yifutao commited on
Commit
0ef0ce2
·
verified ·
1 Parent(s): 969f446

Upload folder sequences/2024-07-09-new-college-02 from Google Drive

Browse files
.gitattributes CHANGED
@@ -182,3 +182,6 @@ sequences/2024-05-20-bodleian-library-02/raw/rosbag/1716183690_2024-05-20-06-41-
182
  sequences/2024-07-09-new-college-01/raw/imu.csv filter=lfs diff=lfs merge=lfs -text
183
  sequences/2024-07-09-new-college-01/raw/ros2bag/1720513001_2024-07-09-09-16-43_0/1720513001_2024-07-09-09-16-43_0_blurred_filtered_compressed.db3 filter=lfs diff=lfs merge=lfs -text
184
  sequences/2024-07-09-new-college-01/raw/rosbag/1720513001_2024-07-09-09-16-43_0.bag filter=lfs diff=lfs merge=lfs -text
 
 
 
 
182
  sequences/2024-07-09-new-college-01/raw/imu.csv filter=lfs diff=lfs merge=lfs -text
183
  sequences/2024-07-09-new-college-01/raw/ros2bag/1720513001_2024-07-09-09-16-43_0/1720513001_2024-07-09-09-16-43_0_blurred_filtered_compressed.db3 filter=lfs diff=lfs merge=lfs -text
184
  sequences/2024-07-09-new-college-01/raw/rosbag/1720513001_2024-07-09-09-16-43_0.bag filter=lfs diff=lfs merge=lfs -text
185
+ sequences/2024-07-09-new-college-02/raw/imu.csv filter=lfs diff=lfs merge=lfs -text
186
+ sequences/2024-07-09-new-college-02/raw/ros2bag/1720513349_2024-07-09-09-22-30_0/1720513349_2024-07-09-09-22-30_0_blurred_filtered_compressed.db3 filter=lfs diff=lfs merge=lfs -text
187
+ sequences/2024-07-09-new-college-02/raw/rosbag/1720513349_2024-07-09-09-22-30_0.bag filter=lfs diff=lfs merge=lfs -text
sequences/2024-07-09-new-college-02/processed/vilens-slam/slam-poses.csv ADDED
@@ -0,0 +1,257 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # counter, sec, nsec, x, y, z, qx, qy, qz, qw
2
+ 0, 1720513354, 236946000, 0.0212394, -0.00122086, -0.0582197, 0.0372819, -0.0177881, 0.0170076, 0.999002
3
+ 1, 1720513363, 229142000, 1.03792, 0.175825, -0.0306243, 0.0295272, -0.0306407, 0.18626, 0.981579
4
+ 2, 1720513364, 427489000, 2.05729, 0.596748, -0.0019268, -0.049829, -0.0664511, 0.202966, 0.975657
5
+ 3, 1720513365, 626192000, 3.2529, 1.16944, -0.0368898, -0.0219318, -0.0588393, 0.216281, 0.97431
6
+ 4, 1720513366, 525988000, 4.15524, 1.72805, -0.0566357, 0.0025579, -0.0801975, 0.302561, 0.949747
7
+ 5, 1720513367, 424814000, 4.905, 2.51725, -0.0709878, 0.0199812, -0.0568107, 0.434901, 0.898462
8
+ 6, 1720513368, 424091000, 5.42076, 3.6229, -0.094616, 0.0274537, -0.0510327, 0.566224, 0.822212
9
+ 7, 1720513369, 323502000, 5.62264, 4.6807, -0.117125, 0.0520135, -0.0435261, 0.649216, 0.757574
10
+ 8, 1720513370, 222883000, 5.68469, 5.74462, -0.125314, 0.0406496, -0.0414109, 0.701447, 0.710356
11
+ 9, 1720513371, 121849000, 5.58908, 6.80439, -0.104853, 0.0256003, -0.0406271, 0.754455, 0.654593
12
+ 10, 1720513372, 21197000, 5.17271, 7.77172, -0.112735, 0.0593322, 0.00154803, 0.854978, 0.515257
13
+ 11, 1720513372, 920588000, 4.52119, 8.65553, -0.0754519, 0.0335395, -0.0183059, 0.907423, 0.418477
14
+ 12, 1720513373, 819156000, 3.81518, 9.44591, -0.0595164, 0.0705804, -0.0411993, 0.925971, 0.368643
15
+ 13, 1720513374, 718664000, 2.96549, 10.0924, -0.0582436, 0.0437345, -0.0297132, 0.967022, 0.249144
16
+ 14, 1720513375, 617335000, 2.02198, 10.6071, -0.0556734, 0.0361725, -0.00953033, 0.988488, 0.146603
17
+ 15, 1720513376, 516755000, 1.02366, 10.8789, -0.0575961, 0.0543294, -0.0116317, 0.996145, 0.0678797
18
+ 16, 1720513377, 715891000, -0.121385, 11.0922, 0.0368073, 0.0512766, -0.000511, 0.997087, 0.0564584
19
+ 17, 1720513378, 914633000, -1.41759, 11.1985, 0.0351565, 0.0275535, 0.0326856, 0.996866, 0.0665581
20
+ 18, 1720513379, 814161000, -2.50614, 11.2705, 0.01029, 0.0378403, 0.0292927, 0.995855, 0.0773527
21
+ 19, 1720513380, 713566000, -3.57854, 11.3827, 0.00398458, -0.00423412, 0.00780183, 0.995044, 0.0990422
22
+ 20, 1720513381, 613238000, -4.59942, 11.4271, 0.0110993, -0.000830516, 0.0276903, 0.995021, 0.0957346
23
+ 21, 1720513382, 811818000, -5.90871, 11.5579, -0.0104611, -0.0102075, 0.0121127, 0.99917, 0.0375201
24
+ 22, 1720513384, 10337000, -7.01863, 11.6102, 0.0118396, -0.00405935, 0.0018104, 0.999745, -0.0221525
