-11-11-12-42-47/data/dlio_hesai_points_undistorted.tar b/2024-11-11-12-42-47/data/dlio_hesai_points_undistorted.tar new file mode 100644 index 0000000000000000000000000000000000000000..80ca64200b3c45c82aaf77fec338abfc8441290a --- /dev/null +++ b/2024-11-11-12-42-47/data/dlio_hesai_points_undistorted.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6d6c82acd3bd9a39ee8cfe3c2423f1c48ccb6fb580cbe2c893d1899b7213ace +size 13670400 diff --git a/2024-11-11-12-42-47/data/dlio_map_odometry.tar b/2024-11-11-12-42-47/data/dlio_map_odometry.tar new file mode 100644 index 0000000000000000000000000000000000000000..fc77e056ec3e5bed1815624ee1dbc7db6b51a375 --- /dev/null +++ b/2024-11-11-12-42-47/data/dlio_map_odometry.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:992a5388b59d31ec69f680d142270cb756b47199e00e75514c34e574a3721b36 +size 6952960 diff --git a/2024-11-11-12-42-47/data/dlio_tf.tar b/2024-11-11-12-42-47/data/dlio_tf.tar new file mode 100644 index 0000000000000000000000000000000000000000..3e88c5895b01fdbab2674269dc5fdd9d5a6c3199 --- /dev/null +++ b/2024-11-11-12-42-47/data/dlio_tf.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0233193d60b7378c8b611d75382082cbabb10969f991b0f20b000996aad62fa1 +size 4096000 diff --git a/2024-11-11-12-42-47/data/gnss_raw_cpt7_ie_rt.tar b/2024-11-11-12-42-47/data/gnss_raw_cpt7_ie_rt.tar new file mode 100644 index 0000000000000000000000000000000000000000..94abed2a5e3b9977eb987514cc1dd6a2178b1167 --- /dev/null +++ b/2024-11-11-12-42-47/data/gnss_raw_cpt7_ie_rt.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cffe821b1fb316aab7e5219d6331cdc8a9ea645520800da27e0d99a673bdfffc +size 5457920 diff --git a/2024-11-11-12-42-47/data/gnss_raw_cpt7_ie_tc.tar b/2024-11-11-12-42-47/data/gnss_raw_cpt7_ie_tc.tar new file mode 100644 index 0000000000000000000000000000000000000000..3c00bc368fe1b9d69a30bb8c3fb7cc8aca9849ac --- /dev/null +++ b/2024-11-11-12-42-47/data/gnss_raw_cpt7_ie_tc.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00135391ec563fa032da5eb6c511cc732d8c8f7fb69a4f8ea1f95b3923fff5f9 +size 5457920 diff --git a/2024-11-11-12-42-47/data/hdr_front.tar b/2024-11-11-12-42-47/data/hdr_front.tar new file mode 100644 index 0000000000000000000000000000000000000000..199eeaa81d0b617028d8e14dcfbbcb6365ed47d4 --- /dev/null +++ b/2024-11-11-12-42-47/data/hdr_front.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3874e2a1c1366b2e2afbab4a710f88ba46720a2a86202c775c5093e4aca8fe12 +size 2191360 diff --git a/2024-11-11-12-42-47/data/hdr_left.tar b/2024-11-11-12-42-47/data/hdr_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..bc3fd6871e2a64d889827c520dcbd448b00e3233 --- /dev/null +++ b/2024-11-11-12-42-47/data/hdr_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8290e906a528b0781712557eda4e41a20b30eb32e86d52a3c3bddaa0b81cf9f6 +size 2191360 diff --git a/2024-11-11-12-42-47/data/hdr_right.tar b/2024-11-11-12-42-47/data/hdr_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..c704a5e28d0a2725b867cc53fd68dd7534079039 --- /dev/null +++ b/2024-11-11-12-42-47/data/hdr_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1ea804aa5801c6200a4f4996e41725a0b5bb48721aee4e31b696c772925b445 +size 2191360 diff --git a/2024-11-11-12-42-47/data/hesai_points.tar b/2024-11-11-12-42-47/data/hesai_points.tar new file mode 100644 index 0000000000000000000000000000000000000000..398b462771f643d140acbdd2de3dcb4d983d1efd --- /dev/null +++ b/2024-11-11-12-42-47/data/hesai_points.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95327b05f834c0ba91fd129893478fee739e20eff30de78ae395428eb7597986 +size 14929920 diff --git a/2024-11-11-12-42-47/data/hesai_points_undistorted.tar b/2024-11-11-12-42-47/data/hesai_points_undistorted.tar new file mode 100644 index 0000000000000000000000000000000000000000..a02d6c054312a33033d21a987d2cf03b9de5ea1b --- /dev/null +++ b/2024-11-11-12-42-47/data/hesai_points_undistorted.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4270e47ecacd8d28a779adc9c036c0e56966c3eeaae4298f72ca2840181fb8a0 +size 14929920 diff --git a/2024-11-11-12-42-47/data/livox_imu.tar b/2024-11-11-12-42-47/data/livox_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..f7833843dd52c9b444bf2ac782343f3fde881a96 --- /dev/null +++ b/2024-11-11-12-42-47/data/livox_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7191dff87cd8d0021a1241db28d4fddaacd185e5fb50b535886d8201ef0e220 +size 6758400 diff --git a/2024-11-11-12-42-47/data/livox_points.tar b/2024-11-11-12-42-47/data/livox_points.tar new file mode 100644 index 0000000000000000000000000000000000000000..3ae9b8ef7833319854824a56a5b092e96c107136 --- /dev/null +++ b/2024-11-11-12-42-47/data/livox_points.