diff --git a/2024-11-03-13-59-54/data/.zgroup b/2024-11-03-13-59-54/data/.zgroup new file mode 100644 index 0000000000000000000000000000000000000000..3b7daf227c1687f28bc23b69f183e27ce9a475c1 --- /dev/null +++ b/2024-11-03-13-59-54/data/.zgroup @@ -0,0 +1,3 @@ +{ + "zarr_format": 2 +} \ No newline at end of file diff --git a/2024-11-03-13-59-54/data/adis_imu.tar b/2024-11-03-13-59-54/data/adis_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..e4352fe6383fc2209320974cb9fb764a09c24ecd --- /dev/null +++ b/2024-11-03-13-59-54/data/adis_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:902c747ef4249d2d924cd7f1c5e1190487480799dc4b4c5f39a7b5ecc0f60c29 +size 6758400 diff --git a/2024-11-03-13-59-54/data/alphasense_front_center.tar b/2024-11-03-13-59-54/data/alphasense_front_center.tar new file mode 100644 index 0000000000000000000000000000000000000000..57d6115f84d3ca223e9dca97aadf8a756122abb8 --- /dev/null +++ b/2024-11-03-13-59-54/data/alphasense_front_center.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6000179343ddecba6e8240c783dcfa7df579af015a6e869900150367b60eba89 +size 2191360 diff --git a/2024-11-03-13-59-54/data/alphasense_front_left.tar b/2024-11-03-13-59-54/data/alphasense_front_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..7370ddb6ad6f2eb9d66809afa288e6fa5d97b15b --- /dev/null +++ b/2024-11-03-13-59-54/data/alphasense_front_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8204c20a622bc27754f13b545e31acbeb4985b773cc5063dbebb7b48a7a92606 +size 2191360 diff --git a/2024-11-03-13-59-54/data/alphasense_front_right.tar b/2024-11-03-13-59-54/data/alphasense_front_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..618fec9f0dd1ef95b9b87c87ba3d2981cee5bead --- /dev/null +++ b/2024-11-03-13-59-54/data/alphasense_front_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1438499dc4deba0d53f27fbaa0788416085fcadb6501139178a047129ee4361 +size 2191360 diff --git a/2024-11-03-13-59-54/data/alphasense_imu.tar b/2024-11-03-13-59-54/data/alphasense_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..fa7d1d56cff36edbafdfe9d58f134dd2075bcd44 --- /dev/null +++ b/2024-11-03-13-59-54/data/alphasense_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61569df922e612b39efcbad23e3bb2897492c350ea66ff97b6f87af5719a97d4 +size 6758400 diff --git a/2024-11-03-13-59-54/data/alphasense_left.tar b/2024-11-03-13-59-54/data/alphasense_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..70b134234b98c48492b049f796f88049fe98ea02 --- /dev/null +++ b/2024-11-03-13-59-54/data/alphasense_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40d4b225cef9df0754aa8f537671abd520b9548bafd2d6929cdcfd0e34792c2d +size 2191360 diff --git a/2024-11-03-13-59-54/data/alphasense_right.tar b/2024-11-03-13-59-54/data/alphasense_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..a65aa6f1e51c3711d81b10fbd554b5d8229d8886 --- /dev/null +++ b/2024-11-03-13-59-54/data/alphasense_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19550e613c78130d8aa5b77a1fb79d1ca70b7aa6cff4ed29e5276d70e08fb609 +size 2191360 diff --git a/2024-11-03-13-59-54/data/anymal_command_twist.tar b/2024-11-03-13-59-54/data/anymal_command_twist.tar new file mode 100644 index 0000000000000000000000000000000000000000..30da5e2fc52b0e826899d40ead60fe784602ba19 --- /dev/null +++ b/2024-11-03-13-59-54/data/anymal_command_twist.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18d6e89f6417eddd44050cadc576eff09615286c20577d61877bc8a21d1cd188 +size 3819520 diff --git a/2024-11-03-13-59-54/data/anymal_imu.tar b/2024-11-03-13-59-54/data/anymal_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..45d7199387c8f8fd1046978054b4d67ca44460ba --- /dev/null +++ b/2024-11-03-13-59-54/data/anymal_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c76b7dde3eba4b506797caa434ef43eb4ef774eb3b28a30593f3b762ac1cd912 +size 6758400 diff --git a/2024-11-03-13-59-54/data/anymal_state_actuator.tar b/2024-11-03-13-59-54/data/anymal_state_actuator.tar new file mode 100644 index 0000000000000000000000000000000000000000..3867d9d608db5f558f2e358e4c1579eb9b7fc925 --- /dev/null +++ b/2024-11-03-13-59-54/data/anymal_state_actuator.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34d14cbf34c259c66c7a991d44e1c93a1aab3c2c2c5ee742d313a50d38cc92be +size 266004480 diff --git a/2024-11-03-13-59-54/data/anymal_state_battery.tar b/2024-11-03-13-59-54/data/anymal_state_battery.tar new file mode 100644 index 0000000000000000000000000000000000000000..93c5fa297265159fe0bae9126f3be376ff5d3487 --- /dev/null +++ b/2024-11-03-13-59-54/data/anymal_state_battery.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c17d7cfb7304ffebccc2564d99584fc85e8ebb3c53a33e60fd89b0a3c062df91 +size 16363520 diff --git a/2024-11-03-13-59-54/data/anymal_state_odometry.tar b/2024-11-03-13-59-54/data/anymal_state_odometry.tar new file mode 100644 index 0000000000000000000000000000000000000000..f6217b8e8aaf661ece30c50cb0160bd0c007de3c --- /dev/null +++ b/2024-11-03-13-59-54/data/anymal_state_odometry.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb7f8fb0149b19373b507595d7f376b64d5222e66e9e6c1865cd458271e1a559 +size 6963200 diff --git a/2024-11-03-13-59-54/data/anymal_state_state_estimator.tar b/2024-11-03-13-59-54/data/anymal_state_state_estimator.tar new file mode 100644 index 0000000000000000000000000000000000000000..9142da952561cbce1ed07f90fbd0cc7a12a0fc1a --- /dev/null +++ b/2024-11-03-13-59-54/data/anymal_state_state_estimator.