Upload folder sequences/2024-03-13-observatory-quarter-01 from Google Drive
Browse files- .gitattributes +4 -0
- sequences/2024-03-13-observatory-quarter-01/processed/colmap/database.db +3 -0
- sequences/2024-03-13-observatory-quarter-01/processed/colmap/evo_align_results.json +25 -0
- sequences/2024-03-13-observatory-quarter-01/processed/colmap/images.zip +3 -0
- sequences/2024-03-13-observatory-quarter-01/processed/colmap/sparse.zip +3 -0
- sequences/2024-03-13-observatory-quarter-01/processed/colmap/transforms_colmap.json +0 -0
- sequences/2024-03-13-observatory-quarter-01/processed/colmap/transforms_colmap_scaled.json +0 -0
- sequences/2024-03-13-observatory-quarter-01/processed/trajectory/colmap-tum.txt +367 -0
- sequences/2024-03-13-observatory-quarter-01/processed/trajectory/gt-tum.txt +0 -0
- sequences/2024-03-13-observatory-quarter-01/processed/trajectory/hba-tum.txt +366 -0
- sequences/2024-03-13-observatory-quarter-01/processed/trajectory/vilens-slam-tum.txt +366 -0
- sequences/2024-03-13-observatory-quarter-01/processed/vilens-slam/slam-poses.csv +366 -0
- sequences/2024-03-13-observatory-quarter-01/processed/vilens-slam/undist-clouds.zip +3 -0
- sequences/2024-03-13-observatory-quarter-01/raw/images.zip +3 -0
- sequences/2024-03-13-observatory-quarter-01/raw/imu.csv +3 -0
- sequences/2024-03-13-observatory-quarter-01/raw/lidar-clouds.zip +3 -0
- sequences/2024-03-13-observatory-quarter-01/raw/ros2bag/1710338090_2024-03-13-13-54-51/1710338090_2024-03-13-13-54-51_blurred_filtered_compressed.db3 +3 -0
- sequences/2024-03-13-observatory-quarter-01/raw/ros2bag/1710338090_2024-03-13-13-54-51/metadata.yaml +57 -0
- sequences/2024-03-13-observatory-quarter-01/raw/rosbag/1710338090_2024-03-13-13-54-51_0.bag +3 -0
.gitattributes
CHANGED
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sequences/2024-03-12-keble-college-05/raw/ros2bag/1710257614_2024-03-12-15-42-11_1/1710257614_2024-03-12-15-42-11_1_blurred_filtered.db3 filter=lfs diff=lfs merge=lfs -text
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sequences/2024-03-12-keble-college-05/raw/rosbag/1710257614_2024-03-12-15-33-35_0.bag filter=lfs diff=lfs merge=lfs -text
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sequences/2024-03-13-observatory-quarter-01/processed/colmap/database.db filter=lfs diff=lfs merge=lfs -text
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sequences/2024-03-13-observatory-quarter-01/raw/rosbag/1710338090_2024-03-13-13-54-51_0.bag filter=lfs diff=lfs merge=lfs -text
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sequences/2024-03-13-observatory-quarter-01/processed/colmap/database.db
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sequences/2024-03-13-observatory-quarter-01/processed/colmap/evo_align_results.json
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sequences/2024-03-13-observatory-quarter-01/processed/colmap/images.zip
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sequences/2024-03-13-observatory-quarter-01/processed/colmap/sparse.zip
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sequences/2024-03-13-observatory-quarter-01/processed/colmap/transforms_colmap.json
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sequences/2024-03-13-observatory-quarter-01/processed/colmap/transforms_colmap_scaled.json
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sequences/2024-03-13-observatory-quarter-01/processed/trajectory/colmap-tum.txt
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| 1 |
+
# timestamp tx ty tz qx qy qz qw
|
| 2 |
+
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|
sequences/2024-03-13-observatory-quarter-01/processed/trajectory/gt-tum.txt
ADDED
|
The diff for this file is too large to render.
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sequences/2024-03-13-observatory-quarter-01/processed/trajectory/hba-tum.txt
ADDED
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| 1 |
+
# timestamp tx ty tz qx qy qz qw
|
| 2 |
+
1710338099.393272436 0.0122583 -0.00518185 -0.0566214 -0.014055503860418714 0.011517203163261547 0.004149391139652299 0.9998262746075924
|
| 3 |
+
1710338100.993248805 1.03944 -0.0682054 0.0110353 0.026725608365527505 0.033052910346070496 0.02343570733573769 0.9988213126464717
|
| 4 |
+
1710338101.893236805 2.03923 -0.0862068 -0.0260112 -0.006342332457161306 0.013260405137377362 -0.005210272018575786 0.999878387375229
|
| 5 |
+
1710338102.848298000 3.20294 0.0192409 -0.0341635 -0.038684987619974055 0.009715016890985972 -0.005750638159672317 0.9991876802385058
|
| 6 |
+
1710338103.693212905 4.29325 0.08019 -0.0403076 -0.023600698881123334 -0.01667579920942286 0.006389649697075663 0.999561952612142
|
| 7 |
+
1710338104.593198822 5.39064 0.0935005 -0.0581595 0.008333526859127399 0.035004386806988474 0.02147619190571004 0.9991216234350969
|
| 8 |
+
1710338105.493186522 6.42064 0.144784 -0.0716255 0.01311309755699592 0.03455299356268782 0.022173095869094966 0.9990708138705169