25
+ 23, 1720513385, 209253000, -8.05382, 11.5906, 0.11286, -0.0241354, 0.0062562, 0.999659, -0.00774391
26
+ 24, 1720513386, 108587000, -9.05293, 11.6706, 0.176051, -0.00949348, 0.00827587, 0.999913, -0.00398691
27
+ 25, 1720513387, 6681000, -10.1255, 11.7976, 0.175414, 4.41799e-05, -0.00647206, 0.999654, 0.0254897
28
+ 26, 1720513387, 906021000, -11.215, 11.7662, 0.218992, 0.0251599, 0.00738425, 0.998918, 0.0384199
29
+ 27, 1720513389, 104351000, -12.5185, 11.7282, 0.422923, 0.0184611, -0.00891339, 0.999555, 0.0216864
30
+ 28, 1720513390, 303533000, -13.546, 11.7671, 0.615081, -0.0111805, 0.0144974, 0.99975, 0.012826
31
+ 29, 1720513391, 501993000, -14.6464, 11.8282, 0.65106, 0.0109152, -0.00529575, 0.999902, -0.00700525
32
+ 30, 1720513393, 409000, -15.6623, 12.5375, 0.649702, 0.0326332, 0.00594012, 0.842135, 0.538245
33
+ 31, 1720513394, 199293000, -15.782, 13.7969, 0.648439, 0.0277886, -0.0210924, 0.652001, 0.757415
34
+ 32, 1720513395, 98140000, -15.622, 14.9056, 0.66461, 0.0325465, -0.00736901, 0.685357, 0.727442
35
+ 33, 1720513395, 997078000, -15.4828, 16.0214, 0.659401, 0.039643, -0.018636, 0.689148, 0.723295
36
+ 34, 1720513396, 896143000, -15.4408, 17.1598, 0.679748, 0.00760511, -0.0104696, 0.69472, 0.719163
37
+ 35, 1720513397, 793621000, -15.3815, 18.2712, 0.730308, 0.0365422, -0.00840619, 0.695906, 0.717153
38
+ 36, 1720513398, 692797000, -15.3338, 19.3545, 0.723036, 0.0239585, -0.0168539, 0.691176, 0.722093
39
+ 37, 1720513399, 591388000, -15.2202, 20.4186, 0.6975, 0.00364287, -0.0304794, 0.701766, 0.711746
40
+ 38, 1720513400, 490299000, -15.2132, 21.4521, 0.718638, 0.0168558, -0.00799465, 0.692845, 0.720846
41
+ 39, 1720513401, 388510000, -15.2336, 22.4689, 0.738454, 0.0275858, -0.0133053, 0.674831, 0.737337
42
+ 40, 1720513402, 287441000, -15.1543, 23.5029, 0.737759, 0.0223183, 0.00892258, 0.671762, 0.740377
43
+ 41, 1720513403, 185062000, -15.0263, 24.5231, 0.767903, 0.0450908, -0.020427, 0.647495, 0.76046
44
+ 42, 1720513404, 83355000, -15.0327, 25.5926, 0.746717, 0.0333517, -0.016934, 0.697619, 0.715492
45
+ 43, 1720513404, 982602000, -15.1803, 26.6071, 0.754766, 0.0179741, 0.0094837, 0.771387, 0.636042
46
+ 44, 1720513406, 180603000, -15.594, 27.8278, 0.755951, 0.00849606, 0.0100415, 0.737108, 0.675647
47
+ 45, 1720513407, 378347000, -15.7389, 29.0668, 0.749882, 0.0368906, 0.00455598, 0.662476, 0.74816
48
+ 46, 1720513408, 277651000, -15.6578, 30.1169, 0.770802, 0.0262747, 0.0153418, 0.644119, 0.76432
49
+ 47, 1720513409, 176947000, -15.5273, 31.1365, 0.762105, 0.00841932, 0.00227767, 0.626998, 0.778972
50
+ 48, 1720513410, 375307000, -15.501, 32.456, 0.794698, 0.0383573, 0.0104684, 0.638696, 0.768431
51
+ 49, 1720513411, 574348000, -15.4575, 33.7703, 0.807458, 0.0249577, 0.0110791, 0.670137, 0.741735
52
+ 50, 1720513412, 473461000, -15.4382, 34.7749, 0.792586, 0.0235147, 0.0102273, 0.680273, 0.73251
53
+ 51, 1720513413, 672401000, -15.5866, 35.9914, 0.830797, 0.0315639, 0.00638005, 0.770601, 0.636503
54
+ 52, 1720513415, 171286000, -16.3736, 36.8454, 0.808728, -0.0184783, 0.0114933, 0.964891, 0.261748
55
+ 53, 1720513416, 370289000, -17.492, 37.3784, 0.79076, -0.0203012, 0.0242533, 0.990495, 0.133865
56
+ 54, 1720513417, 269475000, -18.4814, 37.6414, 0.760543, 0.0284911, 0.0183558, 0.996792, 0.0725089
57
+ 55, 1720513418, 168312000, -19.5441, 37.7027, 0.72639, -0.00390621, 0.0213655, 0.998794, 0.0440239
58
+ 56, 1720513419, 67575000, -20.6479, 37.692, 0.740103, -0.0398488, 0.00270049, 0.998178, 0.045236
59
+ 57, 1720513419, 965393000, -21.6562, 37.7094, 0.713252, -0.0263299, 0.000739075, 0.999653, -0.000519446
60
+ 58, 1720513420, 864981000, -22.7004, 37.7298, 0.741607, -0.0344242, 0.0122935, 0.999276, -0.0105519
61
+ 59, 1720513421, 763998000, -23.7626, 37.6952, 0.752052, -0.0260724, -0.00844921, 0.999583, -0.00911557
62
+ 60, 1720513422, 663210000, -24.8213, 37.6344, 0.748997, -0.00453562, 0.0081191, 0.999762, -0.0197247
63
+ 61, 1720513423, 562645000, -25.9092, 37.5476, 0.765123, -0.0127005, 0.0112302, 0.999434, 0.0290722