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dcc7086b319675d7f54ace7b4814beba453cf8f171fdb8263caa957ac8ea70c2 +size 9809920 diff --git a/2024-11-11-12-42-47/data/livox_points_undistorted.tar b/2024-11-11-12-42-47/data/livox_points_undistorted.tar new file mode 100644 index 0000000000000000000000000000000000000000..90a7be531a622478c636bc192578c97fc859de62 --- /dev/null +++ b/2024-11-11-12-42-47/data/livox_points_undistorted.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe44c1ac74e3c3b8bd342f8be394cf6b0289b1205469b4e68b18ef9b69ae1e79 +size 9809920 diff --git a/2024-11-11-12-42-47/data/navsatfix_cpt7_ie_tc.tar b/2024-11-11-12-42-47/data/navsatfix_cpt7_ie_tc.tar new file mode 100644 index 0000000000000000000000000000000000000000..470e39b8cbe15c549a407a059f36b22a95e81cf8 --- /dev/null +++ b/2024-11-11-12-42-47/data/navsatfix_cpt7_ie_tc.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3fe300952aafeedc99129a42e1a4148f1cec15844b481f6898f620995947798c +size 7157760 diff --git a/2024-11-11-12-42-47/data/prism_position.tar b/2024-11-11-12-42-47/data/prism_position.tar new file mode 100644 index 0000000000000000000000000000000000000000..56ffb39b44506059632ae82794bc2cb0e3480e9d --- /dev/null +++ b/2024-11-11-12-42-47/data/prism_position.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f94e1fc5e5b8def78cfb6d949fa35ef4334ed8576c2609077bc3d8b92c4363b9 +size 3000320 diff --git a/2024-11-11-12-42-47/data/stim320_imu.tar b/2024-11-11-12-42-47/data/stim320_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..a27482077a891421ce5f7a39d833b13014ee72c1 --- /dev/null +++ b/2024-11-11-12-42-47/data/stim320_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e4d582a2ae717d782531b82a895551b2bca1d74702d02fbd9f62e02cd739ec5 +size 6758400 diff --git a/2024-11-11-12-42-47/data/tf.tar b/2024-11-11-12-42-47/data/tf.tar new file mode 100644 index 0000000000000000000000000000000000000000..57fd83548b1720225f33394faa03d407b3260c33 --- /dev/null +++ b/2024-11-11-12-42-47/data/tf.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:711f183d2828493d76d5287694692a126cc90781c38d71b3331109b8b7a1e336 +size 30720 diff --git a/2024-11-11-12-42-47/data/velodyne_points.tar b/2024-11-11-12-42-47/data/velodyne_points.tar new file mode 100644 index 0000000000000000000000000000000000000000..ce4d63c3c1f0d9f4665cd3d60bb42422d215a23d --- /dev/null +++ b/2024-11-11-12-42-47/data/velodyne_points.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da6c7f1c6c80f2a09f196644e7e2b8a7cf31964832a4f55ef4e86b0935dc7a79 +size 9861120 diff --git a/2024-11-11-12-42-47/data/velodyne_points_undistorted.tar b/2024-11-11-12-42-47/data/velodyne_points_undistorted.tar new file mode 100644 index 0000000000000000000000000000000000000000..f65353167c363c7acea8220394f0c64a5cd5c3f8 --- /dev/null +++ b/2024-11-11-12-42-47/data/velodyne_points_undistorted.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd8a7acc0bf7f7a69427f92dc97b764f38ee6a7158c7a72d4e26e27b82d3a956 +size 9891840 diff --git a/2024-11-11-12-42-47/data/zed2i_depth_confidence_image.tar b/2024-11-11-12-42-47/data/zed2i_depth_confidence_image.tar new file mode 100644 index 0000000000000000000000000000000000000000..1bb1ae61ca17fd3c6e48eda4c0e55c91f68022b9 --- /dev/null +++ b/2024-11-11-12-42-47/data/zed2i_depth_confidence_image.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e862c10500887902723558a09036e6e9cd90b4a1706b3352633370dfb05a096 +size 2191360 diff --git a/2024-11-11-12-42-47/data/zed2i_depth_image.tar b/2024-11-11-12-42-47/data/zed2i_depth_image.tar new file mode 100644 index 0000000000000000000000000000000000000000..27b2d4f84dc61ecf9075521bf1558efd3c232dfc --- /dev/null +++ b/2024-11-11-12-42-47/data/zed2i_depth_image.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1859f516ba64d1e836f3a5ae356d2b835d8efa0299e08a77fffca076b5740f0 +size 2191360 diff --git a/2024-11-11-12-42-47/data/zed2i_left_images.tar b/2024-11-11-12-42-47/data/zed2i_left_images.tar new file mode 100644 index 0000000000000000000000000000000000000000..d14f9f9d2ad7fd68585667e686840a0e67731ce3 --- /dev/null +++ b/2024-11-11-12-42-47/data/zed2i_left_images.