Commit ·
b07209a
0
Parent(s):
OctoSense dataset
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +70 -0
- README.md +284 -0
- assets/cal_axis.png +3 -0
- assets/gt.png +3 -0
- assets/hero.gif +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/calibration-camchain.yaml +47 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/calibration-results-cam.txt +50 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/cam_cal_rosbag2_2026_01_04-16_13_08.h5 +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/img_infrared.mp4 +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/img_left.mp4 +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/img_right.mp4 +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/ir_calib_result.json +252 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/lidar_calibration_results.yaml +22 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/time_offset.npz +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/calibration-camchain.yaml +47 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/calibration-results-cam.txt +50 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/cam_cal_rosbag2_2026_01_08-15_24_20.h5 +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/img_infrared.mp4 +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/img_left.mp4 +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/img_right.mp4 +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/ir_calib_result.json +232 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/lidar_calibration_results.yaml +22 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/time_offset.npz +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/calibration-camchain.yaml +47 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/calibration-results-cam.txt +50 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/cam_cal_rosbag2_2026_01_14-08_47_13.h5 +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/img_infrared.mp4 +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/img_left.mp4 +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/img_right.mp4 +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/ir_calib_result.json +200 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/lidar_calibration_results.yaml +22 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/time_offset.npz +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/calibration-camchain.yaml +47 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/calibration-results-cam.txt +50 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/cam_cal_rosbag2_2026_01_20-16_31_50.h5 +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/img_infrared.mp4 +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/img_left.mp4 +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/img_right.mp4 +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/ir_calib_result.json +244 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/lidar_calibration_results.yaml +22 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/time_offset.npz +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/calibration-camchain.yaml +47 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/calibration-results-cam.txt +50 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/cam_cal_rosbag2_2026_02_01-08_50_41.h5 +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/img_infrared.mp4 +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/img_left.mp4 +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/img_right.mp4 +3 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/ir_calib_result.json +232 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/lidar_calibration_results.yaml +22 -0
- calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/time_offset.npz +3 -0
.gitattributes
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saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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# Audio files - uncompressed
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*.webm filter=lfs diff=lfs merge=lfs -text
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calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/calibration-report-cam.pdf filter=lfs diff=lfs merge=lfs -text
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calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/calibration-report-cam.pdf filter=lfs diff=lfs merge=lfs -text
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calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/calibration-report-cam.pdf filter=lfs diff=lfs merge=lfs -text
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calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/calibration-report-cam.pdf filter=lfs diff=lfs merge=lfs -text
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calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/calibration-report-cam.pdf filter=lfs diff=lfs merge=lfs -text
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calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/calibration-report-imucam.pdf filter=lfs diff=lfs merge=lfs -text
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calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/calibration-report-imucam.pdf filter=lfs diff=lfs merge=lfs -text
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calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/calibration-report-imucam.pdf filter=lfs diff=lfs merge=lfs -text
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calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/calibration-report-imucam.pdf filter=lfs diff=lfs merge=lfs -text
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calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08/calibration-report-imucam.pdf filter=lfs diff=lfs merge=lfs -text
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README.md
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| 1 |
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---
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| 2 |
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pretty_name: OctoSense
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license: mit
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task_categories:
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- depth-estimation
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- image-segmentation
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- robotics
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tags:
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- autonomous-driving
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- multimodal
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- lidar
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- event-camera
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- stereo
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- optical-flow
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- ego-motion
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- sensor-fusion
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size_categories:
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- n>1T
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configs:
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- config_name: default
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data_files: metadata.parquet
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---
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# Pre-Release State
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+
|
| 25 |
+
# OctoSense
|
| 26 |
+
|
| 27 |
+
<p align="center">
|
| 28 |
+
<img src="assets/hero.gif" alt="OctoSense — synchronized multi-sensor driving across day, night, and degraded conditions" width="100%"/>
|
| 29 |
+
</p>
|
| 30 |
+
|
| 31 |
+
A time-synchronized, calibrated multi-sensor driving dataset: **371 sequences · 59.0 h · 2,474 km · 8.43 TB**,
|
| 32 |
+
spanning urban, suburban, and rural driving (highway / residential / city) on **Long Island** and in
|
| 33 |
+
**Philadelphia**, across sunrise, daytime, sunset, and nighttime. Sequences carry synchronized stereo RGB, stereo event cameras, infrared, Ouster LiDAR, two IMUs, GPS and CAN data, plus ground truth (depth, ego-motion optical flow, semantic segmentation) and a fused GPS + LiDAR-inertial odometry trajectory.
|
| 34 |
+
|
| 35 |
+
> Canonical key for every sequence is its recording datetime, `rosbag2_YYYY_MM_DD-HH_MM_SS`.
|
| 36 |
+
> Per-sequence attributes live in **`metadata.parquet`** (the viewer's table: a sensor-montage thumbnail, a GPS-track map, and all metadata columns per sequence).
|
| 37 |
+
|
| 38 |
+
## Sensors
|
| 39 |
+
|
| 40 |
+
| Modality | Sensor | Info | Rate |
|
| 41 |
+
|---|---|---|---|
|
| 42 |
+
| **RGB** (stereo) | 2× FLIR Blackfly S (Sony IMX421) | 1920×1456 | 100 Hz |
|
| 43 |
+
| **Event** (stereo) | 2× SilkyEV VGA (Prophesee) | 640×480 | ≈7 MEv/s avg |
|
| 44 |
+
| **Thermal** | FLIR A35 | 320×256 | 50 Hz |
|
| 45 |
+
| **LiDAR** | Ouster OS1-64 | 64 beams × 2048 | 10 Hz |
|
| 46 |
+
| **IMU** | VectorNav VN-100T | Acc/Gyro/Mag/Baro/Temp | 400 Hz |
|
| 47 |
+
| **IMU** (in LiDAR) | IAM-20680HT | Acc/Gyro | 100 Hz |
|
| 48 |
+
| **GNSS** | u-blox ZED-F9P | RTK (NTRIP) | 5 Hz |
|
| 49 |
+
| **Vehicle** | 2021 Mazda CX-5 | CAN Signals | 50–100 Hz |
|
| 50 |
+
|
| 51 |
+
|
| 52 |
+
|
| 53 |
+
## Coordinate frames & calibration
|
| 54 |
+
|
| 55 |
+
All extrinsics are stored per-sequence under `/calib` in the bag h5, named `A_T_B` — a 4×4 matrix that
|
| 56 |
+
maps a point from frame **B** into frame **A** (e.g. `imgl_T_ouster` takes LiDAR points into the
|
| 57 |
+
left-RGB frame). Frame abbreviations:
|
| 58 |
+
|
| 59 |
+
| abbrev | frame | | abbrev | frame |
|
| 60 |
+
|---|---|---|---|---|
|
| 61 |
+
| `imgl` / `imgr` | RGB left / right | | `ir` | Infrared (FLIR A35) |
|
| 62 |
+
| `evl` / `evr` | Event left / right | | `ouster` | LiDAR |
|
| 63 |
+
| `imu` | VectorNav IMU | | | |
|
| 64 |
+
|
| 65 |
+
Provided extrinsics: `imgl_T_imgr`, `imgl_T_imu`, `imgl_T_ir`, `imgr_T_imu`, `ir_T_imgl`, the event-pair
|
| 66 |
+
set (`evl_T_evr`, `evl_T_imgl`, …), `ouster/imgl_T_ouster` / `ouster/ir_T_ouster`, and
|
| 67 |
+
`calib/lidar_T_lidarimu` (LiDAR IMU → LiDAR/sensor frame, from the Ouster factory
|
| 68 |
+
`imu_to_sensor_transform`). Each drive records which calibration it used via `rgb_cal_id` /
|
| 69 |
+
`imu_cal_id` / `lidar_cal_id` (in the metadata). RKO-LIO odometry (`ouster/odom/*`) tracks the LiDAR pose in the **Map frame**;
|
| 70 |
+
the fused `/ref` trajectory tracks the same LiDAR pose in the **UTM-relative world frame** (see Ground truth). The **depth**
|
| 71 |
+
GT is rendered in the **rectified left-RGB camera image** (OpenCV `stereoRectify`, R1 applied). Use the
|
| 72 |
+
`/calib` extrinsics (e.g. `imgl_T_ouster`) to move between frames.
|
| 73 |
+
|
| 74 |
+
> **Per-session calibration** is released alongside the data, in **Kalibr** format:
|
| 75 |
+
> - **Cameras** (`calibration-camchain.yaml`) — a **4-camera Kalibr chain**: `cam0` = RGB right
|
| 76 |
+
> (`/flir_cam_right`), `cam1` = RGB left (`/flir_cam_left`), `cam2` = event right (`/event_camera_right`,
|
| 77 |
+
> 640×480), `cam3` = event left (`/event_camera_left`, 640×480). Each entry has pinhole
|
| 78 |
+
> `intrinsics [fx,fy,cx,cy]` + radtan `distortion_coeffs`; each cam after `cam0` carries `T_cn_cnm1`
|
| 79 |
+
> (transform from the previous cam in the chain).
|
| 80 |
+
> - **Camera↔IMU** (`calibration-camchain-imucam.yaml`, adds `T_img[l/r]_imu`) + the **IMU** noise model (`calibration-imu.yaml`).
|
| 81 |
+
> - **LiDAR↔camera** (`lidar_calibration_results.yaml`) and **IR** intrinsics + extrinsics (`ir_calib_result.json`).
|
| 82 |
+
>
|
| 83 |
+
> The processed h5 renames `cam0`/`cam1` to the `left`/`right` RGB streams above (and `cam2`/`cam3` are the right/left event cameras).
|
| 84 |
+
|
| 85 |
+
|
| 86 |
+
|
| 87 |
+
## Ground truth
|
| 88 |
+
|
| 89 |
+
- **Odometry / ego-motion** — **RKO-LIO** LiDAR-inertial odometry: SE(3) LiDAR pose in the **Map frame**
|
| 90 |
+
+ linear/angular velocity.
|
| 91 |
+
- **Depth** — sparse metric depth in the rectified left-RGB image (`depth_cm`, uint16 cm,
|
| 92 |
+
`0 = invalid`). Built by accumulating **61 LiDAR scans (≈6 s)**, removing dynamic objects (**YOLO26-medium**
|
| 93 |
+
on the nearest RGB frame), keeping the **minimum** depth per pixel, and then projecting into the camera image.
|
| 94 |
+
- **Optical flow** — **derived, not stored** — the ego-motion-induced flow (accumulated points projected into a
|
| 95 |
+
future RGB frame). Regenerate from `depth + poses` with `derive_flow.py`.
|
| 96 |
+
- **Semantic segmentation** — 19-class Cityscapes pseudo-labels ([**EoMT**](https://github.com/tue-mps/eomt)), on the **303 daytime sequences**
|
| 97 |
+
(`has_seg = true`); night/degraded have no labels.
|
| 98 |
+
- **Fused reference trajectory** — RKO-LIO odometry + GPS fused in a pose graph, under **`/ref`**
|
| 99 |
+
(`T_world_lidar` (N,4,4) + `t`) in a **UTM-relative world frame** anchored at the first GPS fix.
|
| 100 |
+
Geo-referencing + fusion quality live as `/ref` group attrs (`epsg`/`utm_zone`, `origin_{easting,northing,alt}_m`, GPS residual
|
| 101 |
+
RMS/percentiles, pose-graph error). `ref/t` is **non-uniformly sampled** — poses are emitted at the union of the LiDAR-odom (≈10 Hz) and
|
| 102 |
+
GPS (≈5 Hz) timestamps (≈13 Hz combined), so inter-pose intervals vary (≈0.02–0.1 s).