|
| 9 |
+
1710338106.343174822 7.44808 0.231184 -0.0783624 -0.0032286109694097467 0.04875921464024591 0.052086415639257845 0.9974462994892151
|
| 10 |
+
1710338107.143163822 8.47065 0.27098 -0.0942874 0.026247295346566776 0.03799259326422022 0.04315089234969562 0.9980008230625235
|
| 11 |
+
1710338107.943152822 9.50319 0.272901 -0.102768 0.01269189394689841 0.03414128371711411 0.0806896615169556 0.996073524946059
|
| 12 |
+
1710338108.743141822 10.6184 0.327974 -0.12913 0.01940830610951694 -0.0001916570603315293 0.07175652258814799 0.9972333139178551
|
| 13 |
+
1710338109.543130822 11.7387 0.468702 -0.0889846 0.016982000058886948 -0.023049700079927682 0.06178130021423352 0.9976790034595618
|
| 14 |
+
1710338110.343119822 12.865 0.564112 -0.112825 0.039734201269795 -0.019208300613844376 0.032309901032534845 0.9985030319093918
|
| 15 |
+
1710338111.043110222 13.9021 0.640747 -0.113179 0.027392700715100988 -0.030534700797124392 0.056526601475656926 0.9975580260417815
|
| 16 |
+
1710338111.831482000 15.0757 0.656823 -0.143548 0.03366400165438358 -0.017450100857567596 0.052495002579814196 0.9979010490408452
|
| 17 |
+
1710338112.543089622 16.0768 0.721576 -0.15084 0.03881210140572173 -0.02875430104144172 0.0448109016229901 0.9978270361399438
|
| 18 |
+
1710338113.343078622 17.2243 0.756733 -0.15477 0.048089881203934606 -0.01973589228617112 0.059118576893337826 0.9968966103601549
|
| 19 |
+
1710338114.043069022 18.2575 0.806364 -0.194543 0.04300830513865884 -0.02401650286950674 0.056685806772855174 0.9971761191432178
|
| 20 |
+
1710338114.743059422 19.2629 0.893633 -0.195746 0.01548639992301478 -0.022856499886376724 0.08086029959803125 0.9963429950470295
|
| 21 |
+
1710338115.443047108 20.2798 0.945278 -0.184958 0.027845809180780386 -0.014211804685640761 0.10184103357705138 0.9943093278243963
|
| 22 |
+
1710338116.143037608 21.286 1.07232 -0.206453 0.030852014828821932 -0.02591921245790252 0.06917433324819713 0.9967904791009149
|
| 23 |
+
1710338116.843027908 22.2773 1.21194 -0.214781 0.03680631700920065 -0.04101571895447975 0.05614692594702217 0.9969004606948305
|
| 24 |
+
1710338117.643017008 23.4155 1.30491 -0.218495 0.047640085456990985 -0.025627692176677264 0.06385878050593709 0.9964916958026506
|
| 25 |
+
1710338118.443005908 24.5364 1.35306 -0.261058 0.04139770401108541 -0.04457130431858025 0.04706020455973356 0.9970380966045114
|
| 26 |
+
1710338119.242991234 25.6639 1.36018 -0.26151 0.03440928873723561 -0.007570727521968412 0.011783996142891164 0.9993096729083986
|
| 27 |
+
1710338120.042979734 26.7894 1.32098 -0.340316 0.04414141664108391 -0.019994407537787584 0.024552509256167972 0.9985233764381068
|
| 28 |
+
1710338120.742969834 27.7991 1.32372 -0.364253 0.04021081225782548 -0.0010794003290435228 0.06433511961185615 0.9971173039602833
|
| 29 |
+
1710338121.542958334 28.9343 1.4616 -0.386107 0.03472620824524027 -0.026594006314365592 0.08423772000103878 0.9954852363636971
|
| 30 |
+
1710338122.242948434 29.9404 1.59381 -0.42473 0.04419088122330985 -0.023114190178788574 0.08028516588686072 0.9955235770023757
|
| 31 |
+
1710338123.042936934 31.0332 1.82299 -0.387775 0.03983441039472363 -0.03543990924798568 0.18977804952226868 0.9803782558280872
|
| 32 |
+
1710338123.842925534 32.0535 2.34427 -0.457838 0.05278247988912263 -0.022497891427983197 0.34085687012867283 0.938362642470455
|
| 33 |
+
1710338124.742912734 32.7842 3.24545 -0.425293 0.035043604816832136 -0.031169004284258173 0.548357075373067 0.8349281147629815
|
| 34 |
+
1710338125.542901234 33.0264 4.22324 -0.458879 0.03948762373660256 0.004168322505641031 0.7127224284281349 0.7003214209737033
|
| 35 |
+
1710338126.342889834 33.0654 5.31581 -0.397468 0.0421576161289044 -0.00260091099507187 0.7597232906593273 0.6488732482496773
|
| 36 |
+
1710338127.042879734 33.0617 6.35221 -0.38896 0.030790258491459752 -0.02333246854535309 0.7491709900378976 0.6612491085659363
|
| 37 |
+
1710338127.742869834 33.0282 7.34714 -0.33337 0.05861585299398318 0.0042852365635248635 0.7518613970571489 0.6566964733730903
|
| 38 |
+
1710338128.542858334 33.0112 8.5043 -0.298517 0.04589226368580342 0.004234536649243559 0.7443804109774845 0.6661634728699484
|
| 39 |
+
1710338129.342846934 32.9364 9.68319 -0.238186 0.04129261081118736 -0.013041203414434044 0.7539411973960809 0.6555131716257598
|
| 40 |
+
1710338130.142835534 32.8211 10.8377 -0.196221 0.04801023490276604 0.0052909228260207275 0.7445579904513947 0.6658080972286314
|
| 41 |
+
1710338130.942824034 32.69 11.9598 -0.170493 0.06925214255067512 0.001745438552040901 0.7475523798548616 0.6605804520039439
|
| 42 |
+
1710338131.642814134 32.5905 12.9698 -0.109164 0.057681819858502834 0.011258103875901981 0.7564082604136904 0.6514542242804678
|
| 43 |
+
1710338132.442802634 32.4412 14.1485 -0.0684201 0.04932824334618561 -0.02385792096466044 0.7716476780696255 0.6336855568382312
|
| 44 |
+
1710338133.142792734 32.3163 15.2133 -0.0197496 0.0295190824030153 -0.026471784219577632 0.7799435350582292 0.6245926276663766