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f86950e9ea78b6f3b3fd1bf03451971dc8064cbc97b1f4365bd3219b59e6bb45 +size 2191360 diff --git a/2024-11-11-12-42-47/data/zed2i_right_images.tar b/2024-11-11-12-42-47/data/zed2i_right_images.tar new file mode 100644 index 0000000000000000000000000000000000000000..478097dc87e101c45df90e10f8d6f043ac1bf2f4 --- /dev/null +++ b/2024-11-11-12-42-47/data/zed2i_right_images.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f64d2826de36cff2fb11e5ed013a8435605463d65696bd1332639d04dce94cc +size 2191360 diff --git a/2024-11-11-12-42-47/data/zed2i_vio_map.tar b/2024-11-11-12-42-47/data/zed2i_vio_map.tar new file mode 100644 index 0000000000000000000000000000000000000000..a239d003f146698e77373862c37314cb572d8db8 --- /dev/null +++ b/2024-11-11-12-42-47/data/zed2i_vio_map.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da85a7bb0160cee4216463388420976f4e99cad5faa701d70a77efc0c54fde9c +size 4710400 diff --git a/2024-11-11-12-42-47/images/alphasense_front_center.tar b/2024-11-11-12-42-47/images/alphasense_front_center.tar new file mode 100644 index 0000000000000000000000000000000000000000..ff8becee546d01f5b2f0131e02effa7fe60859d9 --- /dev/null +++ b/2024-11-11-12-42-47/images/alphasense_front_center.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60b8fe19eb08ac3cbd9078ad635cba498a072b103e12f7dc106a3d6116510444 +size 4229120 diff --git a/2024-11-11-12-42-47/images/alphasense_front_left.tar b/2024-11-11-12-42-47/images/alphasense_front_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..09924984d19e753ec486177acfaee65f21545c8d --- /dev/null +++ b/2024-11-11-12-42-47/images/alphasense_front_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c981331b6c7364028c378947cda278687c27eca0b9d9cd877ed2c7c4b4f9df8 +size 4864000 diff --git a/2024-11-11-12-42-47/images/alphasense_front_right.tar b/2024-11-11-12-42-47/images/alphasense_front_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..6862f449d1e64c279b2d078f43139f9dd1ff8db3 --- /dev/null +++ b/2024-11-11-12-42-47/images/alphasense_front_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff1b4bf980619f4f61fa2c86b697a31fbc436c9e5cd82ac57ec9aa0c83dc3174 +size 5601280 diff --git a/2024-11-11-12-42-47/images/alphasense_left.tar b/2024-11-11-12-42-47/images/alphasense_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..eb82178ee2594d7ad7584fedca17a30e443096d5 --- /dev/null +++ b/2024-11-11-12-42-47/images/alphasense_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3eed2ea6ec8515acc64ddb3305dd0b9fb66d3bb0d7661e911d9d8de84cd0a6af +size 4311040 diff --git a/2024-11-11-12-42-47/images/alphasense_right.tar b/2024-11-11-12-42-47/images/alphasense_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..351cb646bdb9f5be9dfd68bc2a46abbb2ec4e655 --- /dev/null +++ b/2024-11-11-12-42-47/images/alphasense_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b746cb846216bdb3bd85aecfbc5c3c95d7833e14746b6ef5507c9e88c9ead606 +size 3112960 diff --git a/2024-11-11-12-42-47/images/depth_camera_front_lower.tar b/2024-11-11-12-42-47/images/depth_camera_front_lower.tar new file mode 100644 index 0000000000000000000000000000000000000000..13672b7931aa955223f939ab2a992d3245acca32 --- /dev/null +++ b/2024-11-11-12-42-47/images/depth_camera_front_lower.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5783bc5366e57e205b20fdeca67e9665dc9fbc043ba0376571a3ee8f823f4eb +size 1720320 diff --git a/2024-11-11-12-42-47/images/depth_camera_front_upper.tar b/2024-11-11-12-42-47/images/depth_camera_front_upper.tar new file mode 100644 index 0000000000000000000000000000000000000000..4036c2682b3fb85670d342447368b1ed9c22886c --- /dev/null +++ b/2024-11-11-12-42-47/images/depth_camera_front_upper.