|
| 103 |
+
|
| 104 |
+
## Per-sequence files (`<session>/<bag_id>/`)
|
| 105 |
+
|
| 106 |
+
| file | contents |
|
| 107 |
+
|---|---|
|
| 108 |
+
| `data.h5` | timestamps, IMU, GPS, CAN, LiDAR (range [deskewed by RKO] / sig / nir / refl), RKO-LIO odom, `/ref` (fused odometry), `/calib` |
|
| 109 |
+
| `events.h5` | raw async event streams (`ev/left`, `ev/right`) — **≈78% of a sequence's bytes** |
|
| 110 |
+
| `img_{left,right,infrared}.mp4` | per-camera H.265 encoded video |
|
| 111 |
+
| `rgb_left_rect_depth.h5` | sparse metric depth in the rectified left-RGB image (`depth_cm`); flow derived via `derive_flow.py` |
|
| 112 |
+
| `rgb_left_rect_semantic.h5` | 19-class Cityscapes pseudo-label seg in the rectified left-RGB image — **day sequences only** |
|
| 113 |
+
| `captions.h5` | per-window scene captions (Gemma-4-31B VLM) + 4096-d Qwen3-Embedding-8B caption vectors + window metadata |
|
| 114 |
+
|
| 115 |
+
**Units/conventions:** depth in cm (`0`=invalid); event timestamps in µs; all other h5 time arrays in seconds.
|
| 116 |
+
|
| 117 |
+
> **Experimental — `car/radar` (Mazda forward radar).** Six object tracks decoded from the CAN data
|
| 118 |
+
> with the [opendbc Mazda radar DBC](https://github.com/commaai/opendbc/blob/master/opendbc/dbc/mazda_radar.dbc) (CAN IDs 865–870 = `RADAR_TRACK_361..366`). Layout:
|
| 119 |
+
> `car/radar/track_{1..6}/` with `t` (M,) float64 main-clock seconds, `dist` (M,) uint16, `ang` (M,) int16,
|
| 120 |
+
> `vrel` (M,) int16. Values are stored **raw** (no scale/offset): `dist`=`DIST_OBJ` (sentinel `4095` = no track),
|
| 121 |
+
> `ang`=`ANG_OBJ` (signed 12-bit), `vrel`=`RELV_OBJ` (signed 11-bit).
|
| 122 |
+
|
| 123 |
+
## Data format
|
| 124 |
+
|
| 125 |
+
All `*/t` arrays are **seconds on a common PPS-synced main clock** (Kalman-smoothed); event times are
|
| 126 |
+
**µs** on that same clock (`t/1e6` → s). Align streams **by timestamp** — RGB runs
|
| 127 |
+
≈100 Hz vs LiDAR ≈10 Hz. **Camera frames are raw (un-rectified)**: rectify with the per-camera `intrinsics` +
|
| 128 |
+
radtan `dist_coeffs` (stored in the h5 and the camchain); the depth GT is already in the rectified left-RGB frame.
|
| 129 |
+
|
| 130 |
+
**Main bag h5 (`data.h5`)**:
|
| 131 |
+
|
| 132 |
+
| key | shape · dtype | meaning |
|
| 133 |
+
|---|---|---|
|
| 134 |
+
| `ouster/range_pcl` | (N,131072,3) int32 | LiDAR **XYZ in mm**, 64×2048 destaggered (`[0,0,0]` = no return) |
|
| 135 |
+
| `ouster/{sig,nir}_pcl` · `refl_pcl` | (N,131072) uint16 · uint8 | per-point signal / near-IR / reflectivity |
|
| 136 |
+
| `ouster/odom/map_T_lidart` | (N,4,4) f64 | RKO-LIO LiDAR pose in the **map frame** (translation **m**) (+ `lin_vel` m/s, `ang_vel` rad/s, `t` s); `hf_odom/*` = high-rate |
|
| 137 |
+
| `ouster/{accel,ang_vel}` | (M,3) f32 | in-LiDAR IMU (IAM-20680HT); extrinsic to sensor frame = `calib/lidar_T_lidarimu` |
|
| 138 |
+
| `img/{left,right}/`, `infrared/` | — | `t` (≈100/100/50 Hz) · `intrinsics` (3,3) · `dist_coeffs` (4,) · `resolution` (2,) |
|
| 139 |
+
| `vectornav/` | (K,·) | `accel` (m/s²), `ang_vel` (rad/s) — each + `_raw` (uncompensated); `magnetic` (Gauss), `pressure` (Pa), `temperature` (°C), `t` (s); 400 Hz |
|
| 140 |
+
| `gps/data` | (G,7) f64 | `[lat°, lon°, alt_m, cov_xx, cov_yy, cov_zz, fix]`. `fix` = ROS `NavSatStatus.status`: **−1** no-fix · **0** standard fix · **1** SBAS · **2** GBAS/RTK. |
|
| 141 |
+
| `gps/velocity_enu` · `gps/heading` | (G,3) · (G,2) f64 | ENU velocity m/s · `[heading_rad, heading_acc]` |
|
| 142 |
+
| `car/` | (·,2+) f32 | CAN (col 0 = time, s): `speed` (mph), `wheels` (4× wheel speed, mph), `steer` (deg), `steer_rate` (deg/s), `vcc` = `[acc_x, acc_y]` (≈m/s²), `brake_on` (0/1), `pedal` & `brake_press` (raw counts) + `radar/` (above). **Experimental — decoded via a community Mazda DBC; units approximate/unverified.** |
|
| 143 |
+
| `ref/T_world_lidar` | (R,4,4) f64 | **fused** RKO-LIO+GPS pose, **UTM-relative world frame** (+ `ref/t`; geo-ref + quality in `/ref` attrs: `epsg`, `origin_{easting,northing}_m`, GPS residuals) |
|
| 144 |
+
| `calib/` | — | extrinsics `A_T_B` |
|
| 145 |
+
|
| 146 |
+
**Events (`events.h5`)** — flat arrays over all events, per side:
|
| 147 |
+
|
| 148 |
+
| key | dtype | meaning |
|
| 149 |
+
|---|---|---|
|
| 150 |
+
| `ev/{left,right}/t` | uint64 | event time **µs** (main clock) |
|
| 151 |
+
| `ev/{left,right}/{x,y}` | uint16 | pixel col / row, **raw 640×480** (un-rectified) |
|
| 152 |
+
| `ev/{left,right}/p` | uint8 | polarity (0/1) |
|
| 153 |
+
| `ev/{left,right}/ms_to_idx` | uint64 | millisecond → event index |
|
| 154 |
+
|
| 155 |
+
**Depth GT (`rgb_left_rect_depth.h5`)** — per-LiDAR-scan sparse depth in the **rectified left-RGB** image.
|
| 156 |
+
`N` = `n_lidar_frames`; frame `k` ↔ LiDAR scan `k`. Carries its own `timestamps`
|
| 157 |
+
(identical to `data.h5` `ouster/t`) and index arrays:
|
| 158 |
+
|
| 159 |
+
| key | shape · dtype | meaning |
|
| 160 |
+
|---|---|---|
|
| 161 |
+
| `depth_cm` | (N,1456,1920) uint16 | metric depth in **cm** (`m = depth_cm/100`), `0 = invalid` |
|
| 162 |
+
| `timestamps` | (N,) f64 | main-clock seconds (= `data.h5` `ouster/t`) |
|
| 163 |
+
| `lidar_indices` | (N,) int64 | LiDAR-scan index (`0..N−1`) |
|
| 164 |
+
| `left_img_indices` | (N,) int64 | matching frame in `img_left.mp4`|
|
| 165 |
+
| `poses` | (N,4,4) f32 | per-scan LiDAR pose used to accumulate the depth (input to `derive_flow.py`) |
|
| 166 |
+
| `K_rect` · `R3` | (3,3) f64 | rectified left-RGB intrinsics · rectification rotation (`R1`) |
|
| 167 |
+
| `imgl_T_ouster` | (4,4) f64 | LiDAR → **raw (unrectified)** left-RGB cam |
|
| 168 |
+
| `raw_res` | (2,) int32 | source image resolution |
|
| 169 |
+
|
| 170 |
+
Root attrs: `depth_scale_cm`, `flow_{gap,scale,invalid}`, `flow_stored` (=`False` — flow is **derived, not stored**), `n_scans`.
|
| 171 |
+
|
| 172 |
+
**Semantic GT (`rgb_left_rect_semantic.h5`, day sequences only)** — per-LiDAR-scan 19-class seg in the
|
| 173 |
+
**rectified left-RGB** image, aligned 1:1 with `rgb_left_rect_depth.h5`:
|
| 174 |
+
|
| 175 |
+
| key | shape · dtype | meaning |
|
| 176 |
+
|---|---|---|
|
| 177 |
+
| `semantic` | (N,1456,1920) uint8 | Cityscapes class id `0..18` (see `classes` attr); `255` = ignore |
|
| 178 |
+
| `lidar_indices` | (N,) int64 | LiDAR-scan index for each frame (`0..N−1`) |
|
| 179 |
+
| `left_img_indices` | (N,) int64 | matching frame in `img_left.mp4` (RGB ≈100 Hz vs LiDAR ≈10 Hz) |
|
| 180 |
+
| `timestamps` | (N,) f64 | main-clock seconds |
|
| 181 |
+
|
| 182 |
+
Root attrs: `classes` (19 names), `num_classes=19`, `model=EoMT-Cityscapes-DINOv2-L-1024`,
|
| 183 |
+
`coordinate_frame=rectified_left`, `preprocessing=rectify+CLAHE`, `resolution=1920x1456`.
|
| 184 |
+
So `semantic[k]` ↔ `depth_cm[k]` ↔ `img_left.mp4[left_img_indices[k]]` ↔ `ouster/t[k]`.
|
| 185 |
+
|
| 186 |
+
**Captions & semantic search (`captions.h5`)** — each sequence is split into **≈5 s windows** (`W` per
|
| 187 |
+
sequence ≈ duration / 5 s); every window gets a natural-language scene caption (a **Gemma-4-31B** VLM) and a
|
| 188 |
+
4096-d text embedding (**Qwen3-Embedding-8B**) for free-text retrieval:
|
| 189 |
+
|
| 190 |
+
| key | shape · dtype | meaning |
|
| 191 |
+
|---|---|---|
|
| 192 |
+
| `captions` | (W,) str | one scene caption per window |
|
| 193 |
+
| `embeddings` | (W,4096) f32 | Qwen3-Embedding-8B vector for each caption |
|
| 194 |
+
| `metadata` | (W,) struct | `window_id`, `frame_idx` (→ `img_left.mp4` frame), `timestamp` (main-clock s), `speed_mps`, `turn_deg`, `dist_m`, `is_night` |
|
| 195 |
+
|
| 196 |
+
Root attrs: `caption_model`, `embed_model`, `embed_dim` (4096), `num_windows`, `video_id`.
|
| 197 |
+
|
| 198 |
+
## Splits
|
| 199 |
+
|
| 200 |
+
`train` = 293 · `test` = 78 (bag-level; preserved across dataset versions). The dataset contains daytime, nighttime, and degraded sequences.