|
| 45 |
+
1710338133.942781234 32.2087 16.3583 0.0588858 0.029138027569367373 -0.03619833424957897 0.7979967550362029 0.6008675685195642
|
| 46 |
+
1710338134.642771234 32.0527 17.3604 0.0984793 0.0411776512221418 -0.018381178226186456 0.797782054970383 0.6012572877679551
|
| 47 |
+
1710338135.342761234 31.9484 18.3528 0.167465 0.007916786926209883 -0.012121210604560728 0.7869886885178136 0.6167975396215977
|
| 48 |
+
1710338136.100045000 31.8604 19.4525 0.266517 0.028303311015130086 -0.010600166673352951 0.8135684421620863 0.5806831743472802
|
| 49 |
+
1710338136.842739834 31.7778 20.5206 0.359695 0.06674487628636559 -0.02722303111468949 0.7882949009853094 0.6110606984146564
|
| 50 |
+
1710338137.642728434 31.6426 21.6445 0.446921 0.04500782490419556 0.0024644968393883193 0.800330221049399 0.5978626591682592
|
| 51 |
+
1710338138.542715434 31.2664 22.7313 0.50027 0.033260210158860465 -0.023455607164183156 0.885618270499566 0.46262714130291244
|
| 52 |
+
1710338139.442702634 30.4537 23.4858 0.51327 -0.022865906099217743 -0.01686820449939974 0.9793402612277626 0.20021305340453152
|
| 53 |
+
1710338140.242691234 29.397 23.798 0.494385 0.007379227163592275 -0.008948796560285133 0.9971226167286582 0.0749129712051512
|
| 54 |
+
1710338140.942681234 28.3951 23.86 0.539873 0.010984493405040102 0.017310789606806987 0.9985224004989638 0.05032586978494316
|
| 55 |
+
1710338141.642671234 27.3637 23.842 0.564141 -0.01791631446638295 0.0030575924688278633 -0.9997648072519921 0.011831609553337254
|
| 56 |
+
1710338142.392660434 26.3012 23.8025 0.565142 -0.05238902349535596 0.022503010092118303 -0.9980274475939531 0.026272011782435087
|
| 57 |
+
1710338143.092650434 25.2823 23.7835 0.614811 -0.04541092183086466 0.005722152750870069 -0.9983844799637538 0.03366801618557557
|
| 58 |
+
1710338143.792640534 24.2439 23.8478 0.606137 -0.05299854796025978 -0.01226311109732292 -0.9976289027896648 0.04215853815075167
|
| 59 |
+
1710338144.492630434 23.2091 23.8662 0.580939 -0.07189428731934083 -0.0033382094112092142 -0.9966438242127285 0.03900199312085845
|
| 60 |
+
1710338145.192620534 22.169 23.8609 0.584634 -0.05437365360443465 -0.0033966671017157113 -0.9975761487953011 0.04328736306406594
|
| 61 |
+
1710338145.892610434 21.1656 23.8498 0.582339 -0.03663489779580828 0.0029121098247892885 -0.9976979399720577 0.056993196570921764
|
| 62 |
+
1710338146.592600434 20.1603 23.742 0.554683 -0.04112357940060312 -0.0003554848219323725 -0.9989744995991956 0.01893869051333545
|
| 63 |
+
1710338147.292590534 19.141 23.6262 0.577503 -0.07018141907665125 -0.001884750512311073 -0.9975052711410002 0.007365472002076081
|
| 64 |
+
1710338147.992580434 18.1329 23.5637 0.569183 -0.04124965251095858 0.016218981327748794 -0.9979238511309982 0.04672684620528902
|
| 65 |
+
1710338148.792569034 17.012 23.4989 0.53912 -0.04588461111937454 0.002761240669140741 -0.9989252420729656 0.005944641440585267
|
| 66 |
+
1710338149.492559034 16.0072 23.4585 0.555971 -0.07965047025587586 -0.006589137539397827 -0.9967976277627456 0.0026220490208400385
|
| 67 |
+
1710338150.192549034 14.9753 23.522 0.574145 -0.08044488253207575 -0.0005691738764087573 -0.9966847835783487 0.012154797360688793
|
| 68 |
+
1710338150.892539034 13.8719 23.6493 0.508158 0.051269817676060966 -0.015481105337350254 0.9981823441387697 0.02763600952794084
|
| 69 |
+
1710338151.592529034 12.8203 23.7787 0.491555 0.050390706443074966 0.00854471109254673 0.9971211274942664 0.05601090716168711
|
| 70 |
+
1710338152.292519034 11.8072 23.9856 0.4993 0.01734137253859173 0.017122872884603346 0.9980894194480017 0.05677671008967651
|
| 71 |
+
1710338152.992509034 10.7728 24.1426 0.483237 0.019635907153050518 0.007790712838033453 0.9955523626639854 0.09181083344523508
|
| 72 |
+
1710338153.692499034 9.76783 24.4535 0.480468 0.034915696618299866 0.008111049214417854 0.985751904526683 0.16434198408293782
|
| 73 |
+
1710338154.392489034 8.83545 24.9126 0.522328 0.029185288674905104 0.004215538364197302 0.9681796243064017 0.24851290356675082
|
| 74 |
+
1710338155.192477634 7.84033 25.4204 0.537342 0.027364706661464563 0.001293400314855142 0.949886231233374 0.31139307580325865
|
| 75 |
+
1710338155.992466134 6.87953 25.994 0.590414 0.05406708704693543 -0.008822167886438637 0.9560287709604296 0.2881109309761318
|
| 76 |
+
1710338156.692456234 6.00915 26.5718 0.605737 0.019856213888796076 -0.007941695554966044 0.9715926795984711 0.23569116485854485
|
| 77 |
+
1710338157.392446134 5.1562 27.2258 0.630941 0.03429104144525377 -0.016393219813372162 0.9578541576932925 0.28472934413302825
|
| 78 |
+
1710338158.192434734 4.23733 28.0021 0.679226 0.02391221798816936 -0.003451312596279177 0.9416037083293978 0.33585525264997035
|
| 79 |
+
1710338159.092421834 3.43738 28.9888 0.697924 0.047655502817667686 -0.009638720569896675 0.9073770536493555 0.4174960246847686
|
| 80 |
+
