diff --git a/2024-11-11-12-07-40/data/.zgroup b/2024-11-11-12-07-40/data/.zgroup new file mode 100644 index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1 --- /dev/null +++ b/2024-11-11-12-07-40/data/.zgroup @@ -0,0 +1,3 @@ +{ + "zarr_format": 2 +} \ No newline at end of file diff --git a/2024-11-11-12-07-40/data/adis_imu.tar b/2024-11-11-12-07-40/data/adis_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..80ebb49d6c4be99e9921ee6f40c3717285d15836 --- /dev/null +++ b/2024-11-11-12-07-40/data/adis_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a68724519c73ab07fa3228cf1d2766cb32ae3b28a2ba1926021cc986282fd32 +size 6758400 diff --git a/2024-11-11-12-07-40/data/alphasense_front_center.tar b/2024-11-11-12-07-40/data/alphasense_front_center.tar new file mode 100644 index 0000000000000000000000000000000000000000..3ddd91a1703fcfe3583cd718af8ced4a4918b7f8 --- /dev/null +++ b/2024-11-11-12-07-40/data/alphasense_front_center.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db285786db752c75a537572bfc9b38260ff5f41068dba527e425386481b28d9c +size 2191360 diff --git a/2024-11-11-12-07-40/data/alphasense_front_left.tar b/2024-11-11-12-07-40/data/alphasense_front_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..855d777a1e2c327cbe9dc2cd79da43f67f24c719 --- /dev/null +++ b/2024-11-11-12-07-40/data/alphasense_front_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:868e8839391228b1e9bebbd0a34b52318012cced31e6e0cbfd84fb0ff67a0eb7 +size 2191360 diff --git a/2024-11-11-12-07-40/data/alphasense_front_right.tar b/2024-11-11-12-07-40/data/alphasense_front_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..05559b7e112f4e8669491aa919d10317abaadb40 --- /dev/null +++ b/2024-11-11-12-07-40/data/alphasense_front_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e280dd6080beea9fccdfb8a8b93dffc7d390dfc1e466269ca343e83b098eff71 +size 2191360 diff --git a/2024-11-11-12-07-40/data/alphasense_imu.tar b/2024-11-11-12-07-40/data/alphasense_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..2902ed571c67bb4f3814a416c5212a82bb45b0ba --- /dev/null +++ b/2024-11-11-12-07-40/data/alphasense_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:929ecf0d36a60789583c716ec4e7b47676fe794ae3f44f1132621b02d1f64368 +size 6758400 diff --git a/2024-11-11-12-07-40/data/alphasense_left.tar b/2024-11-11-12-07-40/data/alphasense_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..bf7892a77f5747899856d7cceb1fecf94ed39449 --- /dev/null +++ b/2024-11-11-12-07-40/data/alphasense_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:615cf32c29fc328becf8d637975f44c87ce9ab3406970fb28d432d5103662d05 +size 2191360 diff --git a/2024-11-11-12-07-40/data/alphasense_right.tar b/2024-11-11-12-07-40/data/alphasense_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..d22b31eff4b3ea921a21e00e08aae7a6026c5750 --- /dev/null +++ b/2024-11-11-12-07-40/data/alphasense_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e994b4e3ab3ec36e6bd2f672d24dcd9d4552ff5bc0137f57ba984229030bcbef +size 2191360 diff --git a/2024-11-11-12-07-40/data/anymal_command_twist.tar b/2024-11-11-12-07-40/data/anymal_command_twist.tar new file mode 100644 index 0000000000000000000000000000000000000000..d92a919a7502043eb85d28d80acf23240a792600 --- /dev/null +++ b/2024-11-11-12-07-40/data/anymal_command_twist.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09ffc18a252243c3af63be854496e241e822a73f2061004bc641a5e64452988c +size 3819520 diff --git a/2024-11-11-12-07-40/data/anymal_imu.tar b/2024-11-11-12-07-40/data/anymal_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..4a45b02ffe12162be79504fb6baa8f3d638b41af --- /dev/null +++ b/2024-11-11-12-07-40/data/anymal_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ccd77da167f0af5bda253735d74919b20b55cbf8c15e6a8ac01405a245369f70 +size 6758400 diff --git a/2024-11-11-12-07-40/data/anymal_state_actuator.tar b/2024-11-11-12-07-40/data/anymal_state_actuator.tar new file mode 100644 index 0000000000000000000000000000000000000000..b870a47476de4e458a2a47af3f084814d3f1a13d --- /dev/null +++ b/2024-11-11-12-07-40/data/anymal_state_actuator.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:339dbc5755914bd7e66cf914447cc1154a012ee2bce8265648ee8225ceccac32 +size 266004480 diff --git a/2024-11-11-12-07-40/data/anymal_state_battery.tar b/2024-11-11-12-07-40/data/anymal_state_battery.tar new file mode 100644 index 0000000000000000000000000000000000000000..ba1869af8060aaa2f62c3be58b663b1b42da20dd --- /dev/null +++ b/2024-11-11-12-07-40/data/anymal_state_battery.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b89ebdf2bf47f11eb24b405dac33f77fc2d34922daf55d2173e4c87d0ef8a06c +size 16363520 diff --git a/2024-11-11-12-07-40/data/anymal_state_odometry.tar b/2024-11-11-12-07-40/data/anymal_state_odometry.tar new file mode 100644 index 0000000000000000000000000000000000000000..bf634aee419d5c59a6a87e8238e9703f7ae824a9 --- /dev/null +++ b/2024-11-11-12-07-40/data/anymal_state_odometry.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18a2fd622060b193d8a2d38e2360643fe3a1cc9727cc433f70ea8bcd9de8294f +size 6963200 diff --git a/2024-11-11-12-07-40/data/anymal_state_state_estimator.tar b/2024-11-11-12-07-40/data/anymal_state_state_estimator.tar new file mode 100644 index 0000000000000000000000000000000000000000..a13de249d882e53a3d7f486374b4b4970a2b7ee0 --- /dev/null +++ b/2024-11-11-12-07-40/data/anymal_state_state_estimator.