|
| 201 |
+
|
| 202 |
+
## `metadata.parquet` fields (27)
|
| 203 |
+
|
| 204 |
+
`bag_id, session, start_time, split, is_daytime, degraded, has_seg,
|
| 205 |
+
duration_s, n_lidar_frames, n_rgb_frames, n_imu_samples, n_events_left, n_events_right,
|
| 206 |
+
n_gps_fixes, n_gps_valid, gps_quality, gps_lat_min/max, gps_lon_min/max,
|
| 207 |
+
mean_speed_mph, idle_fraction, distance_m, rgb_cal_id, imu_cal_id, lidar_cal_id, sensor_dropout`
|
| 208 |
+
|
| 209 |
+
- `gps_quality` ∈ {`RTK_fixed_cm`, `float_dm`, `single_m`, `no_fix`, `absent`} — 67 / 62 / 239 / 2 / 1.
|
| 210 |
+
- `sensor_dropout` — `null`, or `sensor:seconds[;sensor:seconds]`
|
| 211 |
+
|
| 212 |
+
## Loading
|
| 213 |
+
|
| 214 |
+
```python
|
| 215 |
+
import h5py, hdf5plugin, numpy as np, pyarrow.parquet as pq
|
| 216 |
+
meta = pq.read_table("metadata.parquet").to_pydict() # per-sequence table
|
| 217 |
+
with h5py.File("<session>/<bag_id>/data.h5") as f:
|
| 218 |
+
lidar = f["ouster/range_pcl"][:]; odom = f["ouster/odom/map_T_lidart"][:]
|
| 219 |
+
|
| 220 |
+
# RGB / IR frames — native-res H.265 mp4 decoded with torchcodec.
|
| 221 |
+
from torchcodec.decoders import VideoDecoder
|
| 222 |
+
dec = VideoDecoder("<session>/<bag_id>/img_left.mp4") # 1920x1456; len(dec) == n_rgb_frames
|
| 223 |
+
rgb_k = dec[k] # (3, H, W) uint8 tensor at frame k
|
| 224 |
+
# RGB runs ≈100 Hz vs LiDAR ≈10 Hz — align by TIMESTAMP, not shared index:
|
| 225 |
+
with h5py.File("<session>/<bag_id>/data.h5") as f:
|
| 226 |
+
img_t = f["img/left/t"][:]; lid_t = f["ouster/t"][:] # seconds, same main clock
|
| 227 |
+
k = int(np.argmin(np.abs(img_t - lid_t[j]))) # RGB frame nearest LiDAR frame j
|
| 228 |
+
# img_right.mp4 / img_infrared.mp4 decode the same way (IR is grayscale-as-video, ≈50 Hz).
|
| 229 |
+
|
| 230 |
+
# Depth + semantic GT — one frame per LiDAR scan, in the rectified left-RGB image:
|
| 231 |
+
with h5py.File("<session>/<bag_id>/rgb_left_rect_depth.h5") as f:
|
| 232 |
+
depth_m = f["depth_cm"][j] / 100.0 # (1456,1920); 0 = invalid (j = LiDAR scan)
|
| 233 |
+
with h5py.File("<session>/<bag_id>/rgb_left_rect_semantic.h5") as f: # day sequences only
|
| 234 |
+
seg = f["semantic"][j] # (1456,1920) uint8, class 0..18
|
| 235 |
+
rgb_idx = f["left_img_indices"][j] # matching img_left.mp4 frame for scan j
|
| 236 |
+
|
| 237 |
+
# flow is derived, not stored:
|
| 238 |
+
from derive_flow import derive_flow_from_h5
|
| 239 |
+
flow_uv = derive_flow_from_h5("<session>/<bag_id>/rgb_left_rect_depth.h5", frame_idx, poses=odom)
|
| 240 |
+
```
|
| 241 |
+
|
| 242 |
+
## Statistics
|
| 243 |
+
|
| 244 |
+
371 sequences · 59.0 h · 2,474 km · 8.43 TB · 303 day / 68 night · 4 degraded · segmentation on 303 · GPS: 67 RTK / 62 float / 239 single / 2 no-fix / 1 absent.
|
| 245 |
+
|
| 246 |
+
## Notes/Known limitations
|
| 247 |
+
|
| 248 |
+
- **Optical flow is derived solely from ego-motion** — rigid camera-motion reprojection of LiDAR depth; it does **not**
|
| 249 |
+
capture independent motion of dynamic objects.
|
| 250 |
+
- **Seg is day-only** (303 sequences); night/degraded have no segmentation labels.
|
| 251 |
+
- **IMU compensated vs raw.** VectorNav factory-calibrates each unit (bias/scale/axis-misalignment + temperature applied). In this dataset `accel` ≡ `accel_raw` (bit-identical); `ang_vel` additionally has the on-board EKF's real-time gyro-bias estimate removed.
|
| 252 |
+
- **5 sequences have a >10 s sensor dropout** (see `sensor_dropout`): 3 with the event camera off early
|
| 253 |
+
(20–43 s), 1 GPS+CAN, 1 CAN. **3 sequences have no usable GPS** (`no_fix`/`absent`).
|
| 254 |
+
- **IR & GPS are PPS-synced indirectly, through the IMU PPS-system clock calibration.**
|
| 255 |
+
- **LiDAR clock is PPS-stepped, not Kalman-aligned.** Unlike the other streams, the Ouster clock is not
|
| 256 |
+
actively Kalman-smoothed onto the main clock; its internal clock only advances its whole-second
|
| 257 |
+
counter when the PPS edge arrives.
|
| 258 |
+
- **IMU is noisy from vehicle vibration.** Both IMUs pick up road and engine vibration; the sensors are
|
| 259 |
+
soft-mounted to dampen it, but residual vibration noise remains in the accelerometer / gyro signals.
|
| 260 |
+
- **IR frame rate occasionally dips below 50 Hz.** The infrared camera is not run as a composable node, so
|
| 261 |
+
under load it sometimes falls below its nominal 50 Hz capture rate (gaps visible in `infrared/t`).
|
| 262 |
+
- **RKO-LIO cold-start transient.** The estimator's initial phase can occasionally be jerky — at the start of a
|
| 263 |
+
sequence the LIO briefly reports ≈zero motion, then "catches up" with a jump once it converges →
|
| 264 |
+
jerky roll/pitch (occasionally z) over the first few meters of motion (upstream RKO-LIO issue #139).
|
| 265 |
+
- **LiDAR deskew is a constant-motion approximation.** Each ~100 ms sweep is motion-compensated using the
|
| 266 |
+
**average** body acceleration `a` and **average** angular velocity `ω` over the sweep — a point at offset
|
| 267 |
+
`dt` from the scan reference time is warped by `exp([ v·dt + ½·a·dt², ω·dt ])` (constant-acceleration
|
| 268 |
+
translation + constant-angular-velocity rotation). Because `a`/`ω` are held constant across the sweep,
|
| 269 |
+
rapid intra-sweep motion (high jerk, sharp turns, potholes) leaves some residual skew; `a` is
|
| 270 |
+
Kalman-filtered + jerk-bounded to limit this but cannot fully remove it.
|
| 271 |
+
|
| 272 |
+
## Citation
|
| 273 |
+
```bibtex
|
| 274 |
+
@misc{bisulco2026octosense,
|
| 275 |
+
title = {{OctoSense}: Self-Supervised Learning for Multimodal Robot Perception},
|
| 276 |
+
author = {Bisulco, Anthony and Wang, Jeremy and Daniilidis, Kostas and Balestriero, Randall and Chaudhari, Pratik},
|
| 277 |
+
year = {2026},
|
| 278 |
+
howpublished = {Preprint},
|
| 279 |
+
}
|
| 280 |
+
```
|
| 281 |
+
|
| 282 |
+
## License
|
| 283 |
+
|
| 284 |
+
Released under the **MIT License** — free to use, modify, and redistribute with attribution; provided "as is" without warranty. If you use OctoSense, please cite the paper (see Citation above).
|
assets/cal_axis.png
ADDED
|
Git LFS Details
|
assets/gt.png
ADDED
|
Git LFS Details
|
assets/hero.gif
ADDED
|
Git LFS Details
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/calibration-camchain.yaml
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
cam0:
|
| 2 |
+
cam_overlaps: [1, 2, 3]
|
| 3 |
+
camera_model: pinhole
|
| 4 |
+
distortion_coeffs: [-0.15385396380802188, 0.0749641388870442, 0.001000267559278542, 0.002804201584318143]
|
| 5 |
+
distortion_model: radtan
|
| 6 |
+
intrinsics: [1417.501796249508, 1413.430442569655, 988.1439401050002, 733.8064858691746]
|
| 7 |
+
resolution: [1920, 1456]
|
| 8 |
+
rostopic: /flir_cam_right
|
| 9 |
+
cam1:
|
| 10 |
+
T_cn_cnm1:
|
| 11 |
+
- [0.9995593640170585, -0.007529703240476874, 0.02871204233227203, 0.3838725843195073]
|
| 12 |
+
- [0.005717000260326077, 0.998015962148046, 0.0627013174159818, 0.0009849047658489283]
|
| 13 |
+
- [-0.029127198866407675, -0.06250954220586345, 0.9976192477189764, -0.0019515762440131853]
|
| 14 |
+
- [0.0, 0.0, 0.0, 1.0]
|
| 15 |
+
cam_overlaps: [0, 2, 3]
|
| 16 |
+
camera_model: pinhole
|
| 17 |
+
distortion_coeffs: [-0.15589065459647117, 0.06084534489493509, -0.00234409054407442, -0.0026530574846732736]
|
| 18 |
+
distortion_model: radtan
|
| 19 |
+
intrinsics: [1428.3251206496743, 1423.8837606531902, 902.691023138746, 632.4383854230887]
|
| 20 |
+
resolution: [1920, 1456]
|
| 21 |
+
rostopic: /flir_cam_left
|
| 22 |
+
cam2:
|
| 23 |
+
T_cn_cnm1:
|
| 24 |
+
- [0.9999095568056536, 0.007131281197360464, -0.011402764454651456, -0.2765923364369594]
|
| 25 |
+
- [-0.007491974492247794, 0.9994627085780684, -0.031908689725550894, 0.001973280420442845]
|
| 26 |
+
- [0.01116908800805142, 0.031991233022160025, 0.9994257413549008, 0.0007015331518512155]
|
| 27 |
+
- [0.0, 0.0, 0.0, 1.0]
|
| 28 |
+
cam_overlaps: [0, 1, 3]
|
| 29 |
+
camera_model: pinhole
|
| 30 |
+
distortion_coeffs: [-0.16106104491840462, 0.08215485720807618, -0.0009966249214452445, -0.002603151199575899]
|
| 31 |
+
distortion_model: radtan
|
| 32 |
+
intrinsics: [427.79848694363847, 427.3455387218023, 311.33829577023766, 228.50968889775194]
|
| 33 |
+
resolution: [640, 480]
|
| 34 |
+
rostopic: /event_camera_right
|
| 35 |
+
cam3:
|
| 36 |
+
T_cn_cnm1:
|
| 37 |
+
- [0.9999988997457284, 0.001238941642642881, 0.0008158007899400578, 0.37992465909227136]
|
| 38 |
+
- [-0.0012351223343334272, 0.999988353044184, -0.004665645591967993, -0.0007861317242734042]
|
| 39 |
+
- [-0.000821571750958009, 0.004664632844795503, 0.9999887830472257, -0.012386021719521651]
|
| 40 |
+
- [0.0, 0.0, 0.0, 1.0]
|
| 41 |
+
cam_overlaps: [0, 1, 2]
|
| 42 |
+
camera_model: pinhole
|
| 43 |
+
distortion_coeffs: [-0.1568936987135577, 0.07657681907205878, 0.0008004354838615022, -0.0012859496766683847]
|
| 44 |
+
distortion_model: radtan
|
| 45 |
+
intrinsics: [427.5042540144832, 426.1324526071299, 313.2063248051701, 223.6201600911985]
|
| 46 |
+
resolution: [640, 480]
|
| 47 |
+
rostopic: /event_camera_left
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/calibration-results-cam.txt
ADDED
|
@@ -0,0 +1,50 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
Calibration results
|
| 2 |
+
====================
|
| 3 |
+
Camera-system parameters:
|
| 4 |
+
cam0 (/flir_cam_right):
|
| 5 |
+
type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
|
| 6 |
+
distortion: [-0.15385396 0.07496414 0.00100027 0.0028042 ] +- [0.00073926 0.00114316 0.00008007 0.00008395]
|
| 7 |
+
projection: [1417.50179625 1413.43044257 988.14394011 733.80648587] +- [0.14282976 0.15942435 0.03996132 0.24838398]
|
| 8 |
+
reprojection error: [-0.002576, -0.011486] +- [1.106160, 1.284410]
|
| 9 |
+
|
| 10 |
+
cam1 (/flir_cam_left):
|
| 11 |
+
type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
|
| 12 |
+
distortion: [-0.15589065 0.06084534 -0.00234409 -0.00265306] +- [0.00066284 0.00104279 0.00008345 0.00006756]
|
| 13 |
+
projection: [1428.32512065 1423.88376065 902.69102314 632.43838542] +- [0.15164593 0.16250659 0.03110859 0.23649301]
|
| 14 |
+
reprojection error: [0.002399, 0.009587] +- [1.099249, 1.085763]
|
| 15 |
+
|
| 16 |
+
cam2 (/event_camera_right):
|
| 17 |
+
type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
|
| 18 |
+
distortion: [-0.16106104 0.08215486 -0.00099662 -0.00260315] +- [0.00192452 0.00300279 0.00021092 0.00015584]
|
| 19 |
+