1710338159.892410434 2.89866 29.9402 0.766898 0.03738190201209647 -0.019483401048702276 0.8812990474362882 0.4706750253342792
|
| 81 |
+
1710338160.692399034 2.52729 30.9803 0.756538 0.05027172199189022 -0.020358968408389355 0.8086227452362995 0.5858220909626287
|
| 82 |
+
1710338161.492387534 2.29185 32.0461 0.817928 0.039197523245175746 -0.027005916015227727 0.7892414680412206 0.612235363071884
|
| 83 |
+
1710338162.292376134 2.22477 33.1458 0.852898 0.048284114688228706 -0.02816605023424068 0.773499633326421 0.6313268845272375
|
| 84 |
+
1710338163.092364634 2.18041 34.2782 0.883805 0.050249377061620616 -0.04729427841059597 0.7419346613136374 0.6669116955609325
|
| 85 |
+
1710338163.792354734 2.17228 35.2915 0.935775 0.030825922729012238 -0.0315770232828243 0.7033965186384266 0.7094265230845558
|
| 86 |
+
1710338164.592343234 2.24742 36.3851 0.921609 0.05441216131726207 -0.023702683149269377 0.6836545139757777 0.727388482884389
|
| 87 |
+
1710338165.392331834 2.50739 37.4601 0.968723 0.02907850527560465 -0.03008850545884556 0.6477921175265055 0.760667138004999
|
| 88 |
+
1710338166.292319034 2.95001 38.6357 0.977307 0.03801321400476928 -0.04353301603836646 0.5908642176852781 0.8046982964656975
|
| 89 |
+
1710338167.092307534 3.44988 39.6556 1.02485 0.04103709402462509 -0.016582197585480296 0.5218979240069052 0.8518588759615834
|
| 90 |
+
1710338167.792297634 3.96551 40.5303 1.01211 0.04447159938072059 -0.023139999677768808 0.49845999305880506 0.8654619879481997
|
| 91 |
+
1710338168.692284734 4.72858 41.5212 1.06823 0.0450774006534285 -0.034702800503040976 0.4604190066740957 0.8858770128414073
|
| 92 |
+
1710338169.492273234 5.56567 42.3227 1.05968 0.027289698526853264 -0.03658069802530861 0.39303097878348486 0.9183919504235598
|
| 93 |
+
1710338170.192263334 6.38162 42.9645 1.07404 0.05344588182589907 -0.00850498710790637 0.3226038902995806 0.9449856786606466
|
| 94 |
+
1710338170.892253234 7.24632 43.5126 1.11277 0.07775643636710589 -0.011836205535857403 0.2694631260293617 0.9597934489005879
|
| 95 |
+
1710338171.592243234 8.14271 44.0364 1.097 0.05649250279940669 -0.014508400718943326 0.21547901067775993 0.9747650483031135
|
| 96 |
+
1710338172.292233334 9.10878 44.5004 1.11554 0.05335171361956051 -0.03740190954791389 0.21140105396620368 0.9752252489543144
|
| 97 |
+
1710338172.948075000 10.0886 44.7685 1.14676 0.06801112863138331 -0.0172345072553981 0.16659307013249378 0.9835264140457944
|
| 98 |
+
1710338173.692213334 11.1741 45.0836 1.15295 0.060034494557023324 -0.006752839387759724 0.15043098636130198 0.9867729105350693
|
| 99 |
+
1710338174.392203234 12.2106 45.3639 1.15342 0.04883458700835559 -0.03561149052614454 0.15809295794195025 0.9855727378044679
|
| 100 |
+
1710338175.092193234 13.2491 45.5846 1.21407 0.029351993425399438 -0.037992291490045016 0.1482639667901141 0.9877817787451592
|
| 101 |
+
1710338175.792183234 14.2891 45.7544 1.2328 0.034641495382747974 -0.029077496124355395 0.1058139858963988 0.9933568675987005
|
| 102 |
+
1710338176.592171834 15.4705 45.8775 1.21628 0.0462775022932007 -0.038971001931140115 0.0779215038612639 0.9951220493115331
|
| 103 |
+
1710338177.392160434 16.6127 45.9494 1.25243 0.026538393879869025 -0.03182419266088832 0.02433229438862658 0.998844769652194
|
| 104 |
+
1710338178.192149034 17.7853 45.9925 1.22435 0.007858828602681035 -0.03887139308857068 -0.02474699559992359 0.9989068223919207
|
| 105 |
+
1710338178.942138234 18.8707 46.0261 1.26884 0.01472179549653766 -0.036182588931586324 -0.003179629027337515 0.9992316943306064
|
| 106 |
+
1710338179.642128334 19.8854 46.073 1.23893 0.041698103231600836 -0.045951503561239115 0.09561950741050687 0.9934820769948096
|
| 107 |
+
1710338180.342118234 20.8918 46.2567 1.22413 0.02722729798734595 -0.05283309609455433 0.15119198882382068 0.9867159270615177
|
| 108 |
+
1710338181.042108234 21.9215 46.49 1.23627 0.03439528140584883 -0.021839088193749245 0.14189792328972667 0.989042465321859
|
| 109 |
+
1710338181.742098234 22.9088 46.721 1.24494 0.03737799277892965 -0.02194169576107441 0.195362962257746 0.9797728107172728
|
| 110 |
+
1710338182.442088234 23.8423 47.0956 1.23204 0.03529740431837207 -0.04126770504879351 0.27310203341198075 0.9604511175039742
|
| 111 |
+
1710338183.142078334 24.7882 47.498 1.26577 0.03921149113016292 -0.04209329047828547 0.30100193191184466 0.9518867846784076
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| 112 |
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1710338362.639301413 28.3458 34.1857 0.796757 0.03327668299805676 -0.035884765990379375 0.8521454430393773 0.5210116024098559
|
| 335 |
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1710338363.339290613 27.9257 35.192 0.822816 0.02378587098977268 -0.022319972777642416 0.857951953606483 0.5126933746980571
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| 336 |
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1710338364.139278413 27.5008 36.3524 0.81894 0.035974397233972145 -0.007123069452315778 0.8774359325350132 0.4782899632248636