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df5c4fa22847f447b8bfa8bc0e56aa65f06f78c9453ae807785437ae6d41f6fa +size 36280320 diff --git a/2024-11-03-13-59-54/data/ap20_imu.tar b/2024-11-03-13-59-54/data/ap20_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..6981a417c1936835a19ca54ec558a33f5e08086b --- /dev/null +++ b/2024-11-03-13-59-54/data/ap20_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c991dc38aea61721022d9b17e6496d7d4515a099546fff4b44bed00927f9de45 +size 6758400 diff --git a/2024-11-03-13-59-54/data/cpt7_ie_rt_odometry.tar b/2024-11-03-13-59-54/data/cpt7_ie_rt_odometry.tar new file mode 100644 index 0000000000000000000000000000000000000000..6cbd846fa900b4a2255e2efda9e3154215af677b --- /dev/null +++ b/2024-11-03-13-59-54/data/cpt7_ie_rt_odometry.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8e76450a2a9eda897a51e5ef581317168cdeb32f67edec91396ef70d28206cb +size 6963200 diff --git a/2024-11-03-13-59-54/data/cpt7_ie_rt_tf.tar b/2024-11-03-13-59-54/data/cpt7_ie_rt_tf.tar new file mode 100644 index 0000000000000000000000000000000000000000..dbfa1e8e81032263f62c6b4e5116199c51cf83df --- /dev/null +++ b/2024-11-03-13-59-54/data/cpt7_ie_rt_tf.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2909433bab6c00d804836652cd3ac817c74b114bd89688079f31e64938db3f8c +size 4096000 diff --git a/2024-11-03-13-59-54/data/cpt7_ie_tc_odometry.tar b/2024-11-03-13-59-54/data/cpt7_ie_tc_odometry.tar new file mode 100644 index 0000000000000000000000000000000000000000..105f9fc95dc3b5904d38b9cd82230e1936193a56 --- /dev/null +++ b/2024-11-03-13-59-54/data/cpt7_ie_tc_odometry.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aaad79dbb22b91db7d93ce9eedc78f625ec782759ff5a25497a10fd2331d0e03 +size 6963200 diff --git a/2024-11-03-13-59-54/data/cpt7_ie_tc_tf.tar b/2024-11-03-13-59-54/data/cpt7_ie_tc_tf.tar new file mode 100644 index 0000000000000000000000000000000000000000..98af7576b6b824aa485ce5dbbfda682d78f1a4fc --- /dev/null +++ b/2024-11-03-13-59-54/data/cpt7_ie_tc_tf.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c975c0e20c11b2d94d9a192adabc6c84cc132913da51f34250f7a7bdbf8108b0 +size 4096000 diff --git a/2024-11-03-13-59-54/data/cpt7_imu.tar b/2024-11-03-13-59-54/data/cpt7_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..d93495bd09c912bf6c73061da5681245a3a43ff3 --- /dev/null +++ b/2024-11-03-13-59-54/data/cpt7_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a79bc6aa47a767b28d8d7155131997e7a9f7689e9d5c0910016cf773eef4f47 +size 6758400 diff --git a/2024-11-03-13-59-54/data/depth_camera_front_lower.tar b/2024-11-03-13-59-54/data/depth_camera_front_lower.tar new file mode 100644 index 0000000000000000000000000000000000000000..28eb3c1ffc6ccc0b9a9882b4f680874f6f90b68b --- /dev/null +++ b/2024-11-03-13-59-54/data/depth_camera_front_lower.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:859e355c9486b837bf1f74f18be345f06ad1420e26ae9990537c297771cc4617 +size 2191360 diff --git a/2024-11-03-13-59-54/data/depth_camera_front_upper.tar b/2024-11-03-13-59-54/data/depth_camera_front_upper.tar new file mode 100644 index 0000000000000000000000000000000000000000..e269fa0ea4f175fa213eb3e7bb0765b60bf9a7d9 --- /dev/null +++ b/2024-11-03-13-59-54/data/depth_camera_front_upper.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8cba83d675796fbdd7462ac1bb84d0a3cd20f036d71524af6eedfc1db8ac4cfc +size 2191360 diff --git a/2024-11-03-13-59-54/data/depth_camera_left.tar b/2024-11-03-13-59-54/data/depth_camera_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..694902edc0dfc2cd92167d42ecfe547b7fad83d9 --- /dev/null +++ b/2024-11-03-13-59-54/data/depth_camera_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a2d608767913d26ea920b17dc97c094505ce098ab3b48bb0b3358e63bf4bef5 +size 2191360 diff --git a/2024-11-03-13-59-54/data/depth_camera_rear_lower.tar b/2024-11-03-13-59-54/data/depth_camera_rear_lower.tar new file mode 100644 index 0000000000000000000000000000000000000000..3316b145e0a577a01900572b8cf7580cff58785f --- /dev/null +++ b/2024-11-03-13-59-54/data/depth_camera_rear_lower.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af2444310a91f64775c786af62999e4040363e860761cff1048e5e3d5c5a09e5 +size 2191360 diff --git a/2024-11-03-13-59-54/data/depth_camera_rear_upper.tar b/2024-11-03-13-59-54/data/depth_camera_rear_upper.tar new file mode 100644 index 0000000000000000000000000000000000000000..d77c7a97c7fce0e42365755c9e94e2ef8d835a45 --- /dev/null +++ b/2024-11-03-13-59-54/data/depth_camera_rear_upper.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06b6f330e2267ad4bd7efd56f3479652139b485c9f24fc4833e981913d066126 +size 2191360 diff --git a/2024-11-03-13-59-54/data/depth_camera_right.tar b/2024-11-03-13-59-54/data/depth_camera_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..737e0f6fdc922f391a2e9c0d744c0f2fd9041fe0 --- /dev/null +++ b/2024-11-03-13-59-54/data/depth_camera_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0d439310c872b1209e53633b5287d763535d0aef30925ea659d29f2ba11d619 +size 2191360 diff --git a/2024-11-03-13-59-54/data/dlio_hesai_points_undistorted.tar b/2024-11-03-13-59-54/data/dlio_hesai_points_undistorted.tar new file mode 100644 index 0000000000000000000000000000000000000000..328a4a8540c2d1fce1162ae04b209a2f4b5a9376 --- /dev/null +++ b/2024-11-03-13-59-54/data/dlio_hesai_points_undistorted.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6406df1db36d18e6ac3771b3ca95ef3ed1ee01e7ae594c86f6033711a9b680b5 +size 13711360 diff --git a/2024-11-03-13-59-54/data/dlio_map_odometry.tar b/2024-11-03-13-59-54/data/dlio_map_odometry.tar new file mode 100644 index 0000000000000000000000000000000000000000..fd7a4e4df181808e93f8bb45944a393f4f20bda5 --- /dev/null +++ b/2024-11-03-13-59-54/data/dlio_map_odometry.