projection: [427.79848694 427.34553872 311.33829577 228.5096889 ] +- [0.18781801 0.20852822 0.13149429 0.34753077]
|
| 20 |
+
reprojection error: [0.001266, 0.001172] +- [0.411296, 0.386043]
|
| 21 |
+
|
| 22 |
+
cam3 (/event_camera_left):
|
| 23 |
+
type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
|
| 24 |
+
distortion: [-0.1568937 0.07657682 0.00080044 -0.00128595] +- [0.00208104 0.00347396 0.00023031 0.00015028]
|
| 25 |
+
projection: [427.50425401 426.13245261 313.20632481 223.62016009] +- [0.1683201 0.17927078 0.00461333 0.05233623]
|
| 26 |
+
reprojection error: [0.000858, -0.002563] +- [0.489927, 0.427000]
|
| 27 |
+
|
| 28 |
+
baseline T_1_0:
|
| 29 |
+
q: [ 0.03132153 -0.0144685 -0.00331367 0.99939914] +- [0.00034278 0.0000651 0.00004473]
|
| 30 |
+
t: [ 0.38387258 0.0009849 -0.00195158] +- [0.00006778 0.0000523 0.0002185 ]
|
| 31 |
+
|
| 32 |
+
baseline T_2_1:
|
| 33 |
+
q: [-0.01597738 0.00564381 0.00365636 0.99984974] +- [0.00089633 0.00035066 0.00011301]
|
| 34 |
+
t: [-0.27659234 0.00197328 0.00070153] +- [0.00015098 0.00015531 0.00057625]
|
| 35 |
+
|
| 36 |
+
baseline T_3_2:
|
| 37 |
+
q: [-0.00233258 -0.00040934 0.00061852 0.999997 ] +- [0.00081957 0.00036337 0.00015682]
|
| 38 |
+
t: [ 0.37992466 -0.00078613 -0.01238602] +- [0.00020842 0.00020971 0.0006807 ]
|
| 39 |
+
|
| 40 |
+
|
| 41 |
+
|
| 42 |
+
Target configuration
|
| 43 |
+
====================
|
| 44 |
+
|
| 45 |
+
Type: aprilgrid
|
| 46 |
+
Tags:
|
| 47 |
+
Rows: 6
|
| 48 |
+
Cols: 6
|
| 49 |
+
Size: 0.1121 [m]
|
| 50 |
+
Spacing 0.028025 [m]
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/cam_cal_rosbag2_2026_01_04-16_13_08.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5b54c272de13be99fafd57abb058126528c875f8536eb22f71dd75fe373e2f3f
|
| 3 |
+
size 2529047274
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/img_infrared.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:be0c23ca78da1821536ee8ee9529304fb3ccafe697107e79b51a5478dc418c2e
|
| 3 |
+
size 6929857
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/img_left.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2f5d329a3ad11fb166e528c1e428c5cfe891b83362f0d7970dcb2fe1e979e89f
|
| 3 |
+
size 263277351
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/img_right.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1dd1929284973f616a5861c5612acd30523066b0d2828f68047e2e3aad0feb7d
|
| 3 |
+
size 255982570
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/ir_calib_result.json
ADDED
|
@@ -0,0 +1,252 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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"fx_source": "full_fov_lidar_tuning"
|
| 252 |
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}
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/lidar_calibration_results.yaml
ADDED
|
@@ -0,0 +1,22 @@
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|
| 1 |
+
rotation_matrix:
|
| 2 |
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- - 0.038391927015290095
|
| 3 |
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- -0.9992573277241956
|
| 4 |
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- -0.0032943784773484253
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- - 0.06381339228740623
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- 0.005741792988315175
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- -0.997945330555764
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- - 0.9972230998652338
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- 0.038102818829828244
|
| 10 |
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- 0.0639864383474737
|
| 11 |
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translation_vector:
|
| 12 |
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- 0.1418411979547808
|
| 13 |
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- -0.1090404289171035
|
| 14 |
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- 0.020060963891382896
|
| 15 |
+
config:
|
| 16 |
+
h5_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/cam_cal_rosbag2_2026_01_04-16_13_08.h5
|
| 17 |
+
video_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/img_left.mp4
|
| 18 |
+
metadata_json_path: /data/rosbags/raw/calibrations/rev7_1.json
|
| 19 |
+
kalibr_file: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/calibration-camchain.yaml
|
| 20 |
+
cam_name: cam1
|
| 21 |
+
true_radius: 0.432
|
| 22 |
+
filter_dist: 0.01
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/time_offset.npz
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 207639
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calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/calibration-camchain.yaml
ADDED
|
@@ -0,0 +1,47 @@
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|
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|
|
|
|
|
|
|
| 1 |
+
cam0:
|
| 2 |
+
cam_overlaps: [1, 2, 3]
|
| 3 |
+
camera_model: pinhole
|
| 4 |
+
distortion_coeffs: [-0.1426568615786943, 0.07628358991356403, -0.000908446598250203, -6.748113073224323e-05]
|
| 5 |
+
distortion_model: radtan
|
| 6 |
+
intrinsics: [1398.2699754978512, 1400.186224869683, 973.8555741006179, 751.495969115427]
|
| 7 |
+
resolution: [1920, 1456]
|
| 8 |
+
rostopic: /flir_cam_right
|
| 9 |
+
cam1:
|
| 10 |
+
T_cn_cnm1:
|
| 11 |
+
- [0.9999545009096574, -0.0049176999396421716, -0.008173881441767668, 0.38229768083647114]
|
| 12 |
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- [0.004925522475114707, 0.9999874303998881, 0.0009371609139109687, 0.0018753647043283606]
|
| 13 |
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- [0.008169170023176797, -0.0009773789106922296, 0.9999661541230283, -0.0027115590462577235]
|
| 14 |
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- [0.0, 0.0, 0.0, 1.0]
|
| 15 |
+
cam_overlaps: [0, 2, 3]
|
| 16 |
+
camera_model: pinhole
|
| 17 |
+
distortion_coeffs: [-0.1436030205679032, 0.07898677140910257, -0.0004848330496942119, -0.0018099632545118306]
|
| 18 |
+
distortion_model: radtan
|
| 19 |
+
intrinsics: [1401.7762438243033, 1402.8201774222791, 941.4989575858184, 734.47904421732]
|
| 20 |
+
resolution: [1920, 1456]
|
| 21 |
+
rostopic: /flir_cam_left
|
| 22 |
+
cam2:
|
| 23 |
+
T_cn_cnm1:
|
| 24 |
+
- [0.999988717481768, 0.0044123705757418905, -0.0017595155745295057, -0.2754415661582165]
|
| 25 |
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- [-0.004406507279129324, 0.9999847720463868, 0.0033224040874964915, 0.0008861766254893126]
|
| 26 |
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- [0.0017741484587443616, -0.0033146132842249176, 0.9999929328430318, 0.0024474959217993986]
|
| 27 |
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- [0.0, 0.0, 0.0, 1.0]
|
| 28 |
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cam_overlaps: [0, 1, 3]
|
| 29 |
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camera_model: pinhole
|
| 30 |
+
distortion_coeffs: [-0.14880697099123483, 0.08077396406963679, -0.0005375739635001428, 0.00037295846206041196]
|
| 31 |
+
distortion_model: radtan
|
| 32 |
+
intrinsics: [420.38809104308325, 421.46420981254107, 318.7538807240635, 244.47413174989723]
|
| 33 |
+
resolution: [640, 480]
|
| 34 |
+
rostopic: /event_camera_right
|
| 35 |
+
cam3:
|
| 36 |
+
T_cn_cnm1:
|
| 37 |
+
- [0.9999898171351708, 0.004500654068547862, -0.00033126864134058346, 0.37948651243408443]
|
| 38 |
+
- [-0.0044996844487672875, 0.9999857528676026, 0.0028717419217569994, -0.0006966856410890064]
|
| 39 |
+
- [0.0003441886386763681, -0.0028702220748433958, 0.9999958216709767, -0.002890277294159323]
|
| 40 |
+
- [0.0, 0.0, 0.0, 1.0]
|
| 41 |
+
cam_overlaps: [0, 1, 2]
|
| 42 |
+
camera_model: pinhole
|
| 43 |
+
distortion_coeffs: [-0.13409145089148422, 0.06806644083326019, -0.00045836638913454645, -0.002516334836130025]
|
| 44 |
+
distortion_model: radtan
|
| 45 |
+
intrinsics: [421.6126479946354, 422.1641646911804, 321.74911305883643, 236.09261887460912]
|
| 46 |
+
resolution: [640, 480]
|
| 47 |
+
rostopic: /event_camera_left
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/calibration-results-cam.txt
ADDED
|
@@ -0,0 +1,50 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
Calibration results
|
| 2 |
+
====================
|
| 3 |
+
Camera-system parameters:
|
| 4 |
+
cam0 (/flir_cam_right):
|
| 5 |
+
type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
|
| 6 |
+
distortion: [-0.14265686 0.07628359 -0.00090845 -0.00006748] +- [0.00152725 0.0028502 0.00019905 0.00017411]
|
| 7 |
+
projection: [1398.2699755 1400.18622487 973.8555741 751.49596912] +- [0.21190694 0.22358612 0.01362437 0.07182291]
|
| 8 |
+
reprojection error: [-0.000668, -0.000496] +- [0.530497, 0.326562]
|
| 9 |
+
|
| 10 |
+
cam1 (/flir_cam_left):
|
| 11 |
+
type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
|
| 12 |
+
distortion: [-0.14360302 0.07898677 -0.00048483 -0.00180996] +- [0.00150894 0.00189865 0.00018073 0.00021982]
|
| 13 |
+
projection: [1401.77624382 1402.82017742 941.49895759 734.47904422] +- [0.22581272 0.22558942 0.00896132 0.0552479 ]
|
| 14 |
+
reprojection error: [0.000086, -0.000453] +- [0.439034, 0.289310]
|
| 15 |
+
|
| 16 |
+
cam2 (/event_camera_right):
|
| 17 |
+
type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
|
| 18 |
+
distortion: [-0.14880697 0.08077396 -0.00053757 0.00037296] +- [0.00353113 0.00598779 0.00043567 0.00028482]
|
| 19 |
+
projection: [420.38809104 421.46420981 318.75388072 244.47413175] +- [0.30739548 0.2914447 0.036425 0.11938748]
|
| 20 |
+
reprojection error: [0.000001, -0.000350] +- [0.426499, 0.382698]
|
| 21 |
+
|
| 22 |
+
cam3 (/event_camera_left):
|
| 23 |
+
type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
|
| 24 |
+
distortion: [-0.13409145 0.06806644 -0.00045837 -0.00251633] +- [0.00371379 0.00353187 0.00033296 0.00057622]
|
| 25 |
+
projection: [421.61264799 422.16416469 321.74911306 236.09261887] +- [0.26061686 0.25674905 0.01049326 0.04571637]
|
| 26 |
+
reprojection error: [0.000314, -0.000579] +- [0.426590, 0.412968]
|
| 27 |
+
|
| 28 |
+
baseline T_1_0:
|
| 29 |
+
q: [ 0.00047864 0.00408581 -0.00246083 0.99998851] +- [0.00010544 0.00006059 0.00008233]
|
| 30 |
+
t: [ 0.38229768 0.00187536 -0.00271156] +- [0.00009407 0.00008597 0.0003443 ]
|
| 31 |
+
|
| 32 |
+
baseline T_2_1:
|
| 33 |
+
q: [0.00165926 0.00088342 0.00220473 0.9999958 ] +- [0.00038649 0.00020076 0.00020658]
|
| 34 |
+
t: [-0.27544157 0.00088618 0.0024475 ] +- [0.00024407 0.00026242 0.00087789]
|
| 35 |
+
|
| 36 |
+
baseline T_3_2:
|
| 37 |
+