|
| 337 |
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1710338364.839267613 27.1459 37.375 0.895626 0.021491398121348506 -0.0023543897941931125 0.869538923990027 0.49339095687066764
|
| 338 |
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1710338365.539256813 26.7349 38.372 0.91716 0.03226829683579776 -0.0025063597542281935 0.8675779149260341 0.49624695133843816
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| 339 |
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1710338366.189246913 26.305 39.3288 0.912426 0.03620316584125881 -0.010696689907361279 0.8790121706264205 0.47530255153820156
|
| 340 |
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1710338366.889238373 25.8309 40.3167 0.982814 0.032277314356777526 -0.022283409911542096 0.9051644026123055 0.4232481882585399
|
| 341 |
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1710338367.589227673 25.2395 41.1518 1.04402 0.02557325857513771 -0.015518474862386444 0.9315154910839255 0.36246941285364676
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| 342 |
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1710338368.289216973 24.4768 41.8908 1.02262 0.01986759620444144 0.014676897196086447 0.971678814367888 0.23501095510288045
|
| 343 |
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1710338368.989206173 23.68 42.5333 1.04727 0.022233412258123586 0.0007493874131658806 0.9784025394304349 0.20550811330441862
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| 344 |
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1710338369.789193873 22.6972 43.0663 1.13886 0.03362122323199486 -0.0006147964248193194 0.980748677689449 0.1923571329172319
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| 345 |
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1710338370.489183173 21.7994 43.5419 1.12009 0.044576940705628995 0.0023580921533025156 0.9903939043825398 0.13087111950553706
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| 346 |
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1710338371.189181439 20.8608 44.0129 1.16195 0.05030257416812568 -0.018598190449274132 0.9921984904764402 0.11254294220583774
|
| 347 |
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1710338371.889172039 19.8781 44.3578 1.19594 0.03450207282045067 0.012053590504594869 0.9955382157491457 0.08699413146900759
|
| 348 |
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1710338372.589162739 18.8247 44.6157 1.16365 -0.009752505067819712 0.0124938936814043 0.9998164943580978 0.010759594558499768
|
| 349 |
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1710338373.289153439 17.83 44.8214 1.16689 0.016718474779522895 -0.0011196383109813857 0.9997454918445835 0.015105977212038922
|
| 350 |
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1710338373.989138085 16.7914 44.9941 1.19298 0.008468125150994633 0.022689987007293078 0.9997034275512952 0.0025519185387238943
|
| 351 |
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1710338374.689128885 15.7781 45.1694 1.22021 -0.013199002583181987 -0.027510505384091832 -0.9986021954368294 0.04315800844647089
|
| 352 |
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1710338375.389119485 14.7542 45.3014 1.20672 -0.03687343006533646 0.012119409881752974 -0.9959888120952863 0.08062106573566553
|
| 353 |
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1710338376.089110185 13.7191 45.3895 1.18566 -0.059010128077638745 0.020456109733231753 -0.9915194717753786 0.11396705422672147
|
| 354 |
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1710338376.889099585 12.463 45.3093 1.18502 -0.010041810251634451 0.014306314605245563 -0.9762009965987712 0.2161622206789425
|
| 355 |
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1710338377.589090285 11.4496 45.1337 1.13292 -0.030633091327849478 0.007794957793267332 -0.9850467211357696 0.16936295205377752
|
| 356 |
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1710338378.289070251 10.4461 44.8921 1.10967 -0.010138387706649425 -0.018795677209211714 -0.979355812477419 0.20101275626101947
|
| 357 |
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1710338378.989059551 9.42899 44.5806 1.10159 -0.02641218351893679 -0.018895988209002956 -0.9558864035319262 0.2919358178335896
|
| 358 |
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1710338379.789047351 8.38299 44.2088 1.07877 -0.04205771897277887 0.00972926438899635 -0.9528324298349843 0.3004111355193332
|
| 359 |
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1710338380.589035051 7.3506 43.731 1.0807 -0.015174800725400197 0.007267090347388483 -0.9353810447139709 0.3532410168859617
|
| 360 |
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1710338381.289024351 6.49217 43.2043 1.03626 0.05664866456425527 0.04632927101940143 -0.8913294424418854 0.44741072012875877
|
| 361 |