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:447ab77a051295f63868785b1db36ca74320043d93e414208294605d17b5b31b +size 6952960 diff --git a/2024-11-03-13-59-54/data/dlio_tf.tar b/2024-11-03-13-59-54/data/dlio_tf.tar new file mode 100644 index 0000000000000000000000000000000000000000..4cdff7dcb16b0c3ed25abcb0c6a22f63b6a001d3 --- /dev/null +++ b/2024-11-03-13-59-54/data/dlio_tf.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c89b01a72d6a98f3d7efd87dda5c8328a69cd344408e90b1084566f2ba27a5e +size 4096000 diff --git a/2024-11-03-13-59-54/data/gnss_raw_cpt7_ie_rt.tar b/2024-11-03-13-59-54/data/gnss_raw_cpt7_ie_rt.tar new file mode 100644 index 0000000000000000000000000000000000000000..421dd125c08b68c82682ccfa1a7907a43c91d30c --- /dev/null +++ b/2024-11-03-13-59-54/data/gnss_raw_cpt7_ie_rt.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb48f5811426abfd6f901cd24f20643962b2c6dada45b8291befb64070506b8d +size 5457920 diff --git a/2024-11-03-13-59-54/data/gnss_raw_cpt7_ie_tc.tar b/2024-11-03-13-59-54/data/gnss_raw_cpt7_ie_tc.tar new file mode 100644 index 0000000000000000000000000000000000000000..66c1dea86838da33f35f3fd16086909022907713 --- /dev/null +++ b/2024-11-03-13-59-54/data/gnss_raw_cpt7_ie_tc.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e517188b02d85bee1eb20aaa56c07991472b5c445b82111d200a12163cdb2c9 +size 5457920 diff --git a/2024-11-03-13-59-54/data/hdr_front.tar b/2024-11-03-13-59-54/data/hdr_front.tar new file mode 100644 index 0000000000000000000000000000000000000000..1d80da9917a728d1c4e0350f64a900cc9b6e25ac --- /dev/null +++ b/2024-11-03-13-59-54/data/hdr_front.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92e916c321c4b178787feb86aaa5b861c744a03e1461df04828ffbc5063ffc2d +size 2191360 diff --git a/2024-11-03-13-59-54/data/hdr_left.tar b/2024-11-03-13-59-54/data/hdr_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..85d6f5c7aa9de0f88ab9d19cf00f310aaea38a97 --- /dev/null +++ b/2024-11-03-13-59-54/data/hdr_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f28a40015a1ee670246d46322eb3e319f3e89c5e68fef9643f7a03f8a12d8df +size 2191360 diff --git a/2024-11-03-13-59-54/data/hdr_right.tar b/2024-11-03-13-59-54/data/hdr_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..2f84aa387904e0284d969b2b10e84c321fb1ca75 --- /dev/null +++ b/2024-11-03-13-59-54/data/hdr_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a52faadd45555e275c38059bac080aad97badcf5679ecdd7926e1dc6a6610f86 +size 2191360 diff --git a/2024-11-03-13-59-54/data/hesai_points.tar b/2024-11-03-13-59-54/data/hesai_points.tar new file mode 100644 index 0000000000000000000000000000000000000000..964f8f425b6444d89418d25d3b6a2616dd5932d6 --- /dev/null +++ b/2024-11-03-13-59-54/data/hesai_points.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4e7853676e0226b904ca9e3cf12da0a314ec230d0fa0ce4dfcfab273cef503b +size 14264320 diff --git a/2024-11-03-13-59-54/data/hesai_points_undistorted.tar b/2024-11-03-13-59-54/data/hesai_points_undistorted.tar new file mode 100644 index 0000000000000000000000000000000000000000..b6b9703d0ba286eb0b1fd6545fbca019e19df9ec --- /dev/null +++ b/2024-11-03-13-59-54/data/hesai_points_undistorted.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8183ea4b4beb21241ca0797ec2e5f281d15db5c07a589240a7d8ed24aa716772 +size 14264320 diff --git a/2024-11-03-13-59-54/data/livox_imu.tar b/2024-11-03-13-59-54/data/livox_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..62ba7048ee00a94b206fa6da14a00b6b2ec3cdc4 --- /dev/null +++ b/2024-11-03-13-59-54/data/livox_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e18251185fa966f581ca6f01c7574c84c6c0022ce3f7113cec7c8131476a0729 +size 6758400 diff --git a/2024-11-03-13-59-54/data/livox_points.tar b/2024-11-03-13-59-54/data/livox_points.tar new file mode 100644 index 0000000000000000000000000000000000000000..8b456f4e179d51899bf1d5fa2d8a585e4c172431 --- /dev/null +++ b/2024-11-03-13-59-54/data/livox_points.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4502d266ad96ea94b71502d7cd6ce5d96b3d56094012bd40861d0b99dee398ba +size 10137600 diff --git a/2024-11-03-13-59-54/data/livox_points_undistorted.tar b/2024-11-03-13-59-54/data/livox_points_undistorted.tar new file mode 100644 index 0000000000000000000000000000000000000000..9f87e9071a823ef34d24601cc45fc10e01db32fa --- /dev/null +++ b/2024-11-03-13-59-54/data/livox_points_undistorted.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab9ca2fe83c0cd2a55bdcef8d5da5960768fffb0170a121c131d83a3e0e475f1 +size 10137600 diff --git a/2024-11-03-13-59-54/data/navsatfix_cpt7_ie_tc.tar b/2024-11-03-13-59-54/data/navsatfix_cpt7_ie_tc.tar new file mode 100644 index 0000000000000000000000000000000000000000..53d397485f01b50234f3bed6400212151e9c088c --- /dev/null +++ b/2024-11-03-13-59-54/data/navsatfix_cpt7_ie_tc.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2886fd5acedcd15addc078b2f53a987ebe3caffd07f2f6c0668f3ceb68ac7a5a +size 7157760 diff --git a/2024-11-03-13-59-54/data/prism_position.tar b/2024-11-03-13-59-54/data/prism_position.tar new file mode 100644 index 0000000000000000000000000000000000000000..9b546b60de972963e1b824a0ab47145ad286f252 --- /dev/null +++ b/2024-11-03-13-59-54/data/prism_position.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1bb36fb5dba09f78dfd948b4e5ebf08fecbd10aef69af8dc0c7e88b9f3359e4b +size 3000320 diff --git a/2024-11-03-13-59-54/data/stim320_imu.tar b/2024-11-03-13-59-54/data/stim320_imu.tar new file mode 100644 index 0000000000000000000000000000000000000000..9c11eefc940412b4acbe337ef8d64aa0290f250d --- /dev/null +++ b/2024-11-03-13-59-54/data/stim320_imu.