q: [0.0014355 0.00016886 0.00225009 0.99999642] +- [0.00041806 0.0002536 0.00028278]
|
| 38 |
+
t: [ 0.37948651 -0.00069669 -0.00289028] +- [0.00034212 0.00034187 0.00108567]
|
| 39 |
+
|
| 40 |
+
|
| 41 |
+
|
| 42 |
+
Target configuration
|
| 43 |
+
====================
|
| 44 |
+
|
| 45 |
+
Type: aprilgrid
|
| 46 |
+
Tags:
|
| 47 |
+
Rows: 6
|
| 48 |
+
Cols: 6
|
| 49 |
+
Size: 0.1121 [m]
|
| 50 |
+
Spacing 0.028025 [m]
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/cam_cal_rosbag2_2026_01_08-15_24_20.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0e311b167e3c42a0b34db50589e1f71677868d247190470702777074c0d4a69f
|
| 3 |
+
size 1980232906
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/img_infrared.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:06ed1aa810c454ea876cd4cb1f0d6882bbe0f6f92f658fc1313545b38802ddea
|
| 3 |
+
size 7188494
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/img_left.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c443b57dcada7951e34ad98d3815462c3454deb7fb84233b2d5d5df1f895e579
|
| 3 |
+
size 133051221
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/img_right.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ca330b0f07573e089fab0a4f6a4833b73037fcfc4eacb082ec9aff5c4d339df2
|
| 3 |
+
size 115032358
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/ir_calib_result.json
ADDED
|
@@ -0,0 +1,232 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"method": "manually tuned (full-FOV LiDAR overlay): fx=fy=370 (FOV25/9mm lens); cx,cy,distortion,extrinsic from board solve. Board-solve backup in ir_calib_result.board_solve.json",
|
| 3 |
+
"n_frames": 25,
|
| 4 |
+
"reproj_rms_px": 1.3072880214799218,
|
| 5 |
+
"lock_rotation": true,
|
| 6 |
+
"per_corner_px": [
|
| 7 |
+
2.1142890185161227,
|
| 8 |
+
1.1035600472024796,
|
| 9 |
+
0.624600073510562,
|
| 10 |
+
1.3310831420835025,
|
| 11 |
+
0.535790723375995,
|
| 12 |
+
0.8606905526116133,
|
| 13 |
+
1.819368275129702,
|
| 14 |
+
0.6742746954052509,
|
| 15 |
+
1.0566036765897449,
|
| 16 |
+
0.5970231846618801,
|
| 17 |
+
1.0998646399435554,
|
| 18 |
+
1.038053662386867,
|
| 19 |
+
2.0868361659796837,
|
| 20 |
+
1.3343529518157633,
|
| 21 |
+
2.608995579645219,
|
| 22 |
+
1.8215003350075847,
|
| 23 |
+
1.1620796299795493,
|
| 24 |
+
0.43426501390812866,
|
| 25 |
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1.995412242898972,
|
| 26 |
+
4.199472585783382,
|
| 27 |
+
0.9818357800864126,
|
| 28 |
+
1.24900739608335,
|
| 29 |
+
0.9608506088349323,
|
| 30 |
+
1.2764880238918084,
|
| 31 |
+
1.0159064341356363,
|
| 32 |
+
0.3200765239881183,
|
| 33 |
+
1.2367618424428874,
|
| 34 |
+
1.063475856158881,
|
| 35 |
+
1.7080750669447602,
|
| 36 |
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0.6865929237922664,
|
| 37 |
+
1.376983841219791,
|
| 38 |
+
1.7833708125808567,
|
| 39 |
+
1.048811005278161,
|
| 40 |
+
1.0814835654930472,
|
| 41 |
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3.1619804848526427,
|
| 42 |
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1.0172320090775124,
|
| 43 |
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1.1993943700018488,
|
| 44 |
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1.1248937680475324,
|
| 45 |
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0.8956190070457615,
|
| 46 |
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2.202004244064284,
|
| 47 |
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1.1230676392730041,
|
| 48 |
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1.0963652832750423,
|
| 49 |
+
1.2691174211629597,
|
| 50 |
+
1.0157313167358806,
|
| 51 |
+
1.904591928649795,
|
| 52 |
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0.8368514808747953,
|
| 53 |
+
1.737197493182953,
|
| 54 |
+
1.589811109400293,
|
| 55 |
+
1.812503727864125,
|
| 56 |
+
1.2294009304363458,
|
| 57 |
+
0.37151355823814064,
|
| 58 |
+
0.4991274854543051,
|
| 59 |
+
0.8768406263122507,
|
| 60 |
+
0.9170765687679882,
|
| 61 |
+
0.8423234880360821,
|
| 62 |
+
1.072606814629768,
|
| 63 |
+
1.360438558281001,
|
| 64 |
+
0.8599328269628395,
|
| 65 |
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0.653026017295332,
|
| 66 |
+
1.0317228442383644,
|
| 67 |
+
0.7891284337612235,
|
| 68 |
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0.14703973034103912,
|
| 69 |
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0.7837659303469354,
|
| 70 |
+
1.4519152551701677,
|
| 71 |
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0.8809628557360641,
|
| 72 |
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0.41159111269838844,
|
| 73 |
+
0.2756012278897763,
|
| 74 |
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0.8110743249499932,
|
| 75 |
+
1.83519298779706,
|
| 76 |
+
1.3513515349556824,
|
| 77 |
+
1.5443061018105393,
|
| 78 |
+
0.07493012406875055,
|
| 79 |
+
0.7377142280941539,
|
| 80 |
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1.17014777115033,
|
| 81 |
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0.39204954415812754,
|
| 82 |
+
0.7162750676412215,
|
| 83 |
+
1.1963081893847831,
|
| 84 |
+
0.3171296338361342,
|
| 85 |
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1.0239278409065875,
|
| 86 |
+
0.36360015279463825,
|
| 87 |
+
0.5201917103954344,
|
| 88 |
+
1.6910050531899998,
|
| 89 |
+
0.7731475899881934,
|
| 90 |
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0.3257059227080739,
|
| 91 |
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0.05883955988388426,
|
| 92 |
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1.0557663961921753,
|
| 93 |
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0.9209555484072252,
|
| 94 |
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1.1732156597589183,
|
| 95 |
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0.842771077093091,
|
| 96 |
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0.4295032296713008,
|
| 97 |
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1.7444489280487214,
|
| 98 |
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0.5410779573293882,
|
| 99 |
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1.8029389611638247,
|
| 100 |
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0.8223272258267569,
|
| 101 |
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1.534609714468707,
|
| 102 |
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1.3061135766488878,
|
| 103 |
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0.9695456009093559,
|
| 104 |
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0.9767353082730291,
|
| 105 |
+
2.8527486402604536,
|
| 106 |
+
1.0112474138201615
|
| 107 |
+
],
|
| 108 |
+
"K_ir_native_320x256": [
|
| 109 |
+
[
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370.0,
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[
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[
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"dist_ir_k1k2": [
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|
| 127 |
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"ir_offset_in_imgl_mm": [
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|
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"board_corners_obj": [
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|
| 203 |
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],
|
| 204 |
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"board_size_est_m": 0.9808269087115785,
|
| 205 |
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"IR_T_ouster": [
|
| 206 |
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[
|
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|
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[
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|
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],
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| 218 |
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[
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|
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],
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[
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|
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|
| 228 |
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1.0
|
| 229 |
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]
|
| 230 |
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],
|
| 231 |
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"fx_source": "full_fov_lidar_tuning"
|
| 232 |
+
}
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/lidar_calibration_results.yaml
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
| 1 |
+
rotation_matrix:
|
| 2 |
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- - 0.00837700055918117
|
| 3 |
+
- -0.9999267937283713
|
| 4 |
+
- 0.008731153745665354
|
| 5 |
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- - 0.000769294866470982
|
| 6 |
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- -0.008725013164515794
|
| 7 |
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- -0.9999616404296153
|
| 8 |
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- - 0.9999646163975202
|
| 9 |
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- 0.00838339605279359
|
| 10 |
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- 0.0006961491091040384
|
| 11 |
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translation_vector:
|
| 12 |
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- 0.15364458796714758
|
| 13 |
+
- -0.13432477464805484
|
| 14 |
+
- -0.013881318196416826
|
| 15 |
+
config:
|
| 16 |
+
h5_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/cam_cal_rosbag2_2026_01_08-15_24_20.h5
|
| 17 |
+
video_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/img_left.mp4
|
| 18 |
+
metadata_json_path: /data/rosbags/raw/calibrations/rev7_1.json
|
| 19 |
+
kalibr_file: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/calibration-camchain.yaml
|
| 20 |
+
cam_name: cam1
|
| 21 |
+
true_radius: 0.432
|
| 22 |
+
filter_dist: 0.01
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/time_offset.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c7a86d9014a5364f057aa209d7a5b39703962dcc783711e6e0804f0c97af73ff
|
| 3 |
+
size 160180
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/calibration-camchain.yaml
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
cam0:
|
| 2 |
+
cam_overlaps: [1, 2, 3]
|
| 3 |
+
camera_model: pinhole
|
| 4 |
+
distortion_coeffs: [-0.14787396747563236, 0.09153047625690433, -0.0008960909329665315, -0.00021796604329297103]