64
+ 62, 1720513424, 460201000, -27.0111, 37.4655, 0.754133, -0.0221471, 0.012549, 0.999174, 0.0316836
65
+ 63, 1720513425, 359724000, -28.0919, 37.4276, 0.708739, -6.55471e-05, 0.0265044, 0.999233, 0.0288202
66
+ 64, 1720513426, 257873000, -29.1946, 37.421, 0.713875, -0.0148106, 0.0248045, 0.999539, 0.00934276
67
+ 65, 1720513427, 156980000, -30.3332, 37.4387, 0.700167, -0.0113822, 3.79959e-05, 0.999161, 0.0393467
68
+ 66, 1720513428, 55601000, -31.358, 37.3796, 0.686627, -0.0198557, 0.00517477, 0.999477, 0.0250066
69
+ 67, 1720513429, 254617000, -32.7071, 37.3792, 0.68981, 0.00123302, 0.0108788, 0.998737, 0.0490368
70
+ 68, 1720513430, 152246000, -33.7336, 37.2724, 0.702825, -0.0246681, 0.0193591, 0.998275, 0.0496364
71
+ 69, 1720513431, 50536000, -34.7364, 37.2049, 0.725663, -0.0084133, 0.00590214, 0.999105, 0.0410311
72
+ 70, 1720513431, 948420000, -35.751, 37.1701, 0.716793, -0.00438373, 0.000174953, 0.999894, -0.0139174
73
+ 71, 1720513432, 847442000, -36.8728, 37.1006, 0.739305, -0.0173934, -1.17846e-05, 0.999841, 0.00396519
74
+ 72, 1720513433, 746549000, -37.9397, 37.1589, 0.735145, -0.00651471, 0.00131573, 0.999741, 0.0217521
75
+ 73, 1720513434, 644805000, -38.9858, 37.1621, 0.718191, -0.00439916, 0.0148895, 0.998546, 0.0516241
76
+ 74, 1720513435, 543604000, -40.0496, 37.1681, 0.730126, -0.00442503, 0.0326518, 0.999437, 0.00628979
77
+ 75, 1720513436, 443298000, -41.1635, 37.2003, 0.719791, 0.0158928, 0.0057782, 0.999642, 0.0207399
78
+ 76, 1720513437, 341634000, -42.24, 37.1601, 0.736584, 0.00423994, 0.020782, 0.999196, -0.034009
79
+ 77, 1720513438, 240102000, -43.3143, 36.9737, 0.717632, -0.0195594, -0.019974, 0.99905, -0.0334328
80
+ 78, 1720513439, 139452000, -44.3453, 36.9718, 0.734368, 0.0252242, -0.0201492, 0.997371, -0.0648812
81
+ 79, 1720513440, 38587000, -45.381, 36.7745, 0.739208, -0.0327537, 0.00870349, 0.998796, -0.0354558
82
+ 80, 1720513440, 937665000, -46.4427, 36.6845, 0.721194, -0.0077413, 0.0501899, 0.997995, 0.0377828
83
+ 81, 1720513441, 835843000, -47.5345, 36.7975, 0.702591, -0.0168489, 0.0259071, 0.990925, 0.130818
84
+ 82, 1720513442, 734621000, -48.5518, 37.0605, 0.736097, -0.00613427, 0.0245468, 0.992227, 0.121843
85
+ 83, 1720513443, 633511000, -49.6243, 37.2776, 0.707136, 0.0145173, 0.0205714, 0.992675, 0.118162
86
+ 84, 1720513444, 532534000, -50.7347, 37.4152, 0.694166, 0.010198, 0.00483958, 0.995085, 0.0983822
87
+ 85, 1720513445, 431730000, -51.8702, 37.4747, 0.690951, 0.00049222, 0.00253295, 0.997199, 0.0747553
88
+ 86, 1720513446, 330115000, -52.988, 37.4429, 0.672738, -0.0154092, 0.0166519, 0.998725, 0.0450931
89
+ 87, 1720513447, 229739000, -53.9989, 37.3858, 0.685584, -0.00605021, 0.0306956, 0.99951, -0.000557144
90
+ 88, 1720513448, 127997000, -55.0491, 37.3004, 0.713583, -0.000346427, 0.0349395, 0.998755, 0.0355889
91
+ 89, 1720513449, 326504000, -56.347, 37.3267, 0.751526, 0.00884564, 0.0128159, 0.996949, 0.0764819
92
+ 90, 1720513450, 226271000, -57.3553, 37.4173, 0.740612, 0.023766, -0.00609842, 0.99861, 0.0466422
93
+ 91, 1720513451, 125400000, -58.3848, 37.3707, 0.746399, -0.00975208, 0.000160144, 0.998585, 0.0522846
94
+ 92, 1720513452, 324147000, -59.645, 37.2039, 0.752319, 0.0293469, 0.0212222, 0.992233, -0.119003
95
+ 93, 1720513453, 523349000, -60.2879, 36.3237, 0.734796, 0.026886, 0.0169118, -0.817371, 0.575236
96
+ 94, 1720513454, 722236000, -60.4465, 35.1051, 0.749592, -0.016611, -0.012327, -0.741166, 0.671003
97
+ 95, 1720513455, 621233000, -60.5656, 34.052, 0.766613, -0.010089, 0.0020129, -0.76864, 0.639599
98
+ 96, 1720513456, 819679000, -60.8064, 32.6392, 0.744898, -0.00600343, -0.022712, -0.783383, 0.621095
99
+ 97, 1720513457, 719353000, -60.9654, 31.5676, 0.746904, -0.00334594, -0.0269722, -0.777545, 0.62824
100
+ 98, 1720513458, 618236000, -61.038, 30.5569, 0.72277, 0.0174538, 0.00295721, -0.729101, 0.684177
101
+ 99, 1720513459, 517915000, -61.016, 29.5052, 0.731243, 0.031498, -0.0140785, -0.724501, 0.68841
102
