xclean 3-D maps: 8 licence-safe maps (own OAK-D-Lite routes + Rosario CC BY 4.0) (part 2)

.gitattributes

@@ -65,3 +65,12 @@ maps/oak_161206/full/splats.ply filter=lfs diff=lfs merge=lfs -text
 maps/oak_161206/splats.spz filter=lfs diff=lfs merge=lfs -text
 maps/oak_161206/splats_lite.spz filter=lfs diff=lfs merge=lfs -text
 maps/oak_161834/full/splats.ply filter=lfs diff=lfs merge=lfs -text
+maps/oak_161834/splats.spz filter=lfs diff=lfs merge=lfs -text
+maps/oak_161834/splats_lite.spz filter=lfs diff=lfs merge=lfs -text
+maps/oak_164002/full/splats.ply filter=lfs diff=lfs merge=lfs -text
+maps/oak_164002/splats.spz filter=lfs diff=lfs merge=lfs -text
+maps/oak_164002/splats_lite.spz filter=lfs diff=lfs merge=lfs -text
+maps/oak_164424/full/splats.ply filter=lfs diff=lfs merge=lfs -text
+maps/oak_164424/splats.spz filter=lfs diff=lfs merge=lfs -text
+maps/oak_164424/splats_lite.spz filter=lfs diff=lfs merge=lfs -text
+maps/rosario_01/full/splats.ply filter=lfs diff=lfs merge=lfs -text

maps/oak_161834/keyframes.json

@@ -0,0 +1 @@
+{"row":"oak_161834","n":80,"image_size":[320,200],"K":[[236.3888,0.0,164.4994],[0.0,236.3888,94.8158],[0.0,0.0,1.0]],"camera":"rectified left camera (the splat's own camera model), downscaled x0.5000","pose":"T_map_cam: 4x4 camera-to-map (OpenCV camera axes), xclean P1's LIVE pose of the keyframe (published at that frame, never revised)","channels":"grey (single channel JPEG)","selection":"evenly spaced over the route's 1873 keyframes","files_relative_to":"","three_js_pose":"camera.matrixWorld = world.matrixWorld * T_map_cam * diag(1,-1,-1,1); vertical fov = 2 atan(h/2 / fy); principal point (cx, cy) via PerspectiveCamera.setViewOffset (see notes/SPARK_NOTES.md, Lab results)","held_out_rule":"held_out_of_map = never trained on by the splat map (every 10th segment 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+ "source": "Recorded by Necessity Robotics with its own OAK-D-Lite camera.",
+ "source_licence": "own data",
+ "map_licence": "CC-BY-4.0",
+ "credit": "3-D map by Necessity Robotics (xclean).",
+ "limitations": "Camera poses come from our live SLAM run (the median of three board runs), not from ground truth. The map's pose check found: 4 place(s) driven or flown twice cannot be checked (no ground truth exists). Some surfaces may look doubled or soft.",
+ "engine": "xclean (frozen engine p13f4b), final board median run; poses are the live SLAM output, not ground truth"
+}

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