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbc58a3fe72f96a66d23ef2b535cc43d858f3d2855ee6fd2eaaa360f66f2db89 +size 2949120 diff --git a/2024-11-11-12-42-47/images/depth_camera_left.tar b/2024-11-11-12-42-47/images/depth_camera_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..09e913a811a2b87fdf45d30a43774495902367cf --- /dev/null +++ b/2024-11-11-12-42-47/images/depth_camera_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f48bb32fdf2bbbda2b7c3bb5a4828b59a8d332777d54482209c8e07d6689b39 +size 2560000 diff --git a/2024-11-11-12-42-47/images/depth_camera_rear_lower.tar b/2024-11-11-12-42-47/images/depth_camera_rear_lower.tar new file mode 100644 index 0000000000000000000000000000000000000000..9266ba10d2505048ac16a66255d6ececc7c35e23 --- /dev/null +++ b/2024-11-11-12-42-47/images/depth_camera_rear_lower.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9153c7179f2e29c78b347ddb7c9645eea8298f68f7aca631130542048f57a06 +size 1556480 diff --git a/2024-11-11-12-42-47/images/depth_camera_rear_upper.tar b/2024-11-11-12-42-47/images/depth_camera_rear_upper.tar new file mode 100644 index 0000000000000000000000000000000000000000..822dbead17e42da627b8f1550337d3b14067206e --- /dev/null +++ b/2024-11-11-12-42-47/images/depth_camera_rear_upper.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94678e502112bc871ee7df267a59a7484b5c3f434a4a40dc479c70dd01524090 +size 3420160 diff --git a/2024-11-11-12-42-47/images/depth_camera_right.tar b/2024-11-11-12-42-47/images/depth_camera_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..8ddb0b9e4d9aa418319ce27321e532ff11c3f88e --- /dev/null +++ b/2024-11-11-12-42-47/images/depth_camera_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c431ed1f7954e0e7a5a20e5817619f03763f2ea7b0190633a0134cf32e73911 +size 1781760 diff --git a/2024-11-11-12-42-47/images/hdr_front.tar b/2024-11-11-12-42-47/images/hdr_front.tar new file mode 100644 index 0000000000000000000000000000000000000000..8a27445e681420b16c6e21bc0aeb78da7886e8f4 --- /dev/null +++ b/2024-11-11-12-42-47/images/hdr_front.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3312a19a8fec1c6e3772d86ad1d17359967378dc56f491e56c9a9bf8a78102cd +size 6307840 diff --git a/2024-11-11-12-42-47/images/hdr_left.tar b/2024-11-11-12-42-47/images/hdr_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..bcc49cf7d24577ada9775c1a6a801843657ebd30 --- /dev/null +++ b/2024-11-11-12-42-47/images/hdr_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77bbf469b5c2de3cdada423ff31540379bfc4cac34f5fd7e2b590f5bc3f87311 +size 8140800 diff --git a/2024-11-11-12-42-47/images/hdr_right.tar b/2024-11-11-12-42-47/images/hdr_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..e5465a139de34e25a196d8d1ae5ec11a72a1d155 --- /dev/null +++ b/2024-11-11-12-42-47/images/hdr_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:727ee12b75c51a3b3263ca7f45fe443d552bb5093f3f3726a4fbdf27e563724a +size 6082560 diff --git a/2024-11-11-12-42-47/images/zed2i_depth_confidence_image.tar b/2024-11-11-12-42-47/images/zed2i_depth_confidence_image.tar new file mode 100644 index 0000000000000000000000000000000000000000..46f0822852050a22a0854ebcc94d2483b73865f2 --- /dev/null +++ b/2024-11-11-12-42-47/images/zed2i_depth_confidence_image.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c1d34e1c7f5c45eb26d62a26de8916ac1e753fb555dbbfa4db514a35a31623b +size 34078720 diff --git a/2024-11-11-12-42-47/images/zed2i_depth_image.tar b/2024-11-11-12-42-47/images/zed2i_depth_image.tar new file mode 100644 index 0000000000000000000000000000000000000000..b24ac0936c63478f1804c70f50c2bb3bfe214b5a --- /dev/null +++ b/2024-11-11-12-42-47/images/zed2i_depth_image.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d6b40fb3792742688ad108fca5e737c6393043714ca2b1b3c319efe0a833898 +size 10997760 diff --git a/2024-11-11-12-42-47/images/zed2i_left_images.tar b/2024-11-11-12-42-47/images/zed2i_left_images.tar new file mode 100644 index 0000000000000000000000000000000000000000..270badd1155eee1fe246714d5d30748157637c55 --- /dev/null +++ b/2024-11-11-12-42-47/images/zed2i_left_images.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:546a019ba1d1f79aa5cd8466443fb3d6b1693223d9f0e99f0a9faa224f8e8d52 +size 6451200 diff --git a/2024-11-11-12-42-47/images/zed2i_right_images.tar b/2024-11-11-12-42-47/images/zed2i_right_images.tar new file mode 100644 index 0000000000000000000000000000000000000000..d55db7040eed1947abec95fb713a13ec8ef631a4 --- /dev/null +++ b/2024-11-11-12-42-47/images/zed2i_right_images.