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab71832fe4e5a9758dd156e974e0ddcc51bbaf3a579626c4c445025a526a3d19 +size 36270080 diff --git a/2024-11-11-12-07-40/data/ap20_imu.tar b/2024-11-11-12-07-40/data/ap20_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..d2c27229d9d9c6f683cf1197f457111666679025 --- /dev/null +++ b/2024-11-11-12-07-40/data/ap20_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2929b03413a19d905459b6266c40bc95f2ca8ed131fc9b0e3caa6338a6c2f766 +size 6758400 diff --git a/2024-11-11-12-07-40/data/cpt7_ie_rt_odometry.tar b/2024-11-11-12-07-40/data/cpt7_ie_rt_odometry.tar new file mode 100644 index 0000000000000000000000000000000000000000..e708049fc1be6959899fc849b33f9d4ae9e24834 --- /dev/null +++ b/2024-11-11-12-07-40/data/cpt7_ie_rt_odometry.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd9bbe2e9904f04e3373fe0a2f9a22836af25341cef26b58fba350302c73bd91 +size 6952960 diff --git a/2024-11-11-12-07-40/data/cpt7_ie_rt_tf.tar b/2024-11-11-12-07-40/data/cpt7_ie_rt_tf.tar new file mode 100644 index 0000000000000000000000000000000000000000..c0ce1bfd826ad7165b1bd77c6bf2c3025d5bdc98 --- /dev/null +++ b/2024-11-11-12-07-40/data/cpt7_ie_rt_tf.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1db046cd095e7593ebad3d1a730ddcd2f2f31096c8272374f452a4636f1a2e40 +size 4096000 diff --git a/2024-11-11-12-07-40/data/cpt7_ie_tc_odometry.tar b/2024-11-11-12-07-40/data/cpt7_ie_tc_odometry.tar new file mode 100644 index 0000000000000000000000000000000000000000..967ecdd2f52c995073758a3e3ac725f6fdf92d8c --- /dev/null +++ b/2024-11-11-12-07-40/data/cpt7_ie_tc_odometry.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47ba6b77c94104a198687be28372ea839a1fd4c9663e06ca44343030ebb0a601 +size 6952960 diff --git a/2024-11-11-12-07-40/data/cpt7_ie_tc_tf.tar b/2024-11-11-12-07-40/data/cpt7_ie_tc_tf.tar new file mode 100644 index 0000000000000000000000000000000000000000..47279e76d070a9b3cc26537ea4ac3a78b2ba246a --- /dev/null +++ b/2024-11-11-12-07-40/data/cpt7_ie_tc_tf.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8bb12f98e052341e9aa775d9f799fd3c1b784156390df58224e866529ce8a41 +size 4096000 diff --git a/2024-11-11-12-07-40/data/cpt7_imu.tar b/2024-11-11-12-07-40/data/cpt7_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..ac544ff480d90d04208f261032d70edc8fd1d09d --- /dev/null +++ b/2024-11-11-12-07-40/data/cpt7_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a115f7a1f833ac83fe222eaaf2b57fc0f0416d6cd50cda6bc3f9ca836a744cea +size 6758400 diff --git a/2024-11-11-12-07-40/data/depth_camera_front_lower.tar b/2024-11-11-12-07-40/data/depth_camera_front_lower.tar new file mode 100644 index 0000000000000000000000000000000000000000..a8319ec3a15d0dc82e8535889d85d692d049f572 --- /dev/null +++ b/2024-11-11-12-07-40/data/depth_camera_front_lower.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:afdcc47fd52ea4727834289fce0c3de4d5e0e788bdfe55ab09637ea8e6cd2725 +size 2191360 diff --git a/2024-11-11-12-07-40/data/depth_camera_front_upper.tar b/2024-11-11-12-07-40/data/depth_camera_front_upper.tar new file mode 100644 index 0000000000000000000000000000000000000000..3ad4681037f2dc10333a2a77750293fe88a9fb97 --- /dev/null +++ b/2024-11-11-12-07-40/data/depth_camera_front_upper.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d6a46534008589a8334011b58b5030b610a59d5a5d6802dda097479577fb68b +size 2191360 diff --git a/2024-11-11-12-07-40/data/depth_camera_left.tar b/2024-11-11-12-07-40/data/depth_camera_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..91d8c4ced607351bcc44c852cd93cedd42bc4c43 --- /dev/null +++ b/2024-11-11-12-07-40/data/depth_camera_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a646661559dc817a57ab25b3f1219432f73f1f978f256c979755b898ee6c071 +size 2191360 diff --git a/2024-11-11-12-07-40/data/depth_camera_rear_lower.tar b/2024-11-11-12-07-40/data/depth_camera_rear_lower.tar new file mode 100644 index 0000000000000000000000000000000000000000..1e3b79efb1cfbf9fc1b5ace62d3a7246d9e18446 --- /dev/null +++ b/2024-11-11-12-07-40/data/depth_camera_rear_lower.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9e3193ce24e8fe1bd4650456083da7df0eef1377226f11ef62416c3cf7f5d47 +size 2191360 diff --git a/2024-11-11-12-07-40/data/depth_camera_rear_upper.tar b/2024-11-11-12-07-40/data/depth_camera_rear_upper.tar new file mode 100644 index 0000000000000000000000000000000000000000..9469c701d515f6e695514af66cf2d7361f6ade5d --- /dev/null +++ b/2024-11-11-12-07-40/data/depth_camera_rear_upper.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5efda198c879d4e3af58e60de990a2be63661b6c5cad22f3b5412fa03deabca +size 2191360 diff --git a/2024-11-11-12-07-40/data/depth_camera_right.tar b/2024-11-11-12-07-40/data/depth_camera_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..7ef7efb435179f8bbf6f2dd9a69d45027f7e6dc3 --- /dev/null +++ b/2024-11-11-12-07-40/data/depth_camera_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d41a43a0b057f299e355d408af2cfe9cd7ee5c1aa5e919fb7ba6b671c7410163 +size 2191360 diff --git a/2024-11-11-12-07-40/data/dlio_hesai_points_undistorted.tar b/2024-11-11-12-07-40/data/dlio_hesai_points_undistorted.tar new file mode 100644 index 0000000000000000000000000000000000000000..0cf98b9874eef60f0678e643daca2903fed732bc --- /dev/null +++ b/2024-11-11-12-07-40/data/dlio_hesai_points_undistorted.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:175cfd40a821966660da2e4dbd96905268332d91f335ea5dd5f4bd0d8de9d733 +size 15073280 diff --git a/2024-11-11-12-07-40/data/dlio_map_odometry.tar b/2024-11-11-12-07-40/data/dlio_map_odometry.tar new file mode 100644 index 0000000000000000000000000000000000000000..3939db0cbdb00a83a76cd78fd79759b848e35b2c --- /dev/null +++ b/2024-11-11-12-07-40/data/dlio_map_odometry.