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98a41a293f0cd393e22e02808cada1036fb832ca927c0633e27bb6fe232599e3 +size 6758400 diff --git a/2024-11-03-13-59-54/data/tf.tar b/2024-11-03-13-59-54/data/tf.tar new file mode 100644 index 0000000000000000000000000000000000000000..209c081770b340fbfa8a49d80ab08416cb501a2c --- /dev/null +++ b/2024-11-03-13-59-54/data/tf.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8112e321d0bb3832b5797400e188f9e1f838cdb5ffec1087bc093c87f5eaa8b7 +size 30720 diff --git a/2024-11-03-13-59-54/data/velodyne_points.tar b/2024-11-03-13-59-54/data/velodyne_points.tar new file mode 100644 index 0000000000000000000000000000000000000000..2b370ef5542a0a1f6f61dcedcd3c1de7d7cda143 --- /dev/null +++ b/2024-11-03-13-59-54/data/velodyne_points.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a5572956c2ac8d7fe9b4b1a93675134db9891cc4c42c67174dfcbdead9b3ed3 +size 9850880 diff --git a/2024-11-03-13-59-54/data/velodyne_points_undistorted.tar b/2024-11-03-13-59-54/data/velodyne_points_undistorted.tar new file mode 100644 index 0000000000000000000000000000000000000000..0544b6d7cf710b342a80ef09b5f39d2eba3bea2f --- /dev/null +++ b/2024-11-03-13-59-54/data/velodyne_points_undistorted.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e484051367b4e843839659cfdae9ca532982564748d86cc43599443443b9448 +size 9789440 diff --git a/2024-11-03-13-59-54/data/zed2i_depth_confidence_image.tar b/2024-11-03-13-59-54/data/zed2i_depth_confidence_image.tar new file mode 100644 index 0000000000000000000000000000000000000000..905bb19a4d85627521c0d2601c84fe92640e9651 --- /dev/null +++ b/2024-11-03-13-59-54/data/zed2i_depth_confidence_image.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae75c51595317506717cf25b8c672d48b35e2b49ff6a99195f46b7029916754b +size 2191360 diff --git a/2024-11-03-13-59-54/data/zed2i_depth_image.tar b/2024-11-03-13-59-54/data/zed2i_depth_image.tar new file mode 100644 index 0000000000000000000000000000000000000000..8cc3a2c7f8fa023a8c3e1f6fcc4a6311f777b4a0 --- /dev/null +++ b/2024-11-03-13-59-54/data/zed2i_depth_image.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bacc08c70e318433f866f9ed1bf38593c5084c296b86bd4455d344a7b2185ba3 +size 2191360 diff --git a/2024-11-03-13-59-54/data/zed2i_left_images.tar b/2024-11-03-13-59-54/data/zed2i_left_images.tar new file mode 100644 index 0000000000000000000000000000000000000000..3f07f083c5ac6c694565fff0069f9893c809708c --- /dev/null +++ b/2024-11-03-13-59-54/data/zed2i_left_images.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a97cbfad71efe852ea5bd367185c57ce0f6405e68b471e6c526abca1daa2fda9 +size 2191360 diff --git a/2024-11-03-13-59-54/data/zed2i_right_images.tar b/2024-11-03-13-59-54/data/zed2i_right_images.tar new file mode 100644 index 0000000000000000000000000000000000000000..d35a3e0077dc18f6d95bf43509979f0984575ff8 --- /dev/null +++ b/2024-11-03-13-59-54/data/zed2i_right_images.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66a26a60adf8ea7b4f6a51938727098b2d0d3f5ac8ff83fe9cdcead33c66a9d0 +size 2191360 diff --git a/2024-11-03-13-59-54/data/zed2i_vio_map.tar b/2024-11-03-13-59-54/data/zed2i_vio_map.tar new file mode 100644 index 0000000000000000000000000000000000000000..a4bc73ca87f9df93fecf845631eb206d98a964ff --- /dev/null +++ b/2024-11-03-13-59-54/data/zed2i_vio_map.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:907154bdb50e77ff083a01ac8eb132950fff61199a09247bb1506c774ddf9b58 +size 4710400 diff --git a/2024-11-03-13-59-54/images/alphasense_front_center.tar b/2024-11-03-13-59-54/images/alphasense_front_center.tar new file mode 100644 index 0000000000000000000000000000000000000000..a8d7295206ef31c5b060a89e03dab800d6da6102 --- /dev/null +++ b/2024-11-03-13-59-54/images/alphasense_front_center.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f5fbface2707326f55a2cf6815a76b07fe0d05df9e07bf8992bb3fea3659de8 +size 5949440 diff --git a/2024-11-03-13-59-54/images/alphasense_front_left.tar b/2024-11-03-13-59-54/images/alphasense_front_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..0a5aec609d821650cfbc705743ac5c7c8546fe53 --- /dev/null +++ b/2024-11-03-13-59-54/images/alphasense_front_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de25d5b96fb5c006875ac48af91f7d8829c0b94f89c8e91a60b9a8fb54eeb867 +size 5857280 diff --git a/2024-11-03-13-59-54/images/alphasense_front_right.tar b/2024-11-03-13-59-54/images/alphasense_front_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..19ca8bc915c27cfd024d794e054af18549273d73 --- /dev/null +++ b/2024-11-03-13-59-54/images/alphasense_front_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4449faaf95e20e9955a3c1f9e755790269bd4ded1a98b512510cbd43e9cfc77a +size 7208960 diff --git a/2024-11-03-13-59-54/images/alphasense_left.tar b/2024-11-03-13-59-54/images/alphasense_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..a6b35b330ad0ad987c42d08d17485137fb690a4e --- /dev/null +++ b/2024-11-03-13-59-54/images/alphasense_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e2dbe0952e5a127aa1b79ca6dab0d47723b980b3c505382aa46d60ade8c2d1c +size 4372480 diff --git a/2024-11-03-13-59-54/images/alphasense_right.tar b/2024-11-03-13-59-54/images/alphasense_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..80fec325967a1c04076c24cdfafc7b4569f13194 --- /dev/null +++ b/2024-11-03-13-59-54/images/alphasense_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6465ecb9bac88ac703200b1a78e45cea648c5b4ee18a3986f392ad4f60f4d3b +size 6492160 diff --git a/2024-11-03-13-59-54/images/depth_camera_front_lower.tar b/2024-11-03-13-59-54/images/depth_camera_front_lower.tar new file mode 100644 index 0000000000000000000000000000000000000000..988063bed3923c4b0341e795f0fdb80369ccfdb6 --- /dev/null +++ b/2024-11-03-13-59-54/images/depth_camera_front_lower.