+ 100, 1720513460, 416296000, -61.0387, 28.3831, 0.769561, 0.0219084, -0.0122831, -0.74762, 0.663652
103
+ 101, 1720513461, 315272000, -61.0534, 27.3637, 0.734152, 0.0383847, -0.0144678, -0.744113, 0.666794
104
+ 102, 1720513462, 214558000, -61.1111, 26.3077, 0.761981, 0.00044306, -0.0192794, -0.773973, 0.632925
105
+ 103, 1720513463, 113906000, -61.1611, 25.2244, 0.753829, 0.00818097, -0.000209441, -0.750909, 0.660355
106
+ 104, 1720513464, 12993000, -61.1701, 24.1703, 0.744419, 0.013867, -0.0118053, -0.720453, 0.693264
107
+ 105, 1720513464, 910987000, -61.1086, 23.1555, 0.767783, 0.011443, -0.0181085, -0.668387, 0.743505
108
+ 106, 1720513466, 109041000, -61.0082, 21.9324, 0.761043, 0.0113945, -0.00431422, -0.735471, 0.677447
109
+ 107, 1720513467, 7496000, -61.0867, 20.8203, 0.763851, 0.0104732, -0.0307087, -0.760601, 0.648409
110
+ 108, 1720513467, 906249000, -61.0798, 19.79, 0.74414, 0.0163796, -0.012703, -0.758027, 0.651894
111
+ 109, 1720513468, 805752000, -61.0623, 18.745, 0.772207, 0.00444751, -0.0184667, -0.770429, 0.637242
112
+ 110, 1720513469, 705042000, -61.0096, 17.6983, 0.728063, -0.0024918, -0.02212, -0.75894, 0.65078
113
+ 111, 1720513470, 604346000, -60.9913, 16.6358, 0.711283, 0.0243787, -0.00528262, -0.754852, 0.655421
114
+ 112, 1720513471, 501880000, -60.9996, 15.5981, 0.761143, 0.0214867, -0.01087, -0.763777, 0.64503
115
+ 113, 1720513472, 699968000, -61.0897, 14.2905, 0.767957, 0.00521196, -0.0183932, -0.722704, 0.690893
116
+ 114, 1720513473, 898019000, -61.0824, 13.0853, 0.756214, 0.00124558, 0.0167714, -0.600272, 0.799619
117
+ 115, 1720513475, 96208000, -60.9435, 12.0116, 0.741488, 0.0292943, -0.0042634, -0.77077, 0.636426
118
+ 116, 1720513475, 995034000, -61.1702, 11.0203, 0.742797, 0.00571203, -0.0017243, -0.822993, 0.56802
119
+ 117, 1720513476, 894173000, -61.3745, 10.0355, 0.729526, 0.0124275, 0.0124741, -0.763635, 0.645408
120
+ 118, 1720513477, 793109000, -61.3669, 9.01207, 0.740956, 0.025271, -0.00650421, -0.73268, 0.680073
121
+ 119, 1720513478, 691633000, -61.1227, 8.02389, 0.736234, 0.016744, 0.00510477, -0.65365, 0.756595
122
+ 120, 1720513479, 889963000, -60.4187, 6.92794, 0.74925, 0.00101465, -0.0433274, -0.451151, 0.891395
123
+ 121, 1720513481, 89084000, -59.2551, 6.24663, 0.754276, 0.0139479, 0.00904496, -0.179616, 0.983596
124
+ 122, 1720513481, 987817000, -58.2383, 6.03641, 0.723731, 0.017395, -0.0100331, -0.0716899, 0.997225
125
+ 123, 1720513482, 885897000, -57.2285, 5.86598, 0.75737, 0.0132171, 0.00844657, -0.041516, 0.999015
126
+ 124, 1720513483, 785223000, -56.199, 5.75295, 0.76048, 0.00580065, -0.0270338, -0.0497642, 0.998378
127
+ 125, 1720513484, 684463000, -55.1391, 5.67722, 0.739824, 0.0208517, -0.00950928, -0.0720516, 0.997138
128
+ 126, 1720513485, 582541000, -54.0725, 5.66103, 0.764818, 0.0277575, -0.00475246, -0.0692612, 0.997201
129
+ 127, 1720513486, 481481000, -52.9984, 5.64367, 0.754496, 0.0176559, -0.0115365, -0.0484587, 0.998602
130
+ 128, 1720513487, 379481000, -51.9425, 5.60637, 0.776704, 0.00982274, 0.00199087, -0.0320768, 0.999435
131
+ 129, 1720513488, 278444000, -50.9351, 5.57573, 0.796193, 0.00859396, -0.00445938, -0.0536027, 0.998515
132
+ 130, 1720513489, 177478000, -49.9282, 5.4541, 0.790054, 0.00182878, -0.00675907, -0.0515708, 0.998645
133
+ 131, 1720513490, 375337000, -48.5988, 5.35891, 0.78231, -0.00534494, -0.00539182, -0.0129877, 0.999887
134
+ 132, 1720513491, 274385000, -47.5538, 5.48168, 0.783003, 0.00115019, 0.0112441, -0.055434, 0.998398
135
+ 133, 1720513492, 173093000, -46.5224, 5.62033, 0.767313, 0.0267212, 0.0284189, -0.0571501, 0.997603
136
+ 134, 1720513493, 72200000, -45.4448, 5.63072, 0.732426, 0.0223689, -0.00331606, -0.0806986, 0.996482
137
+ 135, 1720513493, 971218000, -44.3759, 5.49583, 0.755529, 0.0261752, 0.0212203, -0.0705005, 0.996942
138
+ 136, 1720513494, 870003000, -43.3393, 5.41705, 0.762422, -0.0212564, 0.0270346, -0.0758579, 0.996525
139
+ 137, 1720513496, 69096000, -42.0397, 5.4517, 0.777911, 0.0126536, -0.00898423, -0.024978, 0.999568
140
+ 138, 1720513496, 968167000, -41.0401, 5.52827, 0.745477, -0.00124258, 0.0116272, -0.0746116, 0.997144