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc9f5658888eae380804c1a07e62f7907a24276bb3b15588fe5f93cdbcc909da +size 6952960 diff --git a/2024-11-11-12-07-40/data/dlio_tf.tar b/2024-11-11-12-07-40/data/dlio_tf.tar new file mode 100644 index 0000000000000000000000000000000000000000..449e6bfd2c6b7b7d65999cbef1b7c58e3b3a1d5d --- /dev/null +++ b/2024-11-11-12-07-40/data/dlio_tf.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49f8c7a01531fa843781320a616c1961cd62eaa9ff50c5ba6e2c45e19cfd0c85 +size 4096000 diff --git a/2024-11-11-12-07-40/data/gnss_raw_cpt7_ie_rt.tar b/2024-11-11-12-07-40/data/gnss_raw_cpt7_ie_rt.tar new file mode 100644 index 0000000000000000000000000000000000000000..7d74d415f6ab3998ff9059fb7410e3286a7d9951 --- /dev/null +++ b/2024-11-11-12-07-40/data/gnss_raw_cpt7_ie_rt.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ebe4c2fa141acce9ec7f250b218d6ae4964da405e786b2d875ab6c3485fd9ce +size 5457920 diff --git a/2024-11-11-12-07-40/data/gnss_raw_cpt7_ie_tc.tar b/2024-11-11-12-07-40/data/gnss_raw_cpt7_ie_tc.tar new file mode 100644 index 0000000000000000000000000000000000000000..86928f14296c1065524c45943e83df43665bd676 --- /dev/null +++ b/2024-11-11-12-07-40/data/gnss_raw_cpt7_ie_tc.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e543dbfeca8c2d68f24bf9487f357dbf937e1a664073a833db1d7f497ae09427 +size 5457920 diff --git a/2024-11-11-12-07-40/data/hdr_front.tar b/2024-11-11-12-07-40/data/hdr_front.tar new file mode 100644 index 0000000000000000000000000000000000000000..e8703fdd289329a5303b8d934f2b8cd56b5e2e2c --- /dev/null +++ b/2024-11-11-12-07-40/data/hdr_front.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:13b242c9f64222592979b8321943791d81c884774ac429a80b0b1df47c599761 +size 2191360 diff --git a/2024-11-11-12-07-40/data/hdr_left.tar b/2024-11-11-12-07-40/data/hdr_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..6fa89a1f6282cf73b79f96b8ee3d0c93588b1755 --- /dev/null +++ b/2024-11-11-12-07-40/data/hdr_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e07bb63574aaf1c28a3c80c1fd25a25d899ab2bd1ddd1b599aa83e0828e66a51 +size 2191360 diff --git a/2024-11-11-12-07-40/data/hdr_right.tar b/2024-11-11-12-07-40/data/hdr_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..d76ff602c4653bf3af791c910b2ec7fdacd8ebb3 --- /dev/null +++ b/2024-11-11-12-07-40/data/hdr_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b977f3560b57a1a4fa32e348ed62028775381609f25e819d0aab970a60806ba +size 2191360 diff --git a/2024-11-11-12-07-40/data/hesai_points.tar b/2024-11-11-12-07-40/data/hesai_points.tar new file mode 100644 index 0000000000000000000000000000000000000000..6eff1901c923f8fde9828de61ae055a67ff1a648 --- /dev/null +++ b/2024-11-11-12-07-40/data/hesai_points.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c17e62d14ebb168baf3a1efbe518bd9602bc07c8543462ffbc1f8fc66ab27965 +size 15626240 diff --git a/2024-11-11-12-07-40/data/hesai_points_undistorted.tar b/2024-11-11-12-07-40/data/hesai_points_undistorted.tar new file mode 100644 index 0000000000000000000000000000000000000000..7b9aa0a5920b567deff63050d108c9d89aa60773 --- /dev/null +++ b/2024-11-11-12-07-40/data/hesai_points_undistorted.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2e6dda73b9547a99f1952babb9985a337c694e8e6e94efc21fc06821629432f +size 15626240 diff --git a/2024-11-11-12-07-40/data/livox_imu.tar b/2024-11-11-12-07-40/data/livox_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..c75efa40127a2ae3592498dca05b76839519f7ee --- /dev/null +++ b/2024-11-11-12-07-40/data/livox_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d367ffe677765c2dc5d0af7ab6622f78474b5446a877ec709dfe5f951da88608 +size 6758400 diff --git a/2024-11-11-12-07-40/data/livox_points.tar b/2024-11-11-12-07-40/data/livox_points.tar new file mode 100644 index 0000000000000000000000000000000000000000..0adb79f8049ce48a658a616bf7cc6843b96d7310 --- /dev/null +++ b/2024-11-11-12-07-40/data/livox_points.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae900dde8ee1ee9162580bf52b111aabca93e2a47559027c18f99769804da12f +size 10373120 diff --git a/2024-11-11-12-07-40/data/livox_points_undistorted.tar b/2024-11-11-12-07-40/data/livox_points_undistorted.tar new file mode 100644 index 0000000000000000000000000000000000000000..b4aadbd91e3fcd380703665b7ea502b05ba339ca --- /dev/null +++ b/2024-11-11-12-07-40/data/livox_points_undistorted.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e03c4fd5a56a50eb769006d422bd4a33df8d41444db3da70b8184636222e227a +size 10373120 diff --git a/2024-11-11-12-07-40/data/navsatfix_cpt7_ie_tc.tar b/2024-11-11-12-07-40/data/navsatfix_cpt7_ie_tc.tar new file mode 100644 index 0000000000000000000000000000000000000000..56287b8be1d720ee168955a82dde15cc8246686c --- /dev/null +++ b/2024-11-11-12-07-40/data/navsatfix_cpt7_ie_tc.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f45699f1d6e5f3aac3855b72204eec98ba39b801b6bb9847bf72b8ca30c1423 +size 7157760 diff --git a/2024-11-11-12-07-40/data/prism_position.tar b/2024-11-11-12-07-40/data/prism_position.tar new file mode 100644 index 0000000000000000000000000000000000000000..5b087185036cd3138229918f23eae3f1405876d7 --- /dev/null +++ b/2024-11-11-12-07-40/data/prism_position.