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70c5cd0c8314171b622cc80516209cc16e199ede8d562da3a0951ffaaef8422d +size 1638400 diff --git a/2024-11-03-13-59-54/images/depth_camera_front_upper.tar b/2024-11-03-13-59-54/images/depth_camera_front_upper.tar new file mode 100644 index 0000000000000000000000000000000000000000..e4b72d7aa780cbec289eddce1639e61ca65500d8 --- /dev/null +++ b/2024-11-03-13-59-54/images/depth_camera_front_upper.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b37732b1041a1e45c7f0003693115ab39fd66337a42b438d076b645a6dd66c0 +size 1966080 diff --git a/2024-11-03-13-59-54/images/depth_camera_left.tar b/2024-11-03-13-59-54/images/depth_camera_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..0f2bd2acba2fb3d40a88e78a6af0eec579bc7ded --- /dev/null +++ b/2024-11-03-13-59-54/images/depth_camera_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f614b6ce8a21c6bc9a9a82d5c1f3f94d9bc063407eced88d1dbf088cc8a1b30 +size 2600960 diff --git a/2024-11-03-13-59-54/images/depth_camera_rear_lower.tar b/2024-11-03-13-59-54/images/depth_camera_rear_lower.tar new file mode 100644 index 0000000000000000000000000000000000000000..0d022248fda257f49b4e0977f00afe30e85526af --- /dev/null +++ b/2024-11-03-13-59-54/images/depth_camera_rear_lower.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f29c38ae9456f0aec4393c4c840a0745e7104e9dee1f7b98a1a87adc17d7cb6 +size 2007040 diff --git a/2024-11-03-13-59-54/images/depth_camera_rear_upper.tar b/2024-11-03-13-59-54/images/depth_camera_rear_upper.tar new file mode 100644 index 0000000000000000000000000000000000000000..e5d77c285d04b77b71289ecf2782becc132d3626 --- /dev/null +++ b/2024-11-03-13-59-54/images/depth_camera_rear_upper.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a7385ad1e4ceeb52274c700f51744b529a6c2682e3c2d18a2232e0dc67e54b7 +size 3287040 diff --git a/2024-11-03-13-59-54/images/depth_camera_right.tar b/2024-11-03-13-59-54/images/depth_camera_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..7847cf1537e6045f15c8ce027a393b343dcf4830 --- /dev/null +++ b/2024-11-03-13-59-54/images/depth_camera_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96189d4c24434ef90f6dd9b443c414699577abb78d6c3d2b1e5b4dfe888812d5 +size 2293760 diff --git a/2024-11-03-13-59-54/images/hdr_front.tar b/2024-11-03-13-59-54/images/hdr_front.tar new file mode 100644 index 0000000000000000000000000000000000000000..7bc4c99ff90a45d54de61cf7b6831cd4b4b4e259 --- /dev/null +++ b/2024-11-03-13-59-54/images/hdr_front.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e38a20871cc31b990d90bfb5e4846aa4ea5ef536db7f9e8b8834a8dab726cae3 +size 7505920 diff --git a/2024-11-03-13-59-54/images/hdr_left.tar b/2024-11-03-13-59-54/images/hdr_left.tar new file mode 100644 index 0000000000000000000000000000000000000000..5684a7c91ad9a66f30e6fb791c09c4e4ddafb6fb --- /dev/null +++ b/2024-11-03-13-59-54/images/hdr_left.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5134b09dddb43f589f86d3ad0503be5e062f0e2e27f070854a97f1173ebddd1 +size 7649280 diff --git a/2024-11-03-13-59-54/images/hdr_right.tar b/2024-11-03-13-59-54/images/hdr_right.tar new file mode 100644 index 0000000000000000000000000000000000000000..8a61e1685aaf6042b7de1b6ad4bfab8f8ae7fe0b --- /dev/null +++ b/2024-11-03-13-59-54/images/hdr_right.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a10141a0f09bcfbd4095418fc35f793911ceaea6e631499525aabeb3a477bfd3 +size 13004800 diff --git a/2024-11-03-13-59-54/images/zed2i_depth_confidence_image.tar b/2024-11-03-13-59-54/images/zed2i_depth_confidence_image.tar new file mode 100644 index 0000000000000000000000000000000000000000..143d87f4a5df95664bf2c334dce0089be88900b4 --- /dev/null +++ b/2024-11-03-13-59-54/images/zed2i_depth_confidence_image.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73f3c8e7b77bdb6951d0476af6ad7e32df181beed05d578462a01c72958fed01 +size 41164800 diff --git a/2024-11-03-13-59-54/images/zed2i_depth_image.tar b/2024-11-03-13-59-54/images/zed2i_depth_image.tar new file mode 100644 index 0000000000000000000000000000000000000000..e911664ce1cfe2c7005949120461d01ab5f129cc --- /dev/null +++ b/2024-11-03-13-59-54/images/zed2i_depth_image.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1531eb633db0f20716e9640e29d10d806d4fcfb08134a85d82c1abfe94c5837 +size 11919360 diff --git a/2024-11-03-13-59-54/images/zed2i_left_images.tar b/2024-11-03-13-59-54/images/zed2i_left_images.tar new file mode 100644 index 0000000000000000000000000000000000000000..677283cad1c911746f01667074f3bcf4d4754785 --- /dev/null +++ b/2024-11-03-13-59-54/images/zed2i_left_images.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:986235fc2766b260906f90235f00d18cd4b16d67cba81da6958b8b52cfa7f1d8 +size 9236480 diff --git a/2024-11-03-13-59-54/images/zed2i_right_images.tar b/2024-11-03-13-59-54/images/zed2i_right_images.tar new file mode 100644 index 0000000000000000000000000000000000000000..5fb560ac905f551aa1b90683d503b80d0ae5b94c --- /dev/null +++ b/2024-11-03-13-59-54/images/zed2i_right_images.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e252f93b9d86f767fbb26fab16214c1897933c8d4dd0ae8f4d0f6928a9e3343 +size 8970240 diff --git a/2024-11-03-13-59-54/metadata/adis_imu.yaml b/2024-11-03-13-59-54/metadata/adis_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..760ede863205c6321ef5fe2b33c0aa3b83c02f3c --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/alphasense_front_center.yaml b/2024-11-03-13-59-54/metadata/alphasense_front_center.