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1710338382.189010651 5.62191 42.5731 1.00001 -0.03051698186746312 -0.0017874089379599223 -0.8847844742800196 0.46499672370890804
|
| 362 |
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1710338382.988998351 4.90572 41.731 0.968706 0.019663707053597837 0.04902381758540719 -0.9251523318627802 0.3759031348407773
|
| 363 |
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1710338383.888984551 4.36277 40.7652 0.920335 -0.004073940563819941 0.04911070679675955 -0.9181031270624455 0.39326605442672513
|
| 364 |
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1710338384.788970851 3.82345 39.7044 0.90432 -0.005089011227451155 0.026335706352077604 -0.8830832129964867 0.46844911298823694
|
| 365 |
+
1710338385.688957051 3.32296 38.7191 0.902375 0.01208579630975591 0.04567698605311343 -0.8868217292202711 0.45968985963955145
|
| 366 |
+
1710338386.638942551 2.88645 37.7465 0.829172 0.0038054740351590394 0.06205156579677995 -0.8737159264503418 0.4824475115663437
|
sequences/2024-03-13-observatory-quarter-01/processed/trajectory/vilens-slam-tum.txt
ADDED
|
@@ -0,0 +1,366 @@
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| 1 |
+
# timestamp tx ty tz qx qy qz qw
|
| 2 |
+
1710338099.393272436 0.0122583 -0.00518185 -0.0566214 -0.014055503860418714 0.011517203163261547 0.004149391139652299 0.9998262746075924
|
| 3 |
+
1710338100.993248805 1.03895 -0.055867 0.0167665 0.025245495680451875 0.03319949431950886 0.023312996011106143 0.9988578290936921
|
| 4 |
+
1710338101.893236805 2.03873 -0.0726681 -0.0197235 -0.00790724693871125 0.013401394811653589 -0.005351067928335329 0.9998646129026564
|
| 5 |
+
1710338102.848298000 3.20243 0.0335308 -0.0278408 -0.040346813197014796 0.009896323236982307 -0.005896461928670174 0.9991193268013376
|
| 6 |
+
1710338103.693212905 4.29262 0.0954459 -0.0339442 -0.025385294382939103 -0.016448296360448422 0.006265378613645669 0.999522778833358
|
| 7 |
+
1710338104.593198822 5.38991 0.11138 -0.0496574 0.006021841829752677 0.03532271073289994 0.021229306450581256 0.9991323035890116
|
| 8 |
+
1710338105.493186522 6.41994 0.162234 -0.0634305 0.010692000483940374 0.03487670157858602 0.021917700992037017 0.9990940452209056
|
| 9 |
+
1710338106.343174822 7.4473 0.249634 -0.0707482 -0.005677409967515483 0.049186599718568424 0.05178659970369187 0.9974299942929908
|
| 10 |
+
1710338107.143163822 8.46997 0.288218 -0.0871173 0.02373440980821248 0.03840771587193603 0.0428595177116372 0.9980604124471033
|
| 11 |
+
1710338107.943152822 9.50246 0.290606 -0.0960452 0.01017809581927605 0.034664785761196804 0.08038926697954697 0.9961085908414377
|
| 12 |
+
1710338108.743141822 10.6174 0.351157 -0.118357 0.01624420529734068 0.000525327171312151 0.07140022328407551 0.9973153252309945
|
| 13 |
+
1710338109.543130822 11.7378 0.491529 -0.0797022 0.013736693293339926 -0.022334389095690188 0.061485369981023275 0.9977635128623332
|
| 14 |
+
1710338110.343119822 12.8642 0.58624 -0.104921 0.03640541340966982 -0.01858300684491565 0.031980711779863086 0.9986523678463521
|
| 15 |
+
1710338111.043110222 13.9013 0.662271 -0.106589 0.024042303324559238 -0.029802604121091036 0.05623280777584819 0.9976831379591901
|
| 16 |
+
1710338111.831482000 15.0749 0.67735 -0.138117 0.030291607947136447 -0.01673160438961019 0.05215461368299209 0.9980392618399864
|
| 17 |
+
1710338112.543089622 16.0759 0.744637 -0.143227 0.034898007721510846 -0.027872806167118958 0.044394309822656554 0.9980152208202083
|
| 18 |
+
1710338113.343078622 17.2235 0.778707 -0.148961 0.04418787846365717 -0.018797090838650665 0.058658271411059136 0.9971225140211966
|
| 19 |
+
1710338114.043069022 18.2567 0.827127 -0.190306 0.03908081675120351 -0.023063709885794093 0.05624112410662307 0.997385427509138
|
| 20 |
+
1710338114.743059422 19.2621 0.913508 -0.193397 0.011554005127938681 -0.02179040967109569 0.08042533569465186 0.9964554422503158
|
| 21 |
+
1710338115.443047108 20.2791 0.964228 -0.184418 0.02393610730096659 -0.013071403987026331 0.10136603091856149 0.9944753033338244
|
| 22 |
+
1710338116.143037608 21.2851 1.0932 -0.204388 0.026332292120503295 -0.024646492624950778 0.06861997946662232 0.9969907016672571
|
| 23 |
+
1710338116.843027908 22.2766 1.23167 -0.21559 0.03223428443780294 -0.03979498078761967 0.05564237313675197 0.9971365185984348
|
| 24 |
+
1710338117.643017008 23.4149 1.3234 -0.222027 0.04305209525841664 -0.024356297317496 0.0632540930334504 0.9967708902196918
|
| 25 |
+
1710338118.443005908 24.5357 1.36981 -0.266963 0.03675608240155325 -0.04336317923814126 0.04654327771554135 0.9972975225038639
|
| 26 |
+
1710338119.242991234 25.6632 1.37566 -0.269541 0.029710888008853527 -0.0065243573668059 0.01110079551978172 0.9994755966172976
|
| 27 |
+
1710338120.042979734 26.7907 1.32941 -0.340976 0.03924020632556005 -0.018544902989456657 0.02350500378902975 0.9987811610045096
|
| 28 |
+
1710338120.742969834 27.7975 1.33982 -0.374416 0.03497469834174793 0.00041890298013846916 0.06355899698648325 0.9973649527120296
|