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4539d23d5d07639a3fd0988798369f5739670f892ce73e8714e89808c4dab751 +size 3000320 diff --git a/2024-11-11-12-07-40/data/stim320_imu.tar b/2024-11-11-12-07-40/data/stim320_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..d21ce3b88ad27d750c476944186b675462a65ed8 --- /dev/null +++ b/2024-11-11-12-07-40/data/stim320_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:823dfc56b6dd83ef93a9aaf41baeb19ed1e2c6fefad9a0b516e36944e389a961 +size 6758400 diff --git a/2024-11-11-12-07-40/data/tf.tar b/2024-11-11-12-07-40/data/tf.tar new file mode 100644 index 0000000000000000000000000000000000000000..ff1399a3ee95b3ff66f5679334152fe5501d166c --- /dev/null +++ b/2024-11-11-12-07-40/data/tf.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1d38f03c16a416f4d7204aa3819769550680a875a9c32469454c9701a855191 +size 30720 diff --git a/2024-11-11-12-07-40/data/velodyne_points.tar b/2024-11-11-12-07-40/data/velodyne_points.tar new file mode 100644 index 0000000000000000000000000000000000000000..fca4e3ad1719ee050f5c1a87ed38abbefe4255ab --- /dev/null +++ b/2024-11-11-12-07-40/data/velodyne_points.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:464f064e55615f5f03bce14c53c9773b4f0b82c87c7f395d23f21649496aca9d +size 9973760 diff --git a/2024-11-11-12-07-40/data/velodyne_points_undistorted.tar b/2024-11-11-12-07-40/data/velodyne_points_undistorted.tar new file mode 100644 index 0000000000000000000000000000000000000000..79bdc5ebca69051c85a8e4ed106e6f6a1a9b1384 --- /dev/null +++ b/2024-11-11-12-07-40/data/velodyne_points_undistorted.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ad384c3efca218ba0489cd5251c3dc9cfb9d77236173cd36b9e30ec6e026521 +size 9973760 diff --git a/2024-11-11-12-07-40/data/zed2i_depth_confidence_image.tar b/2024-11-11-12-07-40/data/zed2i_depth_confidence_image.tar new file mode 100644 index 0000000000000000000000000000000000000000..9d2e5922fbf46badba293dc667c9f9f8d2191b5f --- /dev/null +++ b/2024-11-11-12-07-40/data/zed2i_depth_confidence_image.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c628de73fd9704961b0baeddaa013d539e6093d321835173aaf1386c758173c +size 2191360 diff --git a/2024-11-11-12-07-40/data/zed2i_depth_image.tar b/2024-11-11-12-07-40/data/zed2i_depth_image.tar new file mode 100644 index 0000000000000000000000000000000000000000..ec1d5b1500682fc464ff982d8e63b41141b852ae --- /dev/null +++ b/2024-11-11-12-07-40/data/zed2i_depth_image.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ddd7cb181dcc92782de48ad3a5ba6cb859d3d5ff2db802113fe6d93f23e8084 +size 2191360 diff --git a/2024-11-11-12-07-40/data/zed2i_left_images.tar b/2024-11-11-12-07-40/data/zed2i_left_images.tar new file mode 100644 index 0000000000000000000000000000000000000000..d0bf4cece90282af396a9063e2b0e0024b566291 --- /dev/null +++ b/2024-11-11-12-07-40/data/zed2i_left_images.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48b3c381a904a5d74068994f1e9d5ed34ffc4bcee8a27cdb75eb716c6220796f +size 2191360 diff --git a/2024-11-11-12-07-40/data/zed2i_right_images.tar b/2024-11-11-12-07-40/data/zed2i_right_images.tar new file mode 100644 index 0000000000000000000000000000000000000000..1a35e5de8240bb76d4a0f19e3ceab88d98cca72b --- /dev/null +++ b/2024-11-11-12-07-40/data/zed2i_right_images.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:902b6bc107955d2951b5c1877cb7c9495377f81caa077ebc1cbe90a993f4e530 +size 2191360 diff --git a/2024-11-11-12-07-40/data/zed2i_vio_map.tar b/2024-11-11-12-07-40/data/zed2i_vio_map.tar new file mode 100644 index 0000000000000000000000000000000000000000..86e630017aabd9236cae7b9f0349b686bb568ee5 --- /dev/null +++ b/2024-11-11-12-07-40/data/zed2i_vio_map.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:942e9738e9ac088e433cfc2d48865e3cd572e054fe0b145795616590fe442b61 +size 4710400 diff --git a/2024-11-11-12-07-40/images/alphasense_front_center.tar b/2024-11-11-12-07-40/images/alphasense_front_center.tar new file mode 100644 index 0000000000000000000000000000000000000000..d6b8d23147343872ba1785bea983b1c90e6661c8 --- /dev/null +++ b/2024-11-11-12-07-40/images/alphasense_front_center.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ae1f9cc4ac552b2a0e263fe155c9b1c3c043ffdc7d0844337523bb944a01eda +size 3573760 diff --git a/2024-11-11-12-07-40/images/alphasense_front_left.tar b/2024-11-11-12-07-40/images/alphasense_front_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..c92d73dc7084c9318f98201389574af1eab86f16 --- /dev/null +++ b/2024-11-11-12-07-40/images/alphasense_front_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68267f13c7a50ed633b8e0e10a25160ca4889630daccd215945ab2d1744b0872 +size 3809280 diff --git a/2024-11-11-12-07-40/images/alphasense_front_right.tar b/2024-11-11-12-07-40/images/alphasense_front_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..de5e4d471758c0bff80674ee2e9287629bb4d447 --- /dev/null +++ b/2024-11-11-12-07-40/images/alphasense_front_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f23f146dfa41d8e067b9c052139690faaa07b184a74fd5e2f6a98d1a8f892a4 +size 4638720 diff --git a/2024-11-11-12-07-40/images/alphasense_left.tar b/2024-11-11-12-07-40/images/alphasense_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..605c5d7898c028b6e0f0c37e8e987de1ab518fca --- /dev/null +++ b/2024-11-11-12-07-40/images/alphasense_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36dabbd61373d8354c7529d363297c1a4a50223b05217f0bef341a2e1fda99cb +size 3543040 diff --git a/2024-11-11-12-07-40/images/alphasense_right.tar b/2024-11-11-12-07-40/images/alphasense_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..3c70e45e01e04645f4749cfddae8963d46ad9c1b --- /dev/null +++ b/2024-11-11-12-07-40/images/alphasense_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97712e8674737a056a3735fa7abf980cb6775a1aa89a802b6176533cafa13717 +size 3266560 diff --git a/2024-11-11-12-07-40/images/depth_camera_front_lower.tar b/2024-11-11-12-07-40/images/depth_camera_front_lower.tar new file mode 100644 index 0000000000000000000000000000000000000000..8e20c275d9def1f1a3e4178eba2a17b821512b44 --- /dev/null +++ b/2024-11-11-12-07-40/images/depth_camera_front_lower.