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe4dbbe4ba31c8c6f81dc804d21e945222a5992e740ecf61aa11fe5608b44077 +size 6440960 diff --git a/2024-11-11-12-42-47/metadata/adis_imu.yaml b/2024-11-11-12-42-47/metadata/adis_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..760ede863205c6321ef5fe2b33c0aa3b83c02f3c --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/alphasense_front_center.yaml b/2024-11-11-12-42-47/metadata/alphasense_front_center.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fa4cce98b10953f95ec009582cd63c70704640ec --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/alphasense_front_center_caminfo.yaml b/2024-11-11-12-42-47/metadata/alphasense_front_center_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..55818806fad1cf1e8d39bed8ca6738281b28b81a --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/alphasense_front_left.yaml b/2024-11-11-12-42-47/metadata/alphasense_front_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cf86229c1b96b74219ab9dc283098931e12e9585 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/alphasense_front_left_caminfo.yaml b/2024-11-11-12-42-47/metadata/alphasense_front_left_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..64f003f7e902ace58a541836d5a90d3647d03d2b --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/alphasense_front_right.yaml b/2024-11-11-12-42-47/metadata/alphasense_front_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7db90d40c484f9452faa819e9748fa7ac45c09bb --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/alphasense_front_right_caminfo.yaml b/2024-11-11-12-42-47/metadata/alphasense_front_right_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b7a9cb7f0a49b5d546978edaf913796d1d7b109e --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/alphasense_imu.yaml b/2024-11-11-12-42-47/metadata/alphasense_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bd4d08c165928d94bce7f8b8d2502b4c545017f9 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/alphasense_left.yaml b/2024-11-11-12-42-47/metadata/alphasense_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..835abd6470147d51dbe65f08f882e5ef1c1b5940 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/alphasense_left_caminfo.yaml b/2024-11-11-12-42-47/metadata/alphasense_left_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9418e583d22ba1e798e30e2e063a49230a4f9e37 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/alphasense_right.yaml b/2024-11-11-12-42-47/metadata/alphasense_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8a5944ff619400951640fe4aadef48a840a81ad8 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/alphasense_right_caminfo.yaml b/2024-11-11-12-42-47/metadata/alphasense_right_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7f8455fe0473e771ee32c4874969c755f1a70b8a --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/anymal_command_twist.yaml b/2024-11-11-12-42-47/metadata/anymal_command_twist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2e40adb1f88af85db46c14701e39f56ac4847bd5 --- /dev/null +++ b/2024-11-11-12-42-47/metadata/anymal_command_twist.yaml @@ -0,0 +1,2 @@ +frame_id: base +topic: anymal_command_twist diff --git a/2024-11-11-12-42-47/metadata/anymal_imu.yaml b/2024-11-11-12-42-47/metadata/anymal_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..25de0ce02af9c0413098f951323494454f14ff11 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/anymal_state_actuator.yaml b/2024-11-11-12-42-47/metadata/anymal_state_actuator.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f3f460b14a7fdd3b953f59752921f8fa23d484e9 --- /dev/null +++ b/2024-11-11-12-42-47/metadata/anymal_state_actuator.yaml @@ -0,0 +1,2 @@ +frame_id: '' +topic: anymal_state_actuator diff --git a/2024-11-11-12-42-47/metadata/anymal_state_battery.yaml b/2024-11-11-12-42-47/metadata/anymal_state_battery.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bebc05e78fe821a246b4ff2fea9083511a191c49 --- /dev/null +++ b/2024-11-11-12-42-47/metadata/anymal_state_battery.yaml @@ -0,0 +1,2 @@ +frame_id: '' +topic: anymal_state_battery diff --git a/2024-11-11-12-42-47/metadata/anymal_state_odometry.yaml b/2024-11-11-12-42-47/metadata/anymal_state_odometry.yaml new file mode 100644 index 0000000000000000000000000000000000000000..54b0d9d66520be33eba8d3b2f93ca9e709ed2efa --- /dev/null +++ b/2024-11-11-12-42-47/metadata/anymal_state_odometry.yaml @@ -0,0 +1,2 @@ +frame_id: odom +topic: anymal_state_odometry diff --git a/2024-11-11-12-42-47/metadata/anymal_state_state_estimator.yaml b/2024-11-11-12-42-47/metadata/anymal_state_state_estimator.