| 29 |
+
1710338121.542958334 28.9328 1.47636 -0.400682 0.02948829681213293 -0.02499979729736712 0.08360379096191362 0.9957488923533918
|
| 30 |
+
1710338122.242948434 29.9389 1.60728 -0.443202 0.038855190243727564 -0.021541494591078125 0.07962028000789242 0.9958347499527075
|
| 31 |
+
1710338123.042936934 31.032 1.83523 -0.411401 0.03460159197794707 -0.03327079228648078 0.18919895613600568 0.9807647726189331
|
| 32 |
+
1710338123.842925534 32.0511 2.36404 -0.488271 0.04607081254025852 -0.019042805183361877 0.3403890926523101 0.9389622555811099
|
| 33 |
+
1710338124.742912734 32.7827 3.2655 -0.469039 0.02898020957075566 -0.026031108596810792 0.5480571809966676 0.835533275936059
|
| 34 |
+
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sequences/2024-03-13-observatory-quarter-01/processed/vilens-slam/slam-poses.csv
ADDED
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@@ -0,0 +1,366 @@
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| 1 |
+
# counter, sec, nsec, x, y, z, qx, qy, qz, qw
|
| 2 |
+
0, 1710338099, 393272436, 0.0122583, -0.00518185, -0.0566214, -0.0140555, 0.0115172, 0.00414939, 0.999826
|
| 3 |
+
1, 1710338100, 993248805, 1.03895, -0.055867, 0.0167665, 0.0252455, 0.0331995, 0.023313, 0.998858
|
| 4 |
+
2, 1710338101, 893236805, 2.03873, -0.0726681, -0.0197235, -0.00790725, 0.0134014, -0.00535107, 0.999865
|
| 5 |
+
3, 1710338102, 848298000, 3.20243, 0.0335308, -0.0278408, -0.0403468, 0.00989632, -0.00589646, 0.999119
|
| 6 |
+
4, 1710338103, 693212905, 4.29262, 0.0954459, -0.0339442, -0.0253853, -0.0164483, 0.00626538, 0.999523
|
| 7 |
+
5, 1710338104, 593198822, 5.38991, 0.11138, -0.0496574, 0.00602184, 0.0353227, 0.0212293, 0.999132
|
| 8 |
+
6, 1710338105, 493186522, 6.41994, 0.162234, -0.0634305, 0.010692, 0.0348767, 0.0219177, 0.999094
|
| 9 |
+
7, 1710338106, 343174822, 7.4473, 0.249634, -0.0707482, -0.00567741, 0.0491866, 0.0517866, 0.99743
|
| 10 |
+
8, 1710338107, 143163822, 8.46997, 0.288218, -0.0871173, 0.0237344, 0.0384077, 0.0428595, 0.99806
|
| 11 |
+
9, 1710338107, 943152822, 9.50246, 0.290606, -0.0960452, 0.0101781, 0.0346648, 0.0803893, 0.996109
|
| 12 |
+
10, 1710338108, 743141822, 10.6174, 0.351157, -0.118357, 0.0162442, 0.000525327, 0.0714002, 0.997315
|
| 13 |
+
11, 1710338109, 543130822, 11.7378, 0.491529, -0.0797022, 0.0137367, -0.0223344, 0.0614854, 0.997764
|
| 14 |
+
12, 1710338110, 343119822, 12.8642, 0.58624, -0.104921, 0.0364054, -0.018583, 0.0319807, 0.998652
|
| 15 |
+
13, 1710338111, 43110222, 13.9013, 0.662271, -0.106589, 0.0240423, -0.0298026, 0.0562328, 0.997683
|
| 16 |
+
14, 1710338111, 831482000, 15.0749, 0.67735, -0.138117, 0.0302916, -0.0167316, 0.0521546, 0.998039
|
| 17 |
+
15, 1710338112, 543089622, 16.0759, 0.744637, -0.143227, 0.034898, -0.0278728, 0.0443943, 0.998015
|
| 18 |
+
16, 1710338113, 343078622, 17.2235, 0.778707, -0.148961, 0.0441879, -0.0187971, 0.0586583, 0.997123
|
| 19 |
+
17, 1710338114, 43069022, 18.2567, 0.827127, -0.190306, 0.0390808, -0.0230637, 0.0562411, 0.997385
|
| 20 |
+
18, 1710338114, 743059422, 19.2621, 0.913508, -0.193397, 0.011554, -0.0217904, 0.0804253, 0.996455
|
| 21 |
+
19, 1710338115, 443047108, 20.2791, 0.964228, -0.184418, 0.0239361, -0.0130714, 0.101366, 0.994475
|
| 22 |
+
20, 1710338116, 143037608, 21.2851, 1.0932, -0.204388, 0.0263323, -0.0246465, 0.06862, 0.996991
|
| 23 |
+
21, 1710338116, 843027908, 22.2766, 1.23167, -0.21559, 0.0322343, -0.039795, 0.0556424, 0.997137
|
| 24 |
+
22, 1710338117, 643017008, 23.4149, 1.3234, -0.222027, 0.0430521, -0.0243563, 0.0632541, 0.996771
|
| 25 |
+
23, 1710338118, 443005908, 24.5357, 1.36981, -0.266963, 0.0367561, -0.0433632, 0.0465433, 0.997298
|
| 26 |
+
24, 1710338119, 242991234, 25.6632, 1.37566, -0.269541, 0.0297109, -0.00652436, 0.0111008, 0.999476
|
| 27 |
+
25, 1710338120, 42979734, 26.7907, 1.32941, -0.340976, 0.0392402, -0.0185449, 0.023505, 0.998781
|
| 28 |
+
26, 1710338120, 742969834, 27.7975, 1.33982, -0.374416, 0.0349747, 0.000418903, 0.063559, 0.997365
|
| 29 |
+
27, 1710338121, 542958334, 28.9328, 1.47636, -0.400682, 0.0294883, -0.0249998, 0.0836038, 0.995749
|
| 30 |
+
28, 1710338122, 242948434, 29.9389, 1.60728, -0.443202, 0.0388552, -0.0215415, 0.0796203, 0.995835
|
| 31 |
+
29, 1710338123, 42936934, 31.032, 1.83523, -0.411401, 0.0346016, -0.0332708, 0.189199, 0.980765
|
| 32 |
+
30, 1710338123, 842925534, 32.0511, 2.36404, -0.488271, 0.0460708, -0.0190428, 0.340389, 0.938962
|
| 33 |
+
31, 1710338124, 742912734, 32.7827, 3.2655, -0.469039, 0.0289802, -0.0260311, 0.548057, 0.835533
|
| 34 |
+
32, 1710338125, 542901234, 33.0262, 4.24273, -0.516579, 0.0343395, 0.0108022, 0.712256, 0.700996
|
| 35 |
+
33, 1710338126, 342889834, 33.0665, 5.33621, -0.472025, 0.0373619, 0.00449083, 0.759341, 0.649604
|
| 36 |
+
34, 1710338127, 42879734, 33.064, 6.37286, -0.479328, 0.0258895, -0.0163149, 0.748946, 0.661925
|
| 37 |
+
35, 1710338127, 742869834, 33.0286, 7.38317, -0.444985, 0.0533457, 0.0117997, 0.751522, 0.657442