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24558a5909b727f83662f273e5f015744780dcead191b74b5f737988da5efca1 +size 1136640 diff --git a/2024-11-11-12-07-40/images/depth_camera_front_upper.tar b/2024-11-11-12-07-40/images/depth_camera_front_upper.tar new file mode 100644 index 0000000000000000000000000000000000000000..1bc055b27ea658c76f2ba9b1c4f327237374df51 --- /dev/null +++ b/2024-11-11-12-07-40/images/depth_camera_front_upper.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f9be0c1ec3438487ca6b31fb4ec7f8512ef4ded27d0224b59f39f05fe47b030 +size 2549760 diff --git a/2024-11-11-12-07-40/images/depth_camera_left.tar b/2024-11-11-12-07-40/images/depth_camera_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..fececfd50ba52d9fecdedf316858776e115df9c1 --- /dev/null +++ b/2024-11-11-12-07-40/images/depth_camera_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61fcefca5630da7b3b949fcf35004672f3791aa73df9d87c75cd28a4fe1c756d +size 2027520 diff --git a/2024-11-11-12-07-40/images/depth_camera_rear_lower.tar b/2024-11-11-12-07-40/images/depth_camera_rear_lower.tar new file mode 100644 index 0000000000000000000000000000000000000000..299e5bf909e8ee90c97e8937e025bd32d5237cdc --- /dev/null +++ b/2024-11-11-12-07-40/images/depth_camera_rear_lower.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d784d03f9e270d1eb55133ab34dc6a0d631a05f4a83f7e3da2c0f0a2a9caf181 +size 1464320 diff --git a/2024-11-11-12-07-40/images/depth_camera_rear_upper.tar b/2024-11-11-12-07-40/images/depth_camera_rear_upper.tar new file mode 100644 index 0000000000000000000000000000000000000000..5ecdb199791172b6248b3fb9d22b16c05a1ee7b8 --- /dev/null +++ b/2024-11-11-12-07-40/images/depth_camera_rear_upper.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e33aa23f753443ade37b670727bce5b58695ca5bd5b2e1d6d073f97933c9b17 +size 2908160 diff --git a/2024-11-11-12-07-40/images/depth_camera_right.tar b/2024-11-11-12-07-40/images/depth_camera_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..e331c979530337f910d7640d34adc0066b7c99a9 --- /dev/null +++ b/2024-11-11-12-07-40/images/depth_camera_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72c7d0218fb0a79be3abe3b5d56ca7eada432802ea833ffabad3fa13a952e581 +size 1443840 diff --git a/2024-11-11-12-07-40/images/hdr_front.tar b/2024-11-11-12-07-40/images/hdr_front.tar new file mode 100644 index 0000000000000000000000000000000000000000..c2145fda91dc2e348d043ad4089d5681b2556556 --- /dev/null +++ b/2024-11-11-12-07-40/images/hdr_front.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:576d619f1c157f486e05db20e79347564f21de813959d3aaf27295424eb0b0f7 +size 5550080 diff --git a/2024-11-11-12-07-40/images/hdr_left.tar b/2024-11-11-12-07-40/images/hdr_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..dc2ff8f0792770b8bbc595f6a64a8f2d924fef63 --- /dev/null +++ b/2024-11-11-12-07-40/images/hdr_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4cdcf3eff8b5b030a2de8b87f109dbfa5ffb7eb04c1ac3fcbe151a1e80f52c55 +size 6615040 diff --git a/2024-11-11-12-07-40/images/hdr_right.tar b/2024-11-11-12-07-40/images/hdr_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..df6b43b5c514acf68683a966f5f815cf80511d0a --- /dev/null +++ b/2024-11-11-12-07-40/images/hdr_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:905e9fb9abbcf8edb3ee30486b4b356b5471ac548f64d4c36fa3d6f2951cd688 +size 7403520 diff --git a/2024-11-11-12-07-40/images/zed2i_depth_confidence_image.tar b/2024-11-11-12-07-40/images/zed2i_depth_confidence_image.tar new file mode 100644 index 0000000000000000000000000000000000000000..5d6fdc9d809bc53e0eddb06e0a7dbebc7691cd23 --- /dev/null +++ b/2024-11-11-12-07-40/images/zed2i_depth_confidence_image.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a671039331c5f96b8ad4a4064bcc043cc7e99ca4f5bbde3d1699edb92ee1062f +size 20070400 diff --git a/2024-11-11-12-07-40/images/zed2i_depth_image.tar b/2024-11-11-12-07-40/images/zed2i_depth_image.tar new file mode 100644 index 0000000000000000000000000000000000000000..a71a42710375c1c754f0a5a33d9a073508e66ad8 --- /dev/null +++ b/2024-11-11-12-07-40/images/zed2i_depth_image.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06a0bbb1dae613100c351d9ff8937f69d284a14837742da81d54f56fa55fa79b +size 9779200 diff --git a/2024-11-11-12-07-40/images/zed2i_left_images.tar b/2024-11-11-12-07-40/images/zed2i_left_images.tar new file mode 100644 index 0000000000000000000000000000000000000000..958c8d8a0507f1ff4aa0d66c74d88acf6cac34e6 --- /dev/null +++ b/2024-11-11-12-07-40/images/zed2i_left_images.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7bdda33291878187bf93a747ea160d35a2344f716d5b4ca0f3457d75069aae5 +size 5068800 diff --git a/2024-11-11-12-07-40/images/zed2i_right_images.tar b/2024-11-11-12-07-40/images/zed2i_right_images.tar new file mode 100644 index 0000000000000000000000000000000000000000..1af9be770b0a5c42b47862586e87d2f6afe1b771 --- /dev/null +++ b/2024-11-11-12-07-40/images/zed2i_right_images.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb7c94d0070b2965c298abbcc9c120ff44a7b1c28759c7fd6558289c77d52c12 +size 5181440 diff --git a/2024-11-11-12-07-40/metadata/adis_imu.yaml b/2024-11-11-12-07-40/metadata/adis_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..760ede863205c6321ef5fe2b33c0aa3b83c02f3c --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/alphasense_front_center.yaml b/2024-11-11-12-07-40/metadata/alphasense_front_center.