141
+ 139, 1720513497, 867363000, -40.0278, 5.57986, 0.767154, 0.00289974, 0.0149812, -0.0845236, 0.996305
142
+ 140, 1720513499, 65333000, -38.6985, 5.60522, 0.746735, 0.0110295, 0.022859, 0.00534849, 0.999664
143
+ 141, 1720513500, 264442000, -37.5514, 5.9134, 0.755132, 0.0211273, 0.0102028, 0.0468349, 0.998627
144
+ 142, 1720513501, 163263000, -36.5316, 5.96219, 0.771906, 0.0189707, 0.00430593, -0.0975836, 0.995037
145
+ 143, 1720513502, 62560000, -35.4327, 5.91096, 0.742621, 0.0121816, -0.00597297, -0.094509, 0.995432
146
+ 144, 1720513502, 962186000, -34.3693, 5.84845, 0.747877, 0.0172566, -0.00236548, -0.0629559, 0.997864
147
+ 145, 1720513503, 861267000, -33.3371, 5.85645, 0.769407, 0.00553365, -0.0154318, -0.0517741, 0.998524
148
+ 146, 1720513505, 60039000, -32.0062, 5.84353, 0.785057, 0.0139647, -0.00282748, -0.0590737, 0.998152
149
+ 147, 1720513505, 959460000, -30.9733, 5.80912, 0.761017, 0.00741826, -0.0065179, -0.0823308, 0.996556
150
+ 148, 1720513506, 858051000, -29.9631, 5.8182, 0.761735, 0.0151455, 0.0141463, -0.0746862, 0.996992
151
+ 149, 1720513507, 757232000, -28.9164, 5.83105, 0.769188, 0.0223695, 0.0240861, -0.0747397, 0.996661
152
+ 150, 1720513508, 656498000, -27.8863, 5.77891, 0.744482, -0.00233972, -0.0118503, -0.0719802, 0.997333
153
+ 151, 1720513509, 554664000, -26.7992, 5.7192, 0.765298, 0.015426, 0.01248, -0.0503806, 0.998533
154
+ 152, 1720513510, 453953000, -25.6835, 5.69847, 0.758684, 0.0194247, 0.00542966, -0.0747107, 0.997001
155
+ 153, 1720513511, 353085000, -24.6505, 5.71809, 0.735417, 0.019455, 0.00999933, -0.0646075, 0.997671
156
+ 154, 1720513512, 252346000, -23.6321, 5.71422, 0.760577, 0.012695, 0.000704281, -0.0925126, 0.99563
157
+ 155, 1720513513, 151466000, -22.5957, 5.69553, 0.732237, 0.00928723, -0.0166237, -0.0758448, 0.996938
158
+ 156, 1720513514, 51110000, -21.5421, 5.66716, 0.721733, 0.000165708, 0.000917469, -0.0628366, 0.998023
159
+ 157, 1720513514, 950298000, -20.5021, 5.68096, 0.761566, 0.00192612, -0.0107668, -0.0558182, 0.998381
160
+ 158, 1720513515, 849594000, -19.4836, 5.64116, 0.736506, 0.00613307, -0.0248158, -0.058876, 0.997938
161
+ 159, 1720513516, 748477000, -18.4312, 5.65557, 0.747988, 0.00643915, -0.0027097, -0.0624673, 0.998023
162
+ 160, 1720513517, 647788000, -17.4044, 5.70622, 0.734298, 0.00475609, -0.00744616, -0.03782, 0.999246
163
+ 161, 1720513518, 547125000, -16.3946, 5.82237, 0.703731, -0.00504919, 0.00802718, 0.0509051, 0.998658
164
+ 162, 1720513519, 746221000, -15.2566, 6.43146, 0.698069, -0.00435936, 0.00431415, 0.342716, 0.939419
165
+ 163, 1720513520, 944855000, -14.8225, 7.59697, 0.738754, 0.00238551, 0.0133312, 0.63791, 0.769992
166
+ 164, 1720513521, 844358000, -14.8117, 8.66467, 0.707909, -0.00463753, 0.00163436, 0.69486, 0.719128
167
+ 165, 1720513522, 743052000, -14.9032, 9.80252, 0.737212, -0.00170227, 0.00683057, 0.708447, 0.705729
168
+ 166, 1720513523, 642476000, -15.0537, 10.9451, 0.730028, 0.0129594, -0.00790363, 0.687475, 0.726049
169
+ 167, 1720513524, 541310000, -15.2538, 12.0227, 0.701447, 0.021937, -0.0117355, 0.664481, 0.746891
170
+ 168, 1720513525, 439265000, -15.4135, 13.0845, 0.723045, 0.0185429, 0.00562354, 0.678603, 0.73425
171
+ 169, 1720513526, 336897000, -15.5053, 14.19, 0.701133, 0.0392847, -0.0170254, 0.678656, 0.733207
172
+ 170, 1720513527, 232806000, -15.5319, 15.3194, 0.712205, -0.00672618, 0.00654218, 0.679013, 0.734066
173
+ 171, 1720513528, 129719000, -15.4992, 16.4182, 0.746715, 0.014412, 0.016136, 0.674391, 0.738058
174
+ 172, 1720513529, 26686000, -15.5515, 17.4695, 0.717362, -0.00463667, 0.00135155, 0.66527, 0.746587
175
+ 173, 1720513529, 921234000, -15.576, 18.6016, 0.739816, -0.0119325, 0.00179063, 0.655576, 0.755032
176
+ 174, 1720513530, 815759000, -15.6201, 19.6602, 0.744196, 0.0122185, -0.00219933, 0.680681, 0.732474
177
+ 175, 1720513531, 713758000, -15.6527, 20.7502, 0.710056, 0.000730138, -0.0138463, 0.711672, 0.702375
178
+ 176, 1720513532, 609230000, -15.8448, 21.7924, 0.757237, 0.000418561, -0.00683112, 0.774157, 0.632956