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1bbd1aad91162c4ad9b8067e9d06b649a0f22e97 --- /dev/null +++ b/2024-11-11-12-42-47/metadata/anymal_state_state_estimator.yaml @@ -0,0 +1,2 @@ +frame_id: odom +topic: anymal_state_state_estimator diff --git a/2024-11-11-12-42-47/metadata/ap20_imu.yaml b/2024-11-11-12-42-47/metadata/ap20_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ab6c0f9f9c6d5f9fc8bfcc9481e5921ba1cd0fc9 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/cpt7_ie_rt_odometry.yaml b/2024-11-11-12-42-47/metadata/cpt7_ie_rt_odometry.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8bbf4860c012b3be48d70d6a94c65aa066e805bb --- /dev/null +++ b/2024-11-11-12-42-47/metadata/cpt7_ie_rt_odometry.yaml @@ -0,0 +1,2 @@ +frame_id: enu_origin +topic: cpt7_ie_rt_odometry diff --git a/2024-11-11-12-42-47/metadata/cpt7_ie_rt_tf.yaml b/2024-11-11-12-42-47/metadata/cpt7_ie_rt_tf.yaml new file mode 100644 index 0000000000000000000000000000000000000000..85956785d573eaa3b3e7a9d3a1effe30038408ab --- /dev/null +++ b/2024-11-11-12-42-47/metadata/cpt7_ie_rt_tf.yaml @@ -0,0 +1,14 @@ +frame_id: cpt7_imu +topic: cpt7_ie_rt_tf +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/2024-11-11-12-42-47/metadata/cpt7_ie_tc_odometry.yaml b/2024-11-11-12-42-47/metadata/cpt7_ie_tc_odometry.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aff503a0e09658de1b2538e6a238e2943867b9c8 --- /dev/null +++ b/2024-11-11-12-42-47/metadata/cpt7_ie_tc_odometry.yaml @@ -0,0 +1,2 @@ +frame_id: enu_origin +topic: cpt7_ie_tc_odometry diff --git a/2024-11-11-12-42-47/metadata/cpt7_ie_tc_tf.yaml b/2024-11-11-12-42-47/metadata/cpt7_ie_tc_tf.yaml new file mode 100644 index 0000000000000000000000000000000000000000..febe1512059235fef6c089e0e43007f584f7d944 --- /dev/null +++ b/2024-11-11-12-42-47/metadata/cpt7_ie_tc_tf.yaml @@ -0,0 +1,14 @@ +frame_id: cpt7_imu +topic: cpt7_ie_tc_tf +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/2024-11-11-12-42-47/metadata/cpt7_imu.yaml b/2024-11-11-12-42-47/metadata/cpt7_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3e392a99392a5ec6c065bf80554a346595fbaadf --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/depth_camera_front_lower.yaml b/2024-11-11-12-42-47/metadata/depth_camera_front_lower.yaml new file mode 100644 index 0000000000000000000000000000000000000000..821340f063c8691d8049d627376054377c16ff3e --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/depth_camera_front_lower_caminfo.yaml b/2024-11-11-12-42-47/metadata/depth_camera_front_lower_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9f13de22241c421a8c9eb10595897d49e17e1162 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/depth_camera_front_upper.yaml b/2024-11-11-12-42-47/metadata/depth_camera_front_upper.yaml new file mode 100644 index 0000000000000000000000000000000000000000..22ae6f5b58704e68064abec63164db9213d12b89 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/depth_camera_front_upper_caminfo.yaml b/2024-11-11-12-42-47/metadata/depth_camera_front_upper_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5bb00e6322f40f8eb769b7b0fb1cced0c604c943 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/depth_camera_left.yaml b/2024-11-11-12-42-47/metadata/depth_camera_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a35a60d8394059c3748abea6fa6cdee19cb0ddba --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/depth_camera_left_caminfo.yaml b/2024-11-11-12-42-47/metadata/depth_camera_left_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a8afa6379cc89c4b72924527dcf040608871ee18 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/depth_camera_rear_lower.yaml b/2024-11-11-12-42-47/metadata/depth_camera_rear_lower.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ad7c4284bdf6a3f7f804144674abd29318b09cb3 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/depth_camera_rear_lower_caminfo.yaml b/2024-11-11-12-42-47/metadata/depth_camera_rear_lower_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7fe6caa86742343436b5e65620a2b4e057894620 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/depth_camera_rear_upper.yaml b/2024-11-11-12-42-47/metadata/depth_camera_rear_upper.