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fa4cce98b10953f95ec009582cd63c70704640ec --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/alphasense_front_center_caminfo.yaml b/2024-11-11-12-07-40/metadata/alphasense_front_center_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..55818806fad1cf1e8d39bed8ca6738281b28b81a --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/alphasense_front_left.yaml b/2024-11-11-12-07-40/metadata/alphasense_front_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cf86229c1b96b74219ab9dc283098931e12e9585 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/alphasense_front_left_caminfo.yaml b/2024-11-11-12-07-40/metadata/alphasense_front_left_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..64f003f7e902ace58a541836d5a90d3647d03d2b --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/alphasense_front_right.yaml b/2024-11-11-12-07-40/metadata/alphasense_front_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7db90d40c484f9452faa819e9748fa7ac45c09bb --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/alphasense_front_right_caminfo.yaml b/2024-11-11-12-07-40/metadata/alphasense_front_right_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b7a9cb7f0a49b5d546978edaf913796d1d7b109e --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/alphasense_imu.yaml b/2024-11-11-12-07-40/metadata/alphasense_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bd4d08c165928d94bce7f8b8d2502b4c545017f9 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/alphasense_left.yaml b/2024-11-11-12-07-40/metadata/alphasense_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..835abd6470147d51dbe65f08f882e5ef1c1b5940 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/alphasense_left_caminfo.yaml b/2024-11-11-12-07-40/metadata/alphasense_left_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9418e583d22ba1e798e30e2e063a49230a4f9e37 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/alphasense_right.yaml b/2024-11-11-12-07-40/metadata/alphasense_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8a5944ff619400951640fe4aadef48a840a81ad8 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/alphasense_right_caminfo.yaml b/2024-11-11-12-07-40/metadata/alphasense_right_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7f8455fe0473e771ee32c4874969c755f1a70b8a --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/anymal_command_twist.yaml b/2024-11-11-12-07-40/metadata/anymal_command_twist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2e40adb1f88af85db46c14701e39f56ac4847bd5 --- /dev/null +++ b/2024-11-11-12-07-40/metadata/anymal_command_twist.yaml @@ -0,0 +1,2 @@ +frame_id: base +topic: anymal_command_twist diff --git a/2024-11-11-12-07-40/metadata/anymal_imu.yaml b/2024-11-11-12-07-40/metadata/anymal_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..25de0ce02af9c0413098f951323494454f14ff11 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/anymal_state_actuator.yaml b/2024-11-11-12-07-40/metadata/anymal_state_actuator.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f3f460b14a7fdd3b953f59752921f8fa23d484e9 --- /dev/null +++ b/2024-11-11-12-07-40/metadata/anymal_state_actuator.yaml @@ -0,0 +1,2 @@ +frame_id: '' +topic: anymal_state_actuator diff --git a/2024-11-11-12-07-40/metadata/anymal_state_battery.yaml b/2024-11-11-12-07-40/metadata/anymal_state_battery.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bebc05e78fe821a246b4ff2fea9083511a191c49 --- /dev/null +++ b/2024-11-11-12-07-40/metadata/anymal_state_battery.yaml @@ -0,0 +1,2 @@ +frame_id: '' +topic: anymal_state_battery diff --git a/2024-11-11-12-07-40/metadata/anymal_state_odometry.yaml b/2024-11-11-12-07-40/metadata/anymal_state_odometry.yaml new file mode 100644 index 0000000000000000000000000000000000000000..54b0d9d66520be33eba8d3b2f93ca9e709ed2efa --- /dev/null +++ b/2024-11-11-12-07-40/metadata/anymal_state_odometry.yaml @@ -0,0 +1,2 @@ +frame_id: odom +topic: anymal_state_odometry diff --git a/2024-11-11-12-07-40/metadata/anymal_state_state_estimator.yaml b/2024-11-11-12-07-40/metadata/anymal_state_state_estimator.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1bbd1aad91162c4ad9b8067e9d06b649a0f22e97 --- /dev/null +++ b/2024-11-11-12-07-40/metadata/anymal_state_state_estimator.yaml @@ -0,0 +1,2 @@ +frame_id: odom +topic: anymal_state_state_estimator diff --git a/2024-11-11-12-07-40/metadata/ap20_imu.yaml b/2024-11-11-12-07-40/metadata/ap20_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ab6c0f9f9c6d5f9fc8bfcc9481e5921ba1cd0fc9 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/cpt7_ie_rt_odometry.yaml b/2024-11-11-12-07-40/metadata/cpt7_ie_rt_odometry.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8bbf4860c012b3be48d70d6a94c65aa066e805bb --- /dev/null +++ b/2024-11-11-12-07-40/metadata/cpt7_ie_rt_odometry.yaml @@ -0,0 +1,2 @@ +frame_id: enu_origin +topic: cpt7_ie_rt_odometry diff --git a/2024-11-11-12-07-40/metadata/cpt7_ie_rt_tf.yaml b/2024-11-11-12-07-40/metadata/cpt7_ie_rt_tf.yaml new file mode 100644 index 0000000000000000000000000000000000000000..85956785d573eaa3b3e7a9d3a1effe30038408ab --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/cpt7_ie_tc_odometry.yaml b/2024-11-11-12-07-40/metadata/cpt7_ie_tc_odometry.