|
| 38 |
+
36, 1710338128, 542858334, 33.0123, 8.54153, -0.430907, 0.0405078, 0.0117191, 0.744057, 0.666784
|
| 39 |
+
37, 1710338129, 342846934, 32.9384, 9.72195, -0.391898, 0.0360102, -0.00547753, 0.753783, 0.656113
|
| 40 |
+
38, 1710338130, 142835534, 32.8238, 10.8778, -0.370816, 0.0426358, 0.0127996, 0.744226, 0.666443
|
| 41 |
+
39, 1710338130, 942824034, 32.6933, 12.0013, -0.365633, 0.0638923, 0.00931327, 0.747243, 0.661407
|
| 42 |
+
40, 1710338131, 642814134, 32.5913, 13.0285, -0.328832, 0.0520342, 0.0194353, 0.756147, 0.65204
|
| 43 |
+
41, 1710338132, 442802634, 32.4421, 14.2087, -0.311377, 0.0438958, -0.0155476, 0.771743, 0.634227
|
| 44 |
+
42, 1710338133, 142792734, 32.3172, 15.2761, -0.28405, 0.0241375, -0.0180052, 0.780088, 0.624945
|
| 45 |
+
43, 1710338133, 942781234, 32.2097, 16.4246, -0.227926, 0.0240394, -0.0275609, 0.798252, 0.601212
|
| 46 |
+
44, 1710338134, 642771234, 32.0535, 17.4285, -0.208494, 0.0360481, -0.00968134, 0.797854, 0.601694
|
| 47 |
+
45, 1710338135, 342761234, 31.9457, 18.4406, -0.163343, 0.0023492, -0.00304037, 0.787169, 0.616725
|
| 48 |
+
46, 1710338136, 100045000, 31.8574, 19.5431, -0.0871715, 0.0231051, -0.00117024, 0.813705, 0.580818
|
| 49 |
+
47, 1710338136, 842739834, 31.7746, 20.6132, -0.0166706, 0.0612024, -0.0180225, 0.788579, 0.611614
|
| 50 |
+
48, 1710338137, 642728434, 31.639, 21.739, 0.047117, 0.0395978, 0.0118159, 0.800328, 0.598136
|
| 51 |
+
49, 1710338138, 542715434, 31.2622, 22.8279, 0.0776302, 0.0294094, -0.0131936, 0.885879, 0.462795
|
| 52 |
+
50, 1710338139, 442702634, 30.4365, 23.6108, 0.0685227, -0.0234485, -0.00444672, 0.979689, 0.199095
|
| 53 |
+
51, 1710338140, 242691234, 29.3882, 23.9085, 0.0488505, 0.00772269, 0.00306031, 0.997178, 0.0746151
|
| 54 |
+
52, 1710338140, 942681234, 28.3865, 23.9705, 0.0954765, 0.0116181, 0.0292952, 0.99825, 0.0500455
|
| 55 |
+
53, 1710338141, 642671234, 27.3555, 23.9524, 0.122762, 0.0192815, 0.00890264, 0.999702, -0.0120001
|
| 56 |
+
54, 1710338142, 392660434, 26.2931, 23.9121, 0.127419, 0.0539003, -0.0105856, 0.998151, -0.0260082
|
| 57 |
+
55, 1710338143, 92650434, 25.2757, 23.9009, 0.177117, 0.0468169, 0.00638151, 0.998323, -0.0334407
|
| 58 |
+
56, 1710338143, 792640534, 24.2373, 23.9645, 0.169131, 0.0544837, 0.0243582, 0.997339, -0.0418588
|
| 59 |
+
57, 1710338144, 492630434, 23.2025, 23.9817, 0.145606, 0.0733248, 0.0154366, 0.996447, -0.0384598
|
| 60 |
+
58, 1710338145, 192620534, 22.1627, 23.976, 0.151466, 0.0558726, 0.0155021, 0.997393, -0.0429525
|
| 61 |
+
59, 1710338145, 892610434, 21.1592, 23.9643, 0.151347, 0.0382864, 0.00918355, 0.997605, -0.0568695
|
| 62 |
+
60, 1710338146, 592600434, 20.1565, 23.8608, 0.124494, 0.0420896, 0.0126948, 0.998859, -0.0186764
|
| 63 |
+
61, 1710338147, 292590534, 19.1373, 23.7453, 0.151711, 0.0709847, 0.014224, 0.997353, -0.00674953
|
| 64 |
+
62, 1710338147, 992580434, 18.1292, 23.6824, 0.146222, 0.0425681, -0.00390095, 0.998006, -0.0464498
|
| 65 |
+
63, 1710338148, 792569034, 17.0084, 23.6165, 0.119437, 0.0466802, 0.00961067, 0.998848, -0.00562599
|
| 66 |
+
64, 1710338149, 492559034, 16.0036, 23.576, 0.138764, 0.0804096, 0.0189487, 0.99658, -0.00189724
|
| 67 |
+
65, 1710338150, 192549034, 14.9738, 23.6456, 0.153327, 0.0811758, 0.0131324, 0.996549, -0.0113549
|
| 68 |
+
66, 1710338150, 892539034, 13.8703, 23.7709, 0.0853994, 0.0515077, -0.0028749, 0.998274, 0.0280731
|
| 69 |
+
67, 1710338151, 592529034, 12.8187, 23.8997, 0.0667007, 0.0502694, 0.021163, 0.996916, 0.0564198
|
| 70 |
+
68, 1710338152, 292519034, 11.8056, 24.1063, 0.0703923, 0.0172107, 0.0297599, 0.997796, 0.056763
|
| 71 |
+
69, 1710338152, 992509034, 10.7712, 24.2627, 0.0514247, 0.019054, 0.020433, 0.995383, 0.0918264
|
| 72 |
+
70, 1710338153, 692499034, 9.76841, 24.5794, 0.0382732, 0.0332461, 0.0208716, 0.985588, 0.164543
|
| 73 |
+
71, 1710338154, 392489034, 8.83597, 25.0393, 0.0690821, 0.0264276, 0.0167945, 0.968091, 0.248635
|
| 74 |
+
72, 1710338155, 192477634, 7.84068, 25.5471, 0.0718607, 0.0237754, 0.0136785, 0.949854, 0.311489
|
| 75 |
+
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sequences/2024-03-13-observatory-quarter-01/processed/vilens-slam/undist-clouds.zip
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type: sensor_msgs/msg/Imu
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type_description_hash: RIHS01_7d9a00ff131080897a5ec7e26e315954b8eae3353c3f995c55faf71574000b5b
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type: sensor_msgs/msg/CompressedImage
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type_description_hash: RIHS01_15640771531571185e2efc8a100baf923961a4d15d5569652e6cb6691e8e371a
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version: 8
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sequences/2024-03-13-observatory-quarter-01/raw/rosbag/1710338090_2024-03-13-13-54-51_0.bag
ADDED
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