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fa4cce98b10953f95ec009582cd63c70704640ec --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/alphasense_front_center_caminfo.yaml b/2024-11-03-13-59-54/metadata/alphasense_front_center_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..55818806fad1cf1e8d39bed8ca6738281b28b81a --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/alphasense_front_left.yaml b/2024-11-03-13-59-54/metadata/alphasense_front_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cf86229c1b96b74219ab9dc283098931e12e9585 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/alphasense_front_left_caminfo.yaml b/2024-11-03-13-59-54/metadata/alphasense_front_left_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..64f003f7e902ace58a541836d5a90d3647d03d2b --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/alphasense_front_right.yaml b/2024-11-03-13-59-54/metadata/alphasense_front_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7db90d40c484f9452faa819e9748fa7ac45c09bb --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/alphasense_front_right_caminfo.yaml b/2024-11-03-13-59-54/metadata/alphasense_front_right_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b7a9cb7f0a49b5d546978edaf913796d1d7b109e --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/alphasense_imu.yaml b/2024-11-03-13-59-54/metadata/alphasense_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bd4d08c165928d94bce7f8b8d2502b4c545017f9 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/alphasense_left.yaml b/2024-11-03-13-59-54/metadata/alphasense_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..835abd6470147d51dbe65f08f882e5ef1c1b5940 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/alphasense_left_caminfo.yaml b/2024-11-03-13-59-54/metadata/alphasense_left_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9418e583d22ba1e798e30e2e063a49230a4f9e37 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/alphasense_right.yaml b/2024-11-03-13-59-54/metadata/alphasense_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8a5944ff619400951640fe4aadef48a840a81ad8 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/alphasense_right_caminfo.yaml b/2024-11-03-13-59-54/metadata/alphasense_right_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7f8455fe0473e771ee32c4874969c755f1a70b8a --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/anymal_command_twist.yaml b/2024-11-03-13-59-54/metadata/anymal_command_twist.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2e40adb1f88af85db46c14701e39f56ac4847bd5 --- /dev/null +++ b/2024-11-03-13-59-54/metadata/anymal_command_twist.yaml @@ -0,0 +1,2 @@ +frame_id: base +topic: anymal_command_twist diff --git a/2024-11-03-13-59-54/metadata/anymal_imu.yaml b/2024-11-03-13-59-54/metadata/anymal_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..25de0ce02af9c0413098f951323494454f14ff11 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/anymal_state_actuator.yaml b/2024-11-03-13-59-54/metadata/anymal_state_actuator.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f3f460b14a7fdd3b953f59752921f8fa23d484e9 --- /dev/null +++ b/2024-11-03-13-59-54/metadata/anymal_state_actuator.yaml @@ -0,0 +1,2 @@ +frame_id: '' +topic: anymal_state_actuator diff --git a/2024-11-03-13-59-54/metadata/anymal_state_battery.yaml b/2024-11-03-13-59-54/metadata/anymal_state_battery.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bebc05e78fe821a246b4ff2fea9083511a191c49 --- /dev/null +++ b/2024-11-03-13-59-54/metadata/anymal_state_battery.yaml @@ -0,0 +1,2 @@ +frame_id: '' +topic: anymal_state_battery diff --git a/2024-11-03-13-59-54/metadata/anymal_state_odometry.yaml b/2024-11-03-13-59-54/metadata/anymal_state_odometry.yaml new file mode 100644 index 0000000000000000000000000000000000000000..54b0d9d66520be33eba8d3b2f93ca9e709ed2efa --- /dev/null +++ b/2024-11-03-13-59-54/metadata/anymal_state_odometry.yaml @@ -0,0 +1,2 @@ +frame_id: odom +topic: anymal_state_odometry diff --git a/2024-11-03-13-59-54/metadata/anymal_state_state_estimator.yaml b/2024-11-03-13-59-54/metadata/anymal_state_state_estimator.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1bbd1aad91162c4ad9b8067e9d06b649a0f22e97 --- /dev/null +++ b/2024-11-03-13-59-54/metadata/anymal_state_state_estimator.yaml @@ -0,0 +1,2 @@ +frame_id: odom +topic: anymal_state_state_estimator diff --git a/2024-11-03-13-59-54/metadata/ap20_imu.yaml b/2024-11-03-13-59-54/metadata/ap20_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ab6c0f9f9c6d5f9fc8bfcc9481e5921ba1cd0fc9 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/cpt7_ie_rt_odometry.yaml b/2024-11-03-13-59-54/metadata/cpt7_ie_rt_odometry.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8bbf4860c012b3be48d70d6a94c65aa066e805bb --- /dev/null +++ b/2024-11-03-13-59-54/metadata/cpt7_ie_rt_odometry.yaml @@ -0,0 +1,2 @@ +frame_id: enu_origin +topic: cpt7_ie_rt_odometry diff --git a/2024-11-03-13-59-54/metadata/cpt7_ie_rt_tf.yaml b/2024-11-03-13-59-54/metadata/cpt7_ie_rt_tf.yaml new file mode 100644 index 0000000000000000000000000000000000000000..85956785d573eaa3b3e7a9d3a1effe30038408ab --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/cpt7_ie_tc_odometry.yaml b/2024-11-03-13-59-54/metadata/cpt7_ie_tc_odometry.