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1ac798820fb0139f1359c8bd54b463afce22f0d0 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/depth_camera_rear_upper_caminfo.yaml b/2024-11-11-12-42-47/metadata/depth_camera_rear_upper_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47a6ed31c0be6738001a0f9be807a741a916390f --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/depth_camera_right.yaml b/2024-11-11-12-42-47/metadata/depth_camera_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5570ee28b01cbc5f0853fa0016d46b5ae08a9f75 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/depth_camera_right_caminfo.yaml b/2024-11-11-12-42-47/metadata/depth_camera_right_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..627aa6ac34b7c56c110a708a8abb08f1d3670f89 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/dlio_hesai_points_undistorted.yaml b/2024-11-11-12-42-47/metadata/dlio_hesai_points_undistorted.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dc2eea3a0c71371ff342390f6695ee2a2ea3879a --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/dlio_map_odometry.yaml b/2024-11-11-12-42-47/metadata/dlio_map_odometry.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fc305524072a8b0e23cfddd7cd392de412d3b619 --- /dev/null +++ b/2024-11-11-12-42-47/metadata/dlio_map_odometry.yaml @@ -0,0 +1,2 @@ +frame_id: dlio_map +topic: dlio_map_odometry diff --git a/2024-11-11-12-42-47/metadata/dlio_tf.yaml b/2024-11-11-12-42-47/metadata/dlio_tf.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dffe47f0b550f3004889496c8e146020233b7677 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/gnss_raw_cpt7_ie_rt.yaml b/2024-11-11-12-42-47/metadata/gnss_raw_cpt7_ie_rt.yaml new file mode 100644 index 0000000000000000000000000000000000000000..16e15c7b52f2e90493b5f6b4d23c76a248699964 --- /dev/null +++ b/2024-11-11-12-42-47/metadata/gnss_raw_cpt7_ie_rt.yaml @@ -0,0 +1,2 @@ +frame_id: enu_origin +topic: gnss_raw_cpt7_ie_rt diff --git a/2024-11-11-12-42-47/metadata/gnss_raw_cpt7_ie_tc.yaml b/2024-11-11-12-42-47/metadata/gnss_raw_cpt7_ie_tc.yaml new file mode 100644 index 0000000000000000000000000000000000000000..88158a45cbe5d4c9a4ee74b409a193fb6ac501df --- /dev/null +++ b/2024-11-11-12-42-47/metadata/gnss_raw_cpt7_ie_tc.yaml @@ -0,0 +1,2 @@ +frame_id: enu_origin +topic: gnss_raw_cpt7_ie_tc diff --git a/2024-11-11-12-42-47/metadata/hdr_front.yaml b/2024-11-11-12-42-47/metadata/hdr_front.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4d5e82a3a2a4ca949ea01153d7cdb63e247cd07c --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/hdr_front_caminfo.yaml b/2024-11-11-12-42-47/metadata/hdr_front_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a45c08e6a6ed08f7036fd2d172ab57b9a4ae2628 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/hdr_left.yaml b/2024-11-11-12-42-47/metadata/hdr_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..55e7e8a3462001d0243f5172c17aa8162aac12eb --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/hdr_left_caminfo.yaml b/2024-11-11-12-42-47/metadata/hdr_left_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7c0cf9bac3618896a084fae58ada5994ac52a264 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/hdr_right.yaml b/2024-11-11-12-42-47/metadata/hdr_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fae1ccc6ef8c7203a45bdff8a2a221716a62fc5 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/hdr_right_caminfo.yaml b/2024-11-11-12-42-47/metadata/hdr_right_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d6e0da5227c586744533b2b32cdbe37e2bfda17 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/hesai_points.yaml b/2024-11-11-12-42-47/metadata/hesai_points.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe823a5c34b61497ca6949d2f8a9246281f10599 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/hesai_points_undistorted.yaml b/2024-11-11-12-42-47/metadata/hesai_points_undistorted.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0a1e2daf0f452ee54f85409ddac3ce90ab177a1f --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/livox_imu.yaml b/2024-11-11-12-42-47/metadata/livox_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..81d97abbb08c9b2f16448f66f883f16492cffa07 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/livox_points.yaml b/2024-11-11-12-42-47/metadata/livox_points.yaml new file mode 100644 index 0000000000000000000000000000000000000000..186ba1e78ad9ffb774488861b547a64ddc80e72a --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/livox_points_undistorted.yaml b/2024-11-11-12-42-47/metadata/livox_points_undistorted.