179
+ 177, 1720513533, 506447000, -16.3624, 22.6509, 0.746804, -0.00780404, 0.00396311, 0.877459, 0.479572
180
+ 178, 1720513534, 701973000, -17.231, 23.2473, 0.761297, -0.0122228, -0.00256437, 0.991446, 0.129917
181
+ 179, 1720513535, 898779000, -18.2865, 23.3665, 0.739152, -0.0612074, -0.00781446, 0.9965, 0.0564033
182
+ 180, 1720513537, 96459000, -19.3557, 23.3683, 0.612067, -0.0348219, 0.0250363, 0.998457, 0.0352701
183
+ 181, 1720513537, 991643000, -20.4848, 23.4139, 0.536392, 0.0175534, 0.0010573, 0.997988, 0.060908
184
+ 182, 1720513538, 888180000, -21.6265, 23.3673, 0.515737, -0.0358728, -0.000404363, 0.995596, 0.0866123
185
+ 183, 1720513539, 884208000, -22.8232, 23.347, 0.537829, -0.0170538, -0.0012851, 0.997103, 0.0741215
186
+ 184, 1720513540, 880090000, -24.0356, 23.3591, 0.53782, -0.0211184, 0.00251149, 0.996248, 0.0838935
187
+ 185, 1720513541, 975766000, -25.4101, 23.4195, 0.53319, 0.000979702, 0.00174466, 0.996234, 0.0866856
188
+ 186, 1720513542, 772451000, -26.4105, 23.3782, 0.501558, 0.0135681, 0.0133827, 0.996985, 0.0752158
189
+ 187, 1720513543, 569876000, -27.4123, 23.3893, 0.512471, -0.00626693, -0.00899166, 0.996738, 0.0799572
190
+ 188, 1720513544, 562821000, -28.661, 23.4012, 0.517368, 0.000937653, -0.0113966, 0.996863, 0.07832
191
+ 189, 1720513545, 657289000, -30.009, 23.4531, 0.530719, -0.00269551, 0.00183507, 0.992586, 0.121501
192
+ 190, 1720513546, 652179000, -31.2235, 23.4135, 0.51074, 0.023841, 0.00377232, 0.999593, -0.0152099
193
+ 191, 1720513547, 747629000, -32.4218, 23.0496, 0.517647, 0.0507065, -0.0301575, 0.969588, -0.237525
194
+ 192, 1720513548, 745555000, -33.3534, 22.4221, 0.508661, 0.034013, 0.0187581, 0.917105, -0.396748
195
+ 193, 1720513549, 940502000, -34.2679, 21.3887, 0.508808, -0.0417976, 0.0232169, -0.847057, 0.529347
196
+ 194, 1720513551, 35289000, -34.7764, 20.2235, 0.498637, -0.00728934, -0.0135627, -0.812426, 0.582861
197
+ 195, 1720513552, 31642000, -35.0485, 19.0284, 0.472089, -0.0161881, -0.0153048, -0.778847, 0.626819
198
+ 196, 1720513552, 829230000, -35.2337, 18.034, 0.47438, -0.0217, -0.0186941, -0.769526, 0.637973
199
+ 197, 1720513553, 919379000, -35.4836, 16.6503, 0.470095, 0.000438085, -0.0541682, -0.77437, 0.630409
200
+ 198, 1720513554, 914942000, -35.6722, 15.4134, 0.45207, -0.00258585, -0.0266793, -0.776215, 0.629898
201
+ 199, 1720513555, 911468000, -35.801, 14.2287, 0.449009, 0.0209531, -0.00211702, -0.781821, 0.623147
202
+ 200, 1720513557, 104440000, -35.9021, 12.8303, 0.495819, -0.0132727, -0.0386192, -0.776182, 0.629185
203
+ 201, 1720513558, 102432000, -35.9611, 11.6409, 0.501657, -0.00779618, -0.0274316, -0.753282, 0.657079
204
+ 202, 1720513559, 97558000, -36.0511, 10.4652, 0.532594, -0.000341069, -0.0128339, -0.761523, 0.64801
205
+ 203, 1720513560, 291734000, -36.0906, 9.17648, 0.500362, 0.00254892, -0.0317427, -0.766058, 0.641982
206
+ 204, 1720513561, 589424000, -36.1067, 8.09295, 0.80756, 0.00218064, -0.00319636, -0.745214, 0.666814
207
+ 205, 1720513562, 886487000, -35.741, 6.93172, 0.825377, 0.00846923, 0.00609901, -0.621917, 0.783014
208
+ 206, 1720513563, 884754000, -34.918, 6.24841, 0.799427, 0.0211177, -0.0040322, -0.300208, 0.953631
209
+ 207, 1720513564, 781570000, -33.9719, 5.90188, 0.759576, 0.00464071, 0.00488109, -0.122819, 0.992406
210
+ 208, 1720513565, 676881000, -32.923, 5.72692, 0.768323, 0.0278483, 0.0213898, -0.0449072, 0.998374
211
+ 209, 1720513566, 572664000, -31.8519, 5.65912, 0.810056, 0.0264602, -0.0304817, -0.0484248, 0.998011
212
+ 210, 1720513567, 471349000, -30.7343, 5.60627, 0.766898, -0.0214549, -0.00721084, -0.0758797, 0.99686
213
+ 211, 1720513568, 368503000, -29.6216, 5.68927, 0.810409, -0.00543954, -0.00396117, -0.0650076, 0.997862
214
+ 212, 1720513569, 262712000, -28.5494, 5.74398, 0.819754, 0.031454, -0.0252975, -0.0586002, 0.997465
215
+ 213, 1720513570, 159504000, -27.4372, 5.82223, 0.783572, 0.0115131, -0.0341471, -0.078349, 0.996274
216