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aff503a0e09658de1b2538e6a238e2943867b9c8 --- /dev/null +++ b/2024-11-03-13-59-54/metadata/cpt7_ie_tc_odometry.yaml @@ -0,0 +1,2 @@ +frame_id: enu_origin +topic: cpt7_ie_tc_odometry diff --git a/2024-11-03-13-59-54/metadata/cpt7_ie_tc_tf.yaml b/2024-11-03-13-59-54/metadata/cpt7_ie_tc_tf.yaml new file mode 100644 index 0000000000000000000000000000000000000000..febe1512059235fef6c089e0e43007f584f7d944 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/cpt7_imu.yaml b/2024-11-03-13-59-54/metadata/cpt7_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3e392a99392a5ec6c065bf80554a346595fbaadf --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/depth_camera_front_lower.yaml b/2024-11-03-13-59-54/metadata/depth_camera_front_lower.yaml new file mode 100644 index 0000000000000000000000000000000000000000..821340f063c8691d8049d627376054377c16ff3e --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/depth_camera_front_lower_caminfo.yaml b/2024-11-03-13-59-54/metadata/depth_camera_front_lower_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9f13de22241c421a8c9eb10595897d49e17e1162 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/depth_camera_front_upper.yaml b/2024-11-03-13-59-54/metadata/depth_camera_front_upper.yaml new file mode 100644 index 0000000000000000000000000000000000000000..22ae6f5b58704e68064abec63164db9213d12b89 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/depth_camera_front_upper_caminfo.yaml b/2024-11-03-13-59-54/metadata/depth_camera_front_upper_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5bb00e6322f40f8eb769b7b0fb1cced0c604c943 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/depth_camera_left.yaml b/2024-11-03-13-59-54/metadata/depth_camera_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a35a60d8394059c3748abea6fa6cdee19cb0ddba --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/depth_camera_left_caminfo.yaml b/2024-11-03-13-59-54/metadata/depth_camera_left_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a8afa6379cc89c4b72924527dcf040608871ee18 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/depth_camera_rear_lower.yaml b/2024-11-03-13-59-54/metadata/depth_camera_rear_lower.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ad7c4284bdf6a3f7f804144674abd29318b09cb3 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/depth_camera_rear_lower_caminfo.yaml b/2024-11-03-13-59-54/metadata/depth_camera_rear_lower_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7fe6caa86742343436b5e65620a2b4e057894620 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/depth_camera_rear_upper.yaml b/2024-11-03-13-59-54/metadata/depth_camera_rear_upper.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1ac798820fb0139f1359c8bd54b463afce22f0d0 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/depth_camera_rear_upper_caminfo.yaml b/2024-11-03-13-59-54/metadata/depth_camera_rear_upper_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47a6ed31c0be6738001a0f9be807a741a916390f --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/depth_camera_right.yaml b/2024-11-03-13-59-54/metadata/depth_camera_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5570ee28b01cbc5f0853fa0016d46b5ae08a9f75 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/depth_camera_right_caminfo.yaml b/2024-11-03-13-59-54/metadata/depth_camera_right_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..627aa6ac34b7c56c110a708a8abb08f1d3670f89 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/dlio_hesai_points_undistorted.yaml b/2024-11-03-13-59-54/metadata/dlio_hesai_points_undistorted.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dc2eea3a0c71371ff342390f6695ee2a2ea3879a --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/dlio_map_odometry.yaml b/2024-11-03-13-59-54/metadata/dlio_map_odometry.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fc305524072a8b0e23cfddd7cd392de412d3b619 --- /dev/null +++ b/2024-11-03-13-59-54/metadata/dlio_map_odometry.yaml @@ -0,0 +1,2 @@ +frame_id: dlio_map +topic: dlio_map_odometry diff --git a/2024-11-03-13-59-54/metadata/dlio_tf.yaml b/2024-11-03-13-59-54/metadata/dlio_tf.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dffe47f0b550f3004889496c8e146020233b7677 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/gnss_raw_cpt7_ie_rt.yaml b/2024-11-03-13-59-54/metadata/gnss_raw_cpt7_ie_rt.yaml new file mode 100644 index 0000000000000000000000000000000000000000..16e15c7b52f2e90493b5f6b4d23c76a248699964 --- /dev/null +++ b/2024-11-03-13-59-54/metadata/gnss_raw_cpt7_ie_rt.yaml @@ -0,0 +1,2 @@ +frame_id: enu_origin +topic: gnss_raw_cpt7_ie_rt diff --git a/2024-11-03-13-59-54/metadata/gnss_raw_cpt7_ie_tc.yaml b/2024-11-03-13-59-54/metadata/gnss_raw_cpt7_ie_tc.yaml new file mode 100644 index 0000000000000000000000000000000000000000..88158a45cbe5d4c9a4ee74b409a193fb6ac501df --- /dev/null +++ b/2024-11-03-13-59-54/metadata/gnss_raw_cpt7_ie_tc.yaml @@ -0,0 +1,2 @@ +frame_id: enu_origin +topic: gnss_raw_cpt7_ie_tc diff --git a/2024-11-03-13-59-54/metadata/hdr_front.yaml b/2024-11-03-13-59-54/metadata/hdr_front.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4d5e82a3a2a4ca949ea01153d7cdb63e247cd07c --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/hdr_front_caminfo.yaml b/2024-11-03-13-59-54/metadata/hdr_front_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a45c08e6a6ed08f7036fd2d172ab57b9a4ae2628 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/hdr_left.yaml b/2024-11-03-13-59-54/metadata/hdr_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..55e7e8a3462001d0243f5172c17aa8162aac12eb --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/hdr_left_caminfo.yaml b/2024-11-03-13-59-54/metadata/hdr_left_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7c0cf9bac3618896a084fae58ada5994ac52a264 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/hdr_right.yaml b/2024-11-03-13-59-54/metadata/hdr_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fae1ccc6ef8c7203a45bdff8a2a221716a62fc5 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/hdr_right_caminfo.yaml b/2024-11-03-13-59-54/metadata/hdr_right_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d6e0da5227c586744533b2b32cdbe37e2bfda17 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/hesai_points.yaml b/2024-11-03-13-59-54/metadata/hesai_points.