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aff503a0e09658de1b2538e6a238e2943867b9c8 --- /dev/null +++ b/2024-11-11-12-07-40/metadata/cpt7_ie_tc_odometry.yaml @@ -0,0 +1,2 @@ +frame_id: enu_origin +topic: cpt7_ie_tc_odometry diff --git a/2024-11-11-12-07-40/metadata/cpt7_ie_tc_tf.yaml b/2024-11-11-12-07-40/metadata/cpt7_ie_tc_tf.yaml new file mode 100644 index 0000000000000000000000000000000000000000..febe1512059235fef6c089e0e43007f584f7d944 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/cpt7_imu.yaml b/2024-11-11-12-07-40/metadata/cpt7_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3e392a99392a5ec6c065bf80554a346595fbaadf --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/depth_camera_front_lower.yaml b/2024-11-11-12-07-40/metadata/depth_camera_front_lower.yaml new file mode 100644 index 0000000000000000000000000000000000000000..821340f063c8691d8049d627376054377c16ff3e --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/depth_camera_front_lower_caminfo.yaml b/2024-11-11-12-07-40/metadata/depth_camera_front_lower_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9f13de22241c421a8c9eb10595897d49e17e1162 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/depth_camera_front_upper.yaml b/2024-11-11-12-07-40/metadata/depth_camera_front_upper.yaml new file mode 100644 index 0000000000000000000000000000000000000000..22ae6f5b58704e68064abec63164db9213d12b89 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/depth_camera_front_upper_caminfo.yaml b/2024-11-11-12-07-40/metadata/depth_camera_front_upper_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5bb00e6322f40f8eb769b7b0fb1cced0c604c943 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/depth_camera_left.yaml b/2024-11-11-12-07-40/metadata/depth_camera_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a35a60d8394059c3748abea6fa6cdee19cb0ddba --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/depth_camera_left_caminfo.yaml b/2024-11-11-12-07-40/metadata/depth_camera_left_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a8afa6379cc89c4b72924527dcf040608871ee18 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/depth_camera_rear_lower.yaml b/2024-11-11-12-07-40/metadata/depth_camera_rear_lower.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ad7c4284bdf6a3f7f804144674abd29318b09cb3 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/depth_camera_rear_lower_caminfo.yaml b/2024-11-11-12-07-40/metadata/depth_camera_rear_lower_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7fe6caa86742343436b5e65620a2b4e057894620 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/depth_camera_rear_upper.yaml b/2024-11-11-12-07-40/metadata/depth_camera_rear_upper.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1ac798820fb0139f1359c8bd54b463afce22f0d0 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/depth_camera_rear_upper_caminfo.yaml b/2024-11-11-12-07-40/metadata/depth_camera_rear_upper_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47a6ed31c0be6738001a0f9be807a741a916390f --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/depth_camera_right.yaml b/2024-11-11-12-07-40/metadata/depth_camera_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5570ee28b01cbc5f0853fa0016d46b5ae08a9f75 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/depth_camera_right_caminfo.yaml b/2024-11-11-12-07-40/metadata/depth_camera_right_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..627aa6ac34b7c56c110a708a8abb08f1d3670f89 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/dlio_hesai_points_undistorted.yaml b/2024-11-11-12-07-40/metadata/dlio_hesai_points_undistorted.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dc2eea3a0c71371ff342390f6695ee2a2ea3879a --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/dlio_map_odometry.yaml b/2024-11-11-12-07-40/metadata/dlio_map_odometry.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fc305524072a8b0e23cfddd7cd392de412d3b619 --- /dev/null +++ b/2024-11-11-12-07-40/metadata/dlio_map_odometry.yaml @@ -0,0 +1,2 @@ +frame_id: dlio_map +topic: dlio_map_odometry diff --git a/2024-11-11-12-07-40/metadata/dlio_tf.yaml b/2024-11-11-12-07-40/metadata/dlio_tf.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dffe47f0b550f3004889496c8e146020233b7677 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/gnss_raw_cpt7_ie_rt.yaml b/2024-11-11-12-07-40/metadata/gnss_raw_cpt7_ie_rt.yaml new file mode 100644 index 0000000000000000000000000000000000000000..16e15c7b52f2e90493b5f6b4d23c76a248699964 --- /dev/null +++ b/2024-11-11-12-07-40/metadata/gnss_raw_cpt7_ie_rt.yaml @@ -0,0 +1,2 @@ +frame_id: enu_origin +topic: gnss_raw_cpt7_ie_rt diff --git a/2024-11-11-12-07-40/metadata/gnss_raw_cpt7_ie_tc.yaml b/2024-11-11-12-07-40/metadata/gnss_raw_cpt7_ie_tc.yaml new file mode 100644 index 0000000000000000000000000000000000000000..88158a45cbe5d4c9a4ee74b409a193fb6ac501df --- /dev/null +++ b/2024-11-11-12-07-40/metadata/gnss_raw_cpt7_ie_tc.yaml @@ -0,0 +1,2 @@ +frame_id: enu_origin +topic: gnss_raw_cpt7_ie_tc diff --git a/2024-11-11-12-07-40/metadata/hdr_front.yaml b/2024-11-11-12-07-40/metadata/hdr_front.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4d5e82a3a2a4ca949ea01153d7cdb63e247cd07c --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/hdr_front_caminfo.yaml b/2024-11-11-12-07-40/metadata/hdr_front_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a45c08e6a6ed08f7036fd2d172ab57b9a4ae2628 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/hdr_left.yaml b/2024-11-11-12-07-40/metadata/hdr_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..55e7e8a3462001d0243f5172c17aa8162aac12eb --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/hdr_left_caminfo.yaml b/2024-11-11-12-07-40/metadata/hdr_left_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7c0cf9bac3618896a084fae58ada5994ac52a264 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/hdr_right.yaml b/2024-11-11-12-07-40/metadata/hdr_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fae1ccc6ef8c7203a45bdff8a2a221716a62fc5 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/hdr_right_caminfo.yaml b/2024-11-11-12-07-40/metadata/hdr_right_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d6e0da5227c586744533b2b32cdbe37e2bfda17 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/hesai_points.yaml b/2024-11-11-12-07-40/metadata/hesai_points.