+ 214, 1720513571, 57593000, -26.3224, 5.81141, 0.818347, 0.00491114, -0.0200205, -0.0744424, 0.997012
217
+ 215, 1720513571, 954939000, -25.2039, 5.79278, 0.805805, 0.00728334, -0.0539782, -0.0483685, 0.997343
218
+ 216, 1720513572, 852980000, -24.0808, 5.78713, 0.798804, -0.0123178, -0.0379957, -0.0550199, 0.997686
219
+ 217, 1720513573, 751661000, -22.9503, 5.78293, 0.80401, -0.00212138, -0.0332215, -0.0784331, 0.996363
220
+ 218, 1720513574, 646663000, -21.8361, 5.76749, 0.775839, 0.025602, -0.0213594, -0.0662917, 0.997243
221
+ 219, 1720513575, 543554000, -20.7383, 5.7008, 0.764123, 0.0120977, -0.0257967, -0.0607628, 0.997745
222
+ 220, 1720513576, 440066000, -19.6238, 5.6507, 0.780632, 0.00965742, -0.00249401, -0.0481081, 0.998792
223
+ 221, 1720513577, 337282000, -18.5252, 5.65265, 0.756533, 0.0145783, -0.0144637, -0.103312, 0.994437
224
+ 222, 1720513578, 234557000, -17.4403, 5.6599, 0.773073, 0.00933322, -0.0288718, -0.0847188, 0.995943
225
+ 223, 1720513579, 132846000, -16.4034, 5.71505, 0.771469, 0.0110565, -0.0180972, -0.00594309, 0.999757
226
+ 224, 1720513580, 326906000, -15.3423, 6.46296, 0.768703, 0.0334187, -0.0215396, 0.347929, 0.936677
227
+ 225, 1720513581, 525937000, -15.0607, 7.71398, 0.779704, 0.00802743, -0.00251575, 0.626426, 0.779436
228
+ 226, 1720513582, 423325000, -15.0716, 8.73841, 0.768457, 0.0453377, -0.00230779, 0.681976, 0.729964
229
+ 227, 1720513583, 316011000, -15.1097, 9.74208, 0.755339, 0.0595694, -0.0315839, 0.683255, 0.727061
230
+ 228, 1720513584, 211092000, -15.1062, 10.7726, 0.769136, 0.0423146, -0.0167286, 0.583931, 0.810527
231
+ 229, 1720513585, 607954000, -14.291, 11.694, 0.759372, 0.0287852, -0.0546511, 0.0046509, 0.99808
232
+ 230, 1720513586, 801186000, -13.1164, 11.7273, 0.732935, 0.00483803, -0.0386166, -0.0971181, 0.994512
233
+ 231, 1720513587, 998057000, -11.9955, 11.6533, 0.55703, 0.0180708, -0.030955, -0.0947239, 0.994858
234
+ 232, 1720513589, 194000000, -10.7489, 11.6669, 0.342845, 0.00208962, -0.0159499, -0.0889779, 0.995904
235
+ 233, 1720513590, 92617000, -9.64596, 11.6069, 0.239297, 0.0272196, -0.0305284, -0.0606128, 0.997323
236
+ 234, 1720513590, 988183000, -8.55802, 11.641, 0.121053, 0.0345021, -0.0218804, -0.0412026, 0.998315
237
+ 235, 1720513592, 182395000, -7.32965, 11.6776, -0.0263596, 0.0193917, 0.0109282, -0.044921, 0.998743
238
+ 236, 1720513593, 379245000, -6.24465, 11.5308, 0.0873928, 0.00824805, -0.0108214, -0.0788352, 0.996795
239
+ 237, 1720513594, 276321000, -5.17427, 11.4316, 0.118158, -0.00113782, -0.0392656, -0.079, 0.9961
240
+ 238, 1720513595, 165182000, -4.0093, 11.2885, 0.11386, -0.00195153, -8.1464e-05, -0.0456808, 0.998954
241
+ 239, 1720513596, 61037000, -2.85689, 11.1488, 0.094886, 0.0128085, 0.00639407, -0.0369708, 0.999214
242
+ 240, 1720513596, 957862000, -1.71964, 11.0961, 0.0721918, 0.0216036, -0.021573, -0.0810325, 0.996244
243
+ 241, 1720513597, 854190000, -0.612465, 11.0323, 0.0883423, -0.000975366, -0.00884348, -0.0967174, 0.995272
244
+ 242, 1720513598, 752863000, 0.406022, 10.823, 0.0811979, 0.000380775, 0.00941391, -0.143884, 0.98955
245
+ 243, 1720513599, 949096000, 1.64087, 10.4016, -0.0101583, -0.00407597, -0.0229495, -0.246377, 0.968894
246
+ 244, 1720513600, 848162000, 2.6641, 9.69944, -0.0832924, 0.0168036, -0.0298983, -0.369635, 0.928544
247
+ 245, 1720513601, 747457000, 3.34159, 8.75906, -0.092561, 0.0110567, -0.0107189, -0.531865, 0.846689
248
+ 246, 1720513602, 645975000, 3.80851, 7.74594, -0.0950156, -0.0111532, -0.00463621, -0.623812, 0.781481
249
+ 247, 1720513603, 545124000, 4.03004, 6.69922, -0.0914275, -0.0174279, 0.00644327, -0.718244, 0.695543
250
+ 248, 1720513604, 444867000, 4.06506, 5.52961, -0.146539, 0.011631, -0.0101762, -0.754065, 0.656618
251
+ 249, 1720513605, 343590000, 4.06299, 4.41443, -0.115803, -0.0110681, -0.0173857, -0.779565, 0.625982
252
+ 250, 1720513606, 442596000, 3.82188, 3.08309, -0.112451, -0.0279125, -0.0193375, -0.848076, 0.528785
253
+ 251, 1720513607, 541388000, 3.24997, 1.84791, -0.100123, 0.0547848, 0.0382399, 0.904861, -0.420432
254