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe823a5c34b61497ca6949d2f8a9246281f10599 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/hesai_points_undistorted.yaml b/2024-11-03-13-59-54/metadata/hesai_points_undistorted.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0a1e2daf0f452ee54f85409ddac3ce90ab177a1f --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/livox_imu.yaml b/2024-11-03-13-59-54/metadata/livox_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..81d97abbb08c9b2f16448f66f883f16492cffa07 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/livox_points.yaml b/2024-11-03-13-59-54/metadata/livox_points.yaml new file mode 100644 index 0000000000000000000000000000000000000000..186ba1e78ad9ffb774488861b547a64ddc80e72a --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/livox_points_undistorted.yaml b/2024-11-03-13-59-54/metadata/livox_points_undistorted.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a028990de1269e9749daaebe4a4f59e2edb172a0 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/navsatfix_cpt7_ie_tc.yaml b/2024-11-03-13-59-54/metadata/navsatfix_cpt7_ie_tc.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6704c16b5095431b5fb0a3a59cde19039083c02e --- /dev/null +++ b/2024-11-03-13-59-54/metadata/navsatfix_cpt7_ie_tc.yaml @@ -0,0 +1,2 @@ +frame_id: enu_origin +topic: navsatfix_cpt7_ie_tc diff --git a/2024-11-03-13-59-54/metadata/prism_position.yaml b/2024-11-03-13-59-54/metadata/prism_position.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2ece0e648bbe8f4ada5545f51f61cc24e8fdf0fe --- /dev/null +++ b/2024-11-03-13-59-54/metadata/prism_position.yaml @@ -0,0 +1,2 @@ +frame_id: leica_total_station +topic: prism_position diff --git a/2024-11-03-13-59-54/metadata/stim320_imu.yaml b/2024-11-03-13-59-54/metadata/stim320_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..21d5bbe0f18350ea1f5821e979bfa5f06e46fb27 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/tf.yaml b/2024-11-03-13-59-54/metadata/tf.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e51dffed486dd2ce848260235baa5660ffaf2a89 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/velodyne_points.yaml b/2024-11-03-13-59-54/metadata/velodyne_points.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f65d5af5a8c90062c81140acf4a43b3cfef8019a --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/velodyne_points_undistorted.yaml b/2024-11-03-13-59-54/metadata/velodyne_points_undistorted.yaml new file mode 100644 index 0000000000000000000000000000000000000000..728fa5ff983859fcf0700298660e55b442dc4e4b --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/zed2i_depth_caminfo.yaml b/2024-11-03-13-59-54/metadata/zed2i_depth_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..68054acd7ce1e8a90693d8f8874cdf97aa0d4d65 --- /dev/null +++ b/2024-11-03-13-59-54/metadata/zed2i_depth_caminfo.yaml @@ -0,0 +1,52 @@ +camera_info: + D: + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: + - 1052.1595458984375 + - 0.0 + - 956.3427124023438 + - 0.0 + - 1052.1595458984375 + - 553.9558715820312 + - 0.0 + - 0.0 + - 1.0 + P: + - 1052.1595458984375 + - 0.0 + - 956.3427124023438 + - 0.0 + - 0.0 + - 1052.1595458984375 + - 553.9558715820312 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + - 0.0 + R: + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + binning_x: 0 + binning_y: 0 + distortion_model: plumb_bob + frame_id: zed2i_right + height: 1080 + roi: + do_rectify: false + height: 0 + width: 0 + x_offset: 0 + y_offset: 0 + width: 1920 diff --git a/2024-11-03-13-59-54/metadata/zed2i_depth_confidence_image.yaml b/2024-11-03-13-59-54/metadata/zed2i_depth_confidence_image.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ec5b9f6c7bbb894197cee4662403771db7619cb --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/zed2i_depth_image.yaml b/2024-11-03-13-59-54/metadata/zed2i_depth_image.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8438ba6a39902ce78192bf7df414a3801e8ada65 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/zed2i_left_caminfo.yaml b/2024-11-03-13-59-54/metadata/zed2i_left_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..55ba1db58115555683cef0424d1dbcafa56459a1 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/zed2i_left_images.yaml b/2024-11-03-13-59-54/metadata/zed2i_left_images.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4e8831bf7ed6bcd2bb07456e4cd3fc40488b9c72 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/zed2i_right_caminfo.yaml b/2024-11-03-13-59-54/metadata/zed2i_right_caminfo.yaml new file mode 100644 index 0000000000000000000000000000000000000000..42436c2b86d460bba0fdfb6f9cf97d4cb36f4b14 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/zed2i_right_images.yaml b/2024-11-03-13-59-54/metadata/zed2i_right_images.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4f7e5a68a2a82c2b33779c6b35ac7bffd69543b5 --- /dev/null +++ b/2024-11-03-13-59-54/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/2024-11-03-13-59-54/metadata/zed2i_vio_map.yaml b/2024-11-03-13-59-54/metadata/zed2i_vio_map.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d81e3809fc1e98b2f0949315fe072bf14ddc82f6 --- /dev/null +++ b/2024-11-03-13-59-54/metadata/zed2i_vio_map.yaml @@ -0,0 +1,2 @@ +frame_id: zed2i_map +topic: zed2i_vio_map