|
| 5 |
+
distortion_model: radtan
|
| 6 |
+
intrinsics: [1399.1129208969217, 1397.1784349833051, 968.5988768996218, 752.7657075282705]
|
| 7 |
+
resolution: [1920, 1456]
|
| 8 |
+
rostopic: /flir_cam_right
|
| 9 |
+
cam1:
|
| 10 |
+
T_cn_cnm1:
|
| 11 |
+
- [0.99996091983495, -0.005038352861862628, -0.0072645580221542645, 0.38182213737975873]
|
| 12 |
+
- [0.005054929172142473, 0.9999846580425193, 0.0022652528837507927, 0.0021775304865360983]
|
| 13 |
+
- [0.007253033426264367, -0.002301886183563151, 0.999971046993908, -0.0054618522845664656]
|
| 14 |
+
- [0.0, 0.0, 0.0, 1.0]
|
| 15 |
+
cam_overlaps: [0, 2, 3]
|
| 16 |
+
camera_model: pinhole
|
| 17 |
+
distortion_coeffs: [-0.14525155304234266, 0.0808709221398583, -0.0007681430128700377, -0.0017324421257447693]
|
| 18 |
+
distortion_model: radtan
|
| 19 |
+
intrinsics: [1400.9350120401848, 1397.7861994325692, 936.2239798398818, 736.0012771137447]
|
| 20 |
+
resolution: [1920, 1456]
|
| 21 |
+
rostopic: /flir_cam_left
|
| 22 |
+
cam2:
|
| 23 |
+
T_cn_cnm1:
|
| 24 |
+
- [0.9999381917251355, 0.005035436091081004, -0.009912472590015695, -0.27513831961636137]
|
| 25 |
+
- [-0.005042244400620353, 0.9999870686991309, -0.00066197124794198, 0.00058676373406244]
|
| 26 |
+
- [0.009909011094937088, 0.000711911442054441, 0.9999506511229582, 0.0007545452379877609]
|
| 27 |
+
- [0.0, 0.0, 0.0, 1.0]
|
| 28 |
+
cam_overlaps: [0, 1, 3]
|
| 29 |
+
camera_model: pinhole
|
| 30 |
+
distortion_coeffs: [-0.14687653638039458, 0.08850552106068162, -0.001213295589460522, 0.0007508043789556837]
|
| 31 |
+
distortion_model: radtan
|
| 32 |
+
intrinsics: [420.5406993281328, 419.73120773720944, 320.36454361767585, 245.9047410606368]
|
| 33 |
+
resolution: [640, 480]
|
| 34 |
+
rostopic: /event_camera_right
|
| 35 |
+
cam3:
|
| 36 |
+
T_cn_cnm1:
|
| 37 |
+
- [0.9999566369759583, 0.0034988536368112024, 0.008630306539849303, 0.3784857096347118]
|
| 38 |
+
- [-0.00357287682021566, 0.9999568367263917, 0.008576668081958781, -0.0007145241314788256]
|
| 39 |
+
- [-0.008599925521256465, -0.008607131193882076, 0.9999259765470903, -0.003866475785601903]
|
| 40 |
+
- [0.0, 0.0, 0.0, 1.0]
|
| 41 |
+
cam_overlaps: [0, 1, 2]
|
| 42 |
+
camera_model: pinhole
|
| 43 |
+
distortion_coeffs: [-0.14123459957364473, 0.07406590366055538, -0.0010618484880483684, -0.0014227224733529868]
|
| 44 |
+
distortion_model: radtan
|
| 45 |
+
intrinsics: [421.4787713400347, 420.6833344354001, 320.13875692093046, 235.32491748095796]
|
| 46 |
+
resolution: [640, 480]
|
| 47 |
+
rostopic: /event_camera_left
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/calibration-results-cam.txt
ADDED
|
@@ -0,0 +1,50 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
Calibration results
|
| 2 |
+
====================
|
| 3 |
+
Camera-system parameters:
|
| 4 |
+
cam0 (/flir_cam_right):
|
| 5 |
+
type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
|
| 6 |
+
distortion: [-0.14787397 0.09153048 -0.00089609 -0.00021797] +- [0.00091862 0.00161794 0.00012694 0.00014832]
|
| 7 |
+
projection: [1399.1129209 1397.17843498 968.5988769 752.76570753] +- [0.14627228 0.17477558 0.01787351 0.14684089]
|
| 8 |
+
reprojection error: [-0.000312, -0.000815] +- [0.400515, 0.315315]
|
| 9 |
+
|
| 10 |
+
cam1 (/flir_cam_left):
|
| 11 |
+
type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
|
| 12 |
+
distortion: [-0.14525155 0.08087092 -0.00076814 -0.00173244] +- [0.00086686 0.00139414 0.00012529 0.00015329]
|
| 13 |
+
projection: [1400.93501204 1397.78619943 936.22397984 736.00127711] +- [0.15047087 0.16617003 0.00511123 0.06879126]
|
| 14 |
+
reprojection error: [0.000251, -0.000343] +- [0.233766, 0.207064]
|
| 15 |
+
|
| 16 |
+
cam2 (/event_camera_right):
|
| 17 |
+
type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
|
| 18 |
+
distortion: [-0.14687654 0.08850552 -0.0012133 0.0007508 ] +- [0.0023074 0.0037929 0.00024372 0.00020091]
|
| 19 |
+
projection: [420.54069933 419.73120774 320.36454362 245.90474106] +- [0.18662603 0.21296056 0.04826654 0.34361981]
|
| 20 |
+
reprojection error: [-0.000033, -0.000268] +- [0.381969, 0.350655]
|
| 21 |
+
|
| 22 |
+
cam3 (/event_camera_left):
|
| 23 |
+
type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
|
| 24 |
+
distortion: [-0.1412346 0.0740659 -0.00106185 -0.00142272] +- [0.00235878 0.00284866 0.00020967 0.00029177]
|
| 25 |
+
projection: [421.47877134 420.68333444 320.13875692 235.32491748] +- [0.16311444 0.20143687 0.00906464 0.04776329]
|
| 26 |
+
reprojection error: [0.000365, -0.000164] +- [0.355173, 0.326639]
|
| 27 |
+
|
| 28 |
+
baseline T_1_0:
|
| 29 |
+
q: [ 0.0011418 0.00362944 -0.00252335 0.99998958] +- [0.00015518 0.00005714 0.00005809]
|
| 30 |
+
t: [ 0.38182214 0.00217753 -0.00546185] +- [0.00006425 0.00004516 0.00023504]
|
| 31 |
+
|
| 32 |
+
baseline T_2_1:
|
| 33 |
+
q: [-0.00034348 0.00495545 0.00251946 0.99998449] +- [0.00084527 0.00018001 0.00011194]
|
| 34 |
+
t: [-0.27513832 0.00058676 0.00075455] +- [0.0001394 0.00012835 0.00046608]
|
| 35 |
+
|
| 36 |
+
baseline T_3_2:
|
| 37 |
+
q: [ 0.00429604 -0.00430764 0.00176797 0.99997993] +- [0.00087002 0.00022299 0.00016118]
|
| 38 |
+
t: [ 0.37848571 -0.00071452 -0.00386648] +- [0.00021161 0.00017684 0.00060106]
|
| 39 |
+
|
| 40 |
+
|
| 41 |
+
|
| 42 |
+
Target configuration
|
| 43 |
+
====================
|
| 44 |
+
|
| 45 |
+
Type: aprilgrid
|
| 46 |
+
Tags:
|
| 47 |
+
Rows: 6
|
| 48 |
+
Cols: 6
|
| 49 |
+
Size: 0.1121 [m]
|
| 50 |
+
Spacing 0.028025 [m]
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/cam_cal_rosbag2_2026_01_14-08_47_13.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:021912782aa84329d35d00b93c1e3b0fcbe180ac26e786a224740099c442ffc9
|
| 3 |
+
size 2317839126
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/img_infrared.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0a99d69ffa1cfbffcd9a4787853ee341f93f8af95e2db66a14b44d363ac0e979
|
| 3 |
+
size 9912944
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/img_left.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f66f4860b0867594147cc5ff6d87b2d1d237090fa94c3a1635550de86a412a53
|
| 3 |
+
size 302171891
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calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/img_right.mp4
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:c677fcd6d1386b2a746b1693fbebfa8ed76d1f02737d49699717e8d769647e1b
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size 297469874
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calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/ir_calib_result.json
ADDED
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@@ -0,0 +1,200 @@
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"method": "manually tuned (full-FOV LiDAR overlay): fx=fy=368 (FOV25/9mm lens); cx,cy,distortion,extrinsic from board solve. Board-solve backup in ir_calib_result.board_solve.json",
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}
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/lidar_calibration_results.yaml
ADDED
|
@@ -0,0 +1,22 @@
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rotation_matrix:
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translation_vector:
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| 15 |
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config:
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| 16 |
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h5_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/cam_cal_rosbag2_2026_01_14-08_47_13.h5
|
| 17 |
+
video_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/img_left.mp4
|
| 18 |
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metadata_json_path: /data/rosbags/raw/calibrations/rev7_1.json
|
| 19 |
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kalibr_file: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/calibration-camchain.yaml
|
| 20 |
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cam_name: cam1
|
| 21 |
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true_radius: 0.432
|
| 22 |
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filter_dist: 0.01
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/time_offset.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:c5cb5b992444c23cf4a29c5a8d4bb0a43b280481dc509ba6cca36fbe425e291e
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| 3 |
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size 211156
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calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/calibration-camchain.yaml
ADDED
|
@@ -0,0 +1,47 @@
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|
| 1 |
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cam0:
|
| 2 |
+
cam_overlaps: [1, 2, 3]
|
| 3 |
+
camera_model: pinhole
|
| 4 |
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distortion_coeffs: [-0.15057920800818145, 0.07425854786994802, 0.00025953897477574327, -7.783198349369072e-05]
|
| 5 |
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distortion_model: radtan
|
| 6 |
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intrinsics: [1394.5046922987929, 1394.8473217839635, 969.9602386942076, 747.628445104563]
|
| 7 |
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resolution: [1920, 1456]
|
| 8 |
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rostopic: /flir_cam_right
|
| 9 |
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cam1:
|
| 10 |
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T_cn_cnm1:
|
| 11 |
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- [0.9999833706542005, -0.004776949832482648, -0.0032309697273294642, 0.38272106625805935]
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| 12 |
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- [0.004783759820713138, 0.9999863458156649, 0.0021032889074449855, 0.002071407601354094]
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| 13 |
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- [0.0032208783054791168, -0.0021187101142899484, 0.9999925684775912, -0.00602606157437941]
|
| 14 |
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- [0.0, 0.0, 0.0, 1.0]
|
| 15 |
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cam_overlaps: [0, 2, 3]
|
| 16 |
+
camera_model: pinhole
|
| 17 |
+
distortion_coeffs: [-0.1512563064547309, 0.07534917628069317, 0.000464225149620579, -0.001354875103324927]
|
| 18 |
+
distortion_model: radtan
|
| 19 |
+