+ 252, 1720513608, 540816000, 2.30436, 1.1613, -0.0791622, 0.064503, 0.0128028, 0.9893, -0.130234
255
+ 253, 1720513609, 539430000, 1.15224, 0.674922, -0.0543607, 0.0437159, 0.0271231, 0.997918, -0.038895
256
+ 254, 1720513610, 438438000, 0.114114, 0.443786, -0.0599133, 0.0463691, 0.00757067, 0.988572, -0.143238
257
+ 255, 1720513611, 936607000, -0.85748, 0.0548208, -0.00949032, -0.00481971, -0.075057, -0.655488, 0.751451
sequences/2024-07-09-new-college-02/processed/vilens-slam/undist-clouds.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:06cdb2922dbca40bae456c1a20c3892db559fd4cac8f687deb2ec6090e504f7a
3
+ size 123208928
sequences/2024-07-09-new-college-02/raw/images.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cff82a3e0ee673eb0cc7a17f61947bb71826963f5380c0843d6cbe169654cf06
3
+ size 3440226803
sequences/2024-07-09-new-college-02/raw/imu.csv ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4a0f5758f1e207f2feb665dae48b16adbdd918b3f3afffb9a300ebb0d9ef53aa
3
+ size 13954811
sequences/2024-07-09-new-college-02/raw/lidar-clouds.zip ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4453d8fa4844fc2c0bf34a3c7c2d285ec5d1907acf0be592369a3002a76fb335
3
+ size 1943727265
sequences/2024-07-09-new-college-02/raw/ros2bag/1720513349_2024-07-09-09-22-30_0/1720513349_2024-07-09-09-22-30_0_blurred_filtered_compressed.db3 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1f350ef353802b3d856d4f94136f67851d7fcd53bc7769aa94281f9e8d4d8278
3
+ size 6172221440
sequences/2024-07-09-new-college-02/raw/ros2bag/1720513349_2024-07-09-09-22-30_0/metadata.yaml ADDED
@@ -0,0 +1,57 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rosbag2_bagfile_information:
2
+ compression_format: ''
3
+ compression_mode: ''
4
+ custom_data: {}
5
+ duration:
6
+ nanoseconds: 255982370270
7
+ files:
8
+ - duration:
9
+ nanoseconds: 255982370270
10
+ message_count: 116219
11
+ path: 1720513349_2024-07-09-09-22-30_0_blurred_filtered_compressed.db3
12
+ starting_time:
13
+ nanoseconds_since_epoch: 1720513359008577666
14
+ message_count: 116219
15
+ relative_file_paths:
16
+ - 1720513349_2024-07-09-09-22-30_0_blurred_filtered_compressed.db3
17
+ ros_distro: rosbags
18
+ starting_time:
19
+ nanoseconds_since_epoch: 1720513359008577666
20
+ storage_identifier: sqlite3
21
+ topics_with_message_count:
22
+ - message_count: 3783
23
+ topic_metadata:
24
+ name: /alphasense_driver_ros/cam1/debayered/image/compressed
25
+ offered_qos_profiles: ''
26
+ serialization_format: cdr
27
+ type: sensor_msgs/msg/CompressedImage
28
+ type_description_hash: RIHS01_15640771531571185e2efc8a100baf923961a4d15d5569652e6cb6691e8e371a
29
+ - message_count: 102274
30
+ topic_metadata:
31
+ name: /alphasense_driver_ros/imu
32
+ offered_qos_profiles: ''
33
+ serialization_format: cdr
34
+ type: sensor_msgs/msg/Imu
35
+ type_description_hash: RIHS01_7d9a00ff131080897a5ec7e26e315954b8eae3353c3f995c55faf71574000b5b
36
+ - message_count: 3786
37
+ topic_metadata:
38
+ name: /alphasense_driver_ros/cam2/debayered/image/compressed
39
+ offered_qos_profiles: ''
40
+ serialization_format: cdr
41
+ type: sensor_msgs/msg/CompressedImage
42
+ type_description_hash: RIHS01_15640771531571185e2efc8a100baf923961a4d15d5569652e6cb6691e8e371a
43
+ - message_count: 2565
44
+ topic_metadata:
45
+ name: /hesai/pandar
46
+ offered_qos_profiles: ''
47
+ serialization_format: cdr
48
+ type: sensor_msgs/msg/PointCloud2
49
+ type_description_hash: RIHS01_9198cabf7da3796ae6fe19c4cb3bdd3525492988c70522628af5daa124bae2b5
50
+ - message_count: 3811
51
+ topic_metadata:
52
+ name: /alphasense_driver_ros/cam0/debayered/image/compressed
53
+ offered_qos_profiles: ''
54
+ serialization_format: cdr
55
+ type: sensor_msgs/msg/CompressedImage
56
+ type_description_hash: RIHS01_15640771531571185e2efc8a100baf923961a4d15d5569652e6cb6691e8e371a
57
+ version: 8
sequences/2024-07-09-new-college-02/raw/rosbag/1720513349_2024-07-09-09-22-30_0.bag ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:025be1480f9628c023a8cf15c6899c343d13be03562f4e4a5965cde3e748a050
3
+ size 3205685572