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a028990de1269e9749daaebe4a4f59e2edb172a0 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/navsatfix_cpt7_ie_tc.yaml b/2024-11-11-12-42-47/metadata/navsatfix_cpt7_ie_tc.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6704c16b5095431b5fb0a3a59cde19039083c02e --- /dev/null +++ b/2024-11-11-12-42-47/metadata/navsatfix_cpt7_ie_tc.yaml @@ -0,0 +1,2 @@ +frame_id: enu_origin +topic: navsatfix_cpt7_ie_tc diff --git a/2024-11-11-12-42-47/metadata/prism_position.yaml b/2024-11-11-12-42-47/metadata/prism_position.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2ece0e648bbe8f4ada5545f51f61cc24e8fdf0fe --- /dev/null +++ b/2024-11-11-12-42-47/metadata/prism_position.yaml @@ -0,0 +1,2 @@ +frame_id: leica_total_station +topic: prism_position diff --git a/2024-11-11-12-42-47/metadata/stim320_imu.yaml b/2024-11-11-12-42-47/metadata/stim320_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..21d5bbe0f18350ea1f5821e979bfa5f06e46fb27 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/tf.yaml b/2024-11-11-12-42-47/metadata/tf.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e51dffed486dd2ce848260235baa5660ffaf2a89 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/velodyne_points.yaml b/2024-11-11-12-42-47/metadata/velodyne_points.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f65d5af5a8c90062c81140acf4a43b3cfef8019a --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/velodyne_points_undistorted.yaml b/2024-11-11-12-42-47/metadata/velodyne_points_undistorted.yaml new file mode 100644 index 0000000000000000000000000000000000000000..728fa5ff983859fcf0700298660e55b442dc4e4b --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/zed2i_depth_caminfo.yaml b/2024-11-11-12-42-47/metadata/zed2i_depth_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4ea0573e82852f5ecd26e149c59ccb4e418ff2f1 --- /dev/null +++ b/2024-11-11-12-42-47/metadata/zed2i_depth_caminfo.yaml @@ -0,0 +1,52 @@ +camera_info: + D: + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: + - 1051.890625 + - 0.0 + - 956.3407592773438 + - 0.0 + - 1051.890625 + - 553.9552001953125 + - 0.0 + - 0.0 + - 1.0 + P: + - 1051.890625 + - 0.0 + - 956.3407592773438 + - 0.0 + - 0.0 + - 1051.890625 + - 553.9552001953125 + - 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/2024-11-11-12-42-47/metadata/zed2i_depth_confidence_image.yaml b/2024-11-11-12-42-47/metadata/zed2i_depth_confidence_image.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ec5b9f6c7bbb894197cee4662403771db7619cb --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/zed2i_depth_image.yaml b/2024-11-11-12-42-47/metadata/zed2i_depth_image.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8438ba6a39902ce78192bf7df414a3801e8ada65 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/zed2i_left_caminfo.yaml b/2024-11-11-12-42-47/metadata/zed2i_left_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..55ba1db58115555683cef0424d1dbcafa56459a1 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/zed2i_left_images.yaml b/2024-11-11-12-42-47/metadata/zed2i_left_images.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4e8831bf7ed6bcd2bb07456e4cd3fc40488b9c72 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/zed2i_right_caminfo.yaml b/2024-11-11-12-42-47/metadata/zed2i_right_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..42436c2b86d460bba0fdfb6f9cf97d4cb36f4b14 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/zed2i_right_images.yaml b/2024-11-11-12-42-47/metadata/zed2i_right_images.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4f7e5a68a2a82c2b33779c6b35ac7bffd69543b5 --- /dev/null +++ b/2024-11-11-12-42-47/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/2024-11-11-12-42-47/metadata/zed2i_vio_map.yaml b/2024-11-11-12-42-47/metadata/zed2i_vio_map.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d81e3809fc1e98b2f0949315fe072bf14ddc82f6 --- /dev/null +++ b/2024-11-11-12-42-47/metadata/zed2i_vio_map.yaml @@ -0,0 +1,2 @@ +frame_id: zed2i_map +topic: zed2i_vio_map