intrinsics: [1396.2502568402901, 1396.312688393185, 931.8690619019077, 730.9654164178276]
|
| 20 |
+
resolution: [1920, 1456]
|
| 21 |
+
rostopic: /flir_cam_left
|
| 22 |
+
cam2:
|
| 23 |
+
T_cn_cnm1:
|
| 24 |
+
- [0.9999617209294615, 0.005019999222104069, -0.0071663298548217185, -0.2757706125249656]
|
| 25 |
+
- [-0.005026607761880751, 0.9999869575057067, -0.0009044516992810886, 0.0009029477212918724]
|
| 26 |
+
- [0.007161696041178704, 0.0009404394069831432, 0.999973912501483, 0.003399234903134681]
|
| 27 |
+
- [0.0, 0.0, 0.0, 1.0]
|
| 28 |
+
cam_overlaps: [0, 1, 3]
|
| 29 |
+
camera_model: pinhole
|
| 30 |
+
distortion_coeffs: [-0.15316372865916947, 0.07624613936152609, 0.000264790481912241, -0.0005592383462134972]
|
| 31 |
+
distortion_model: radtan
|
| 32 |
+
intrinsics: [419.5180205638013, 419.6537725197218, 317.2693706751948, 244.6267898819202]
|
| 33 |
+
resolution: [640, 480]
|
| 34 |
+
rostopic: /event_camera_right
|
| 35 |
+
cam3:
|
| 36 |
+
T_cn_cnm1:
|
| 37 |
+
- [0.9999528257190756, 0.003487651021337225, 0.00906546340794389, 0.3796858029082968]
|
| 38 |
+
- [-0.003571970081011607, 0.9999503590213011, 0.009301640872599552, -0.0010595461838426138]
|
| 39 |
+
- [-0.009032572512178476, -0.009333583638443596, 0.9999156448672497, -0.006218068959930722]
|
| 40 |
+
- [0.0, 0.0, 0.0, 1.0]
|
| 41 |
+
cam_overlaps: [0, 1, 2]
|
| 42 |
+
camera_model: pinhole
|
| 43 |
+
distortion_coeffs: [-0.1514495097877584, 0.07525637261603504, -3.049124428850406e-05, -0.001595897674278915]
|
| 44 |
+
distortion_model: radtan
|
| 45 |
+
intrinsics: [420.39707529636104, 420.3597888766039, 316.87160989567013, 233.76566847560807]
|
| 46 |
+
resolution: [640, 480]
|
| 47 |
+
rostopic: /event_camera_left
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/calibration-results-cam.txt
ADDED
|
@@ -0,0 +1,50 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
Calibration results
|
| 2 |
+
====================
|
| 3 |
+
Camera-system parameters:
|
| 4 |
+
cam0 (/flir_cam_right):
|
| 5 |
+
type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
|
| 6 |
+
distortion: [-0.15057921 0.07425855 0.00025954 -0.00007783] +- [0.00092942 0.00148895 0.00013046 0.00012402]
|
| 7 |
+
projection: [1394.5046923 1394.84732178 969.96023869 747.6284451 ] +- [0.19437234 0.19730964 0.00562695 0.26932043]
|
| 8 |
+
reprojection error: [-0.000181, -0.000407] +- [0.433259, 0.390555]
|
| 9 |
+
|
| 10 |
+
cam1 (/flir_cam_left):
|
| 11 |
+
type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
|
| 12 |
+
distortion: [-0.15125631 0.07534918 0.00046423 -0.00135488] +- [0.00090461 0.00139384 0.00013118 0.00012311]
|
| 13 |
+
projection: [1396.25025684 1396.31268839 931.8690619 730.96541642] +- [0.17537326 0.1941718 0.01321986 0.24069265]
|
| 14 |
+
reprojection error: [0.000364, -0.000412] +- [0.432571, 0.364378]
|
| 15 |
+
|
| 16 |
+
cam2 (/event_camera_right):
|
| 17 |
+
type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
|
| 18 |
+
distortion: [-0.15316373 0.07624614 0.00026479 -0.00055924] +- [0.00226522 0.00354565 0.00025351 0.00018129]
|
| 19 |
+
projection: [419.51802056 419.65377252 317.26937068 244.62678988] +- [0.18895182 0.20122856 0.01139477 0.20701953]
|
| 20 |
+
reprojection error: [0.000165, -0.000112] +- [0.345196, 0.320073]
|
| 21 |
+
|
| 22 |
+
cam3 (/event_camera_left):
|
| 23 |
+
type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
|
| 24 |
+
distortion: [-0.15144951 0.07525637 -0.00003049 -0.0015959 ] +- [0.00198844 0.00263227 0.0002315 0.00018831]
|
| 25 |
+
projection: [420.3970753 420.35978888 316.8716099 233.76566848] +- [0.1899266 0.21367604 0.01836297 0.36058712]
|
| 26 |
+
reprojection error: [0.000462, -0.000099] +- [0.329305, 0.282710]
|
| 27 |
+
|
| 28 |
+
baseline T_1_0:
|
| 29 |
+
q: [ 0.0010555 0.00161297 -0.00239019 0.99999529] +- [0.00037343 0.00006586 0.00005489]
|
| 30 |
+
t: [ 0.38272107 0.00207141 -0.00602606] +- [0.00008227 0.00006532 0.00028082]
|
| 31 |
+
|
| 32 |
+
baseline T_2_1:
|
| 33 |
+
q: [-0.00046123 0.00358204 0.00251168 0.99999032] +- [0.00050158 0.00015125 0.00010319]
|
| 34 |
+
t: [-0.27577061 0.00090295 0.00339923] +- [0.00018988 0.00017214 0.00051828]
|
| 35 |
+
|
| 36 |
+
baseline T_3_2:
|
| 37 |
+
q: [ 0.00465891 -0.00452461 0.00176495 0.99997735] +- [0.0009751 0.00020856 0.00014923]
|
| 38 |
+
t: [ 0.3796858 -0.00105955 -0.00621807] +- [0.00026162 0.00022682 0.00072346]
|
| 39 |
+
|
| 40 |
+
|
| 41 |
+
|
| 42 |
+
Target configuration
|
| 43 |
+
====================
|
| 44 |
+
|
| 45 |
+
Type: aprilgrid
|
| 46 |
+
Tags:
|
| 47 |
+
Rows: 6
|
| 48 |
+
Cols: 6
|
| 49 |
+
Size: 0.1121 [m]
|
| 50 |
+
Spacing 0.028025 [m]
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/cam_cal_rosbag2_2026_01_20-16_31_50.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:44119c9bc38b52ad7c2103c6150526df5fd00c69f7572f003f5581ecd9ca2e24
|
| 3 |
+
size 1997096607
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/img_infrared.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e6c861370b497cddd2f4cc03a5943533cf95c14eb169d9c3dbd0dfa80e02b9b0
|
| 3 |
+
size 7842256
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/img_left.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b3493840af94500d473d70b55088907518b358b6816bd46d9ca5dbe982c4802c
|
| 3 |
+
size 260655312
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/img_right.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1c983d354f9cf678a107adfe76155f402fd4e1defd0e1bd629d090d9d77a51e0
|
| 3 |
+
size 225459718
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/ir_calib_result.json
ADDED
|
@@ -0,0 +1,244 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"method": "manually tuned (full-FOV LiDAR overlay): fx=fy=368 (FOV25/9mm lens); cx,cy,distortion,extrinsic from board solve. Board-solve backup in ir_calib_result.board_solve.json",
|
| 3 |
+
"n_frames": 28,
|
| 4 |
+
"reproj_rms_px": 1.7685287346740437,
|
| 5 |
+
"lock_rotation": true,
|
| 6 |
+
"per_corner_px": [
|
| 7 |
+
2.9014139681431934,
|
| 8 |
+
2.500867331638376,
|
| 9 |
+
0.9180965352601026,
|
| 10 |
+
0.3427752857437647,
|
| 11 |
+
3.134300230719611,
|
| 12 |
+
4.2911565701767245,
|
| 13 |
+
0.7119469957665638,
|
| 14 |
+
1.9101505655887265,
|
| 15 |
+
0.6177813357218616,
|
| 16 |
+
1.1178513817941105,
|
| 17 |
+
0.5579140517355576,
|
| 18 |
+
1.9927789960967426,
|
| 19 |
+
1.9050615897147056,
|
| 20 |
+
3.688216412558917,
|
| 21 |
+
2.2709432418377586,
|
| 22 |
+
1.6755630911797081,
|
| 23 |
+
1.4780694332884423,
|
| 24 |
+
2.429542183650544,
|
| 25 |
+
0.17631189259519772,
|
| 26 |
+
0.6695168530947196,
|
| 27 |
+
1.0523357122970285,
|
| 28 |
+
2.170095264879341,
|
| 29 |
+
0.502099150195825,
|
| 30 |
+
0.47840839588077677,
|
| 31 |
+
3.9370162120840626,
|
| 32 |
+
1.0430149338077506,
|
| 33 |
+
1.4012338477950752,
|
| 34 |
+
0.7362850619310226,
|
| 35 |
+
1.8419937028181734,
|
| 36 |
+
0.8547980319719999,
|
| 37 |
+
1.341674346529298,
|
| 38 |
+
0.986268525599009,
|
| 39 |
+
3.1062946608046142,
|
| 40 |
+
1.6133555169406926,
|
| 41 |
+
0.7883040253742541,
|
| 42 |
+
1.1667999220815444,
|
| 43 |
+
0.695262188395646,
|
| 44 |
+
1.7392022667899854,
|
| 45 |
+
1.5128303373380834,
|
| 46 |
+
0.40701245494712507,
|
| 47 |
+
2.16547867895073,
|
| 48 |
+
0.9272189113426761,
|
| 49 |
+
0.2598529052451071,
|
| 50 |
+
2.3238564913230446,
|
| 51 |
+
2.602259960550627,
|
| 52 |
+
0.6306791857114102,
|
| 53 |
+
0.5031118264711825,
|
| 54 |
+
4.74593919341988,
|
| 55 |
+
0.7273371304372122,
|
| 56 |
+
1.2739092639622414,
|
| 57 |
+
1.8794736565161791,
|
| 58 |
+
0.9362064851396924,
|
| 59 |
+
1.4144216069800462,
|
| 60 |
+
1.0663891613649634,
|
| 61 |
+
1.2203768436268791,
|
| 62 |
+
1.1805958428486119,
|
| 63 |
+
1.7893332883944835,
|
| 64 |
+
1.296795264800877,
|
| 65 |
+
0.31224891237843017,
|
| 66 |
+
0.8637762260021378,
|
| 67 |
+
1.4409045617106955,
|
| 68 |
+
1.4352769755368378,
|
| 69 |
+
0.9950806478960753,
|
| 70 |
+
2.214157445049737,
|
| 71 |
+
1.4128699182200304,
|
| 72 |
+
2.420869421219023,
|
| 73 |
+
1.3758192058747618,
|
| 74 |
+
2.3362738623573827,
|
| 75 |
+
1.07136771279252,
|
| 76 |
+
3.6726061541853494,
|
| 77 |
+
0.8633189861355965,
|
| 78 |
+
2.338237619480163,
|
| 79 |
+
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1
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| 135 |
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]
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],
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"dist_ir_k1k2": [
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| 138 |
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|
| 139 |
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|
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],
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| 142 |
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| 168 |
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|
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| 191 |
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]
|
| 192 |
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],
|
| 193 |
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"ir_offset_in_imgl_mm": [
|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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],
|
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"board_corners_obj": [
|
| 199 |
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[
|
| 200 |
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|
| 201 |
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[
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|
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|
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],
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| 207 |
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|
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|
| 213 |
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|
| 214 |
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]
|
| 215 |
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],
|
| 216 |
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"board_size_est_m": 0.972749413981728,
|
| 217 |
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"IR_T_ouster": [
|
| 218 |
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[
|
| 219 |
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|
| 220 |
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|
| 221 |
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0.013769635552070725,