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe823a5c34b61497ca6949d2f8a9246281f10599 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/hesai_points_undistorted.yaml b/2024-11-11-12-07-40/metadata/hesai_points_undistorted.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0a1e2daf0f452ee54f85409ddac3ce90ab177a1f --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/livox_imu.yaml b/2024-11-11-12-07-40/metadata/livox_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..81d97abbb08c9b2f16448f66f883f16492cffa07 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/livox_points.yaml b/2024-11-11-12-07-40/metadata/livox_points.yaml new file mode 100644 index 0000000000000000000000000000000000000000..186ba1e78ad9ffb774488861b547a64ddc80e72a --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/livox_points_undistorted.yaml b/2024-11-11-12-07-40/metadata/livox_points_undistorted.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a028990de1269e9749daaebe4a4f59e2edb172a0 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/navsatfix_cpt7_ie_tc.yaml b/2024-11-11-12-07-40/metadata/navsatfix_cpt7_ie_tc.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6704c16b5095431b5fb0a3a59cde19039083c02e --- /dev/null +++ b/2024-11-11-12-07-40/metadata/navsatfix_cpt7_ie_tc.yaml @@ -0,0 +1,2 @@ +frame_id: enu_origin +topic: navsatfix_cpt7_ie_tc diff --git a/2024-11-11-12-07-40/metadata/prism_position.yaml b/2024-11-11-12-07-40/metadata/prism_position.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2ece0e648bbe8f4ada5545f51f61cc24e8fdf0fe --- /dev/null +++ b/2024-11-11-12-07-40/metadata/prism_position.yaml @@ -0,0 +1,2 @@ +frame_id: leica_total_station +topic: prism_position diff --git a/2024-11-11-12-07-40/metadata/stim320_imu.yaml b/2024-11-11-12-07-40/metadata/stim320_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..21d5bbe0f18350ea1f5821e979bfa5f06e46fb27 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/tf.yaml b/2024-11-11-12-07-40/metadata/tf.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e51dffed486dd2ce848260235baa5660ffaf2a89 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/velodyne_points.yaml b/2024-11-11-12-07-40/metadata/velodyne_points.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f65d5af5a8c90062c81140acf4a43b3cfef8019a --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/velodyne_points_undistorted.yaml b/2024-11-11-12-07-40/metadata/velodyne_points_undistorted.yaml new file mode 100644 index 0000000000000000000000000000000000000000..728fa5ff983859fcf0700298660e55b442dc4e4b --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/zed2i_depth_caminfo.yaml b/2024-11-11-12-07-40/metadata/zed2i_depth_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe5caf8fc3a7459641be820165a32eb12fc4a8d5 --- /dev/null +++ b/2024-11-11-12-07-40/metadata/zed2i_depth_caminfo.yaml @@ -0,0 +1,52 @@ +camera_info: + D: + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: + - 1051.9447021484375 + - 0.0 + - 956.3421020507812 + - 0.0 + - 1051.9447021484375 + - 553.9556884765625 + - 0.0 + - 0.0 + - 1.0 + P: + - 1051.9447021484375 + - 0.0 + - 956.3421020507812 + - 0.0 + - 0.0 + - 1051.9447021484375 + - 553.9556884765625 + - 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/2024-11-11-12-07-40/metadata/zed2i_depth_confidence_image.yaml b/2024-11-11-12-07-40/metadata/zed2i_depth_confidence_image.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ec5b9f6c7bbb894197cee4662403771db7619cb --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/zed2i_depth_image.yaml b/2024-11-11-12-07-40/metadata/zed2i_depth_image.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8438ba6a39902ce78192bf7df414a3801e8ada65 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/zed2i_left_caminfo.yaml b/2024-11-11-12-07-40/metadata/zed2i_left_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..55ba1db58115555683cef0424d1dbcafa56459a1 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/zed2i_left_images.yaml b/2024-11-11-12-07-40/metadata/zed2i_left_images.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4e8831bf7ed6bcd2bb07456e4cd3fc40488b9c72 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/zed2i_right_caminfo.yaml b/2024-11-11-12-07-40/metadata/zed2i_right_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..42436c2b86d460bba0fdfb6f9cf97d4cb36f4b14 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/zed2i_right_images.yaml b/2024-11-11-12-07-40/metadata/zed2i_right_images.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4f7e5a68a2a82c2b33779c6b35ac7bffd69543b5 --- /dev/null +++ b/2024-11-11-12-07-40/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/2024-11-11-12-07-40/metadata/zed2i_vio_map.yaml b/2024-11-11-12-07-40/metadata/zed2i_vio_map.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d81e3809fc1e98b2f0949315fe072bf14ddc82f6 --- /dev/null +++ b/2024-11-11-12-07-40/metadata/zed2i_vio_map.yaml @@ -0,0 +1,2 @@ +frame_id: zed2i_map +topic: zed2i_vio_map