|
| 222 |
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0.0011642833639455286
|
| 223 |
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],
|
| 224 |
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[
|
| 225 |
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-0.009376369859973921,
|
| 226 |
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-0.013944423822591756,
|
| 227 |
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|
| 228 |
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-0.10137516842062079
|
| 229 |
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],
|
| 230 |
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[
|
| 231 |
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0.9997857360370028,
|
| 232 |
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0.018322707569849606,
|
| 233 |
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-0.009631220289155473,
|
| 234 |
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-0.01792936195242934
|
| 235 |
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],
|
| 236 |
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[
|
| 237 |
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0.0,
|
| 238 |
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0.0,
|
| 239 |
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0.0,
|
| 240 |
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1.0
|
| 241 |
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]
|
| 242 |
+
],
|
| 243 |
+
"fx_source": "full_fov_lidar_tuning"
|
| 244 |
+
}
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/lidar_calibration_results.yaml
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rotation_matrix:
|
| 2 |
+
- - 0.01845442237506867
|
| 3 |
+
- -0.9997348805716272
|
| 4 |
+
- 0.013769635552070725
|
| 5 |
+
- - -0.009376369859973921
|
| 6 |
+
- -0.013944423822591756
|
| 7 |
+
- -0.9998588083987183
|
| 8 |
+
- - 0.9997857360370028
|
| 9 |
+
- 0.018322707569849606
|
| 10 |
+
- -0.009631220289155473
|
| 11 |
+
translation_vector:
|
| 12 |
+
- 0.14249196551252338
|
| 13 |
+
- -0.10152072084931757
|
| 14 |
+
- -0.047966139010015424
|
| 15 |
+
config:
|
| 16 |
+
h5_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/cam_cal_rosbag2_2026_01_20-16_31_50.h5
|
| 17 |
+
video_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/img_left.mp4
|
| 18 |
+
metadata_json_path: /data/rosbags/raw/calibrations/rev7_1.json
|
| 19 |
+
kalibr_file: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/calibration-camchain.yaml
|
| 20 |
+
cam_name: cam1
|
| 21 |
+
true_radius: 0.432
|
| 22 |
+
filter_dist: 0.01
|
calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/time_offset.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f303989301640851fc61d9866914f58a4abf74693c42324a700854f024ddb7c5
|
| 3 |
+
size 203380
|
calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/calibration-camchain.yaml
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
cam0:
|
| 2 |
+
cam_overlaps: [1, 2, 3]
|
| 3 |
+
camera_model: pinhole
|
| 4 |
+
distortion_coeffs: [-0.1554359514433866, 0.0655399682995906, -0.0004923723374585663, -0.0004813524454894719]
|
| 5 |
+
distortion_model: radtan
|
| 6 |
+
intrinsics: [1401.3330677935874, 1402.3580366829, 979.1011654994055, 736.0102509319549]
|
| 7 |
+
resolution: [1920, 1456]
|
| 8 |
+
rostopic: /flir_cam_right
|
| 9 |
+
cam1:
|
| 10 |
+
T_cn_cnm1:
|
| 11 |
+
- [0.9999843483197418, -0.0053747418258000695, -0.0015541125526817084, 0.3836692950340756]
|
| 12 |
+
- [0.005377012543751407, 0.9999844770207401, 0.0014606346703982965, 0.00217609086011549]
|
| 13 |
+
- [0.0015462378939695982, -0.0014689682917016478, 0.9999977256376699, -0.004404449483459246]
|
| 14 |
+
- [0.0, 0.0, 0.0, 1.0]
|
| 15 |
+
cam_overlaps: [0, 2, 3]
|
| 16 |
+
camera_model: pinhole
|
| 17 |
+
distortion_coeffs: [-0.15265826841492536, 0.06270859675813797, -2.531577575372254e-05, -0.0007931321618872502]
|
| 18 |
+
distortion_model: radtan
|
| 19 |
+
intrinsics: [1403.0924205367137, 1404.4065149128899, 935.954623179377, 720.4616727020557]
|
| 20 |
+
resolution: [1920, 1456]
|
| 21 |
+
rostopic: /flir_cam_left
|
| 22 |
+
cam2:
|
| 23 |
+
T_cn_cnm1:
|
| 24 |
+
- [0.9998993746331619, 0.005535671805293441, -0.013061276578867232, -0.2772352111450309]
|
| 25 |
+
- [-0.005518100542089398, 0.99998382164129, 0.0013809497029069711, 0.000441358260666466]
|
| 26 |
+
- [0.013068709753184478, -0.0013087373069663082, 0.9999137442959979, 0.0020565038042740327]
|
| 27 |
+
- [0.0, 0.0, 0.0, 1.0]
|
| 28 |
+
cam_overlaps: [0, 1, 3]
|
| 29 |
+
camera_model: pinhole
|
| 30 |
+
distortion_coeffs: [-0.1561544157217615, 0.06634974106156304, -0.0007914339874798666, -0.0007719766204322734]
|
| 31 |
+
distortion_model: radtan
|
| 32 |
+
intrinsics: [421.6828357409248, 422.69999930284297, 320.11444417194963, 240.2869434582657]
|
| 33 |
+
resolution: [640, 480]
|
| 34 |
+
rostopic: /event_camera_right
|
| 35 |
+
cam3:
|
| 36 |
+
T_cn_cnm1:
|
| 37 |
+
- [0.9998428538201524, 0.0023754883288630785, 0.017567718120537056, 0.38152246849497]
|
| 38 |
+
- [-0.0024934516841711224, 0.9999744733046574, 0.0066959269531191, -0.00038134179027356457]
|
| 39 |
+
- [-0.017551363578420763, -0.006738678970112609, 0.9998232543016119, -0.008718874903323194]
|
| 40 |
+
- [0.0, 0.0, 0.0, 1.0]
|
| 41 |
+
cam_overlaps: [0, 1, 2]
|
| 42 |
+
camera_model: pinhole
|
| 43 |
+
distortion_coeffs: [-0.15128607737031705, 0.06436865074657545, -0.00018876046347510376, -0.00031489747087819073]
|
| 44 |
+
distortion_model: radtan
|
| 45 |
+
intrinsics: [421.8291293383839, 422.43446331912327, 318.6584437728111, 230.45012064577492]
|
| 46 |
+
resolution: [640, 480]
|
| 47 |
+
rostopic: /event_camera_left
|
calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/calibration-results-cam.txt
ADDED
|
@@ -0,0 +1,50 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
Calibration results
|
| 2 |
+
====================
|
| 3 |
+
Camera-system parameters:
|
| 4 |
+
cam0 (/flir_cam_right):
|
| 5 |
+
type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
|
| 6 |
+
distortion: [-0.15543595 0.06553997 -0.00049237 -0.00048135] +- [0.00086249 0.00138737 0.00011111 0.00013337]
|
| 7 |
+
projection: [1401.33306779 1402.35803668 979.1011655 736.01025093] +- [0.153871 0.16778615 0.00757047 0.28023474]
|
| 8 |
+
reprojection error: [-0.000207, 0.000352] +- [0.657523, 0.424299]
|
| 9 |
+
|
| 10 |
+
cam1 (/flir_cam_left):
|
| 11 |
+
type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
|
| 12 |
+
distortion: [-0.15265827 0.0627086 -0.00002532 -0.00079313] +- [0.00080033 0.00127483 0.00011218 0.00013096]
|
| 13 |
+
projection: [1403.09242054 1404.40651491 935.95462318 720.4616727 ] +- [0.1529555 0.16739499 0.00799525 0.26448932]
|
| 14 |
+
reprojection error: [0.000103, 0.000312] +- [0.494104, 0.339989]
|
| 15 |
+
|
| 16 |
+
cam2 (/event_camera_right):
|
| 17 |
+
type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
|
| 18 |
+
distortion: [-0.15615442 0.06634974 -0.00079143 -0.00077198] +- [0.0024486 0.00411231 0.00023218 0.00018833]
|
| 19 |
+
projection: [421.68283574 422.6999993 320.11444417 240.28694346] +- [0.17276198 0.18679575 0.01162953 0.07754404]
|
| 20 |
+
reprojection error: [0.000138, 0.000107] +- [0.452299, 0.401975]
|
| 21 |
+
|
| 22 |
+
cam3 (/event_camera_left):
|
| 23 |
+
type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
|
| 24 |
+
distortion: [-0.15128608 0.06436865 -0.00018876 -0.0003149 ] +- [0.00163841 0.00202318 0.00020278 0.00018959]
|
| 25 |
+
projection: [421.82912934 422.43446332 318.65844377 230.45012065] +- [0.14338769 0.18211748 0.02023667 0.33990138]
|
| 26 |
+
reprojection error: [0.000361, 0.000108] +- [0.404852, 0.341270]
|
| 27 |
+
|
| 28 |
+
baseline T_1_0:
|
| 29 |
+
q: [ 0.0007324 0.00077509 -0.00268795 0.99999582] +- [0.00040003 0.0000509 0.00005239]
|
| 30 |
+
t: [ 0.3836693 0.00217609 -0.00440445] +- [0.00005134 0.00003897 0.00020092]
|
| 31 |
+
|
| 32 |
+
baseline T_2_1:
|
| 33 |
+
q: [0.00067244 0.00653266 0.00276351 0.99997462] +- [0.00020654 0.00012678 0.0001088 ]
|
| 34 |
+
t: [-0.27723521 0.00044136 0.0020565 ] +- [0.00012372 0.00011302 0.00034946]
|
| 35 |
+
|
| 36 |
+
baseline T_3_2:
|
| 37 |
+
q: [ 0.0033588 -0.00878016 0.00121729 0.99995507] +- [0.00086615 0.00017584 0.0001541 ]
|
| 38 |
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t: [ 0.38152247 -0.00038134 -0.00871887] +- [0.00018821 0.00014847 0.00050552]
|
| 39 |
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|
| 40 |
+
|
| 41 |
+
|
| 42 |
+
Target configuration
|
| 43 |
+
====================
|
| 44 |
+
|
| 45 |
+
Type: aprilgrid
|
| 46 |
+
Tags:
|
| 47 |
+
Rows: 6
|
| 48 |
+
Cols: 6
|
| 49 |
+
Size: 0.1121 [m]
|
| 50 |
+
Spacing 0.028025 [m]
|
calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/cam_cal_rosbag2_2026_02_01-08_50_41.h5
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calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/img_infrared.mp4
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calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/ir_calib_result.json
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calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/lidar_calibration_results.yaml
ADDED
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@@ -0,0 +1,22 @@
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|
| 1 |
+
rotation_matrix:
|
| 2 |
+
- - 0.013992610881249645
|
| 3 |
+
- -0.9998506845593221
|
| 4 |
+
- 0.010139794227758958
|
| 5 |
+
- - 0.0012070938720981639
|
| 6 |
+
- -0.010123888455294938
|
| 7 |
+
- -0.9999480235526891
|
| 8 |
+
- - 0.9999013700186186
|
| 9 |
+
- 0.01400412327852385
|
| 10 |
+
- 0.0010652540025848367
|
| 11 |
+
translation_vector:
|
| 12 |
+
- 0.1432224599918385
|
| 13 |
+
- -0.10769633493339185
|
| 14 |
+
- -0.017778067893121533
|
| 15 |
+
config:
|
| 16 |
+
h5_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/cam_cal_rosbag2_2026_02_01-08_50_41.h5
|
| 17 |
+
video_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/img_left.mp4
|
| 18 |
+
metadata_json_path: /data/rosbags/raw/calibrations/rev7_1.json
|
| 19 |
+
kalibr_file: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/calibration-camchain.yaml
|
| 20 |
+
cam_name: cam1
|
| 21 |
+
true_radius: 0.432
|
| 22 |
+
filter_dist: 0.01
|
calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/time_offset.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e944c3ca1d9243d1117020b0cebe06937ce0532ccc60ad89af970e52a4a1352b
|
| 3 |
+
size 208348
|