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+*.arrow filter=lfs diff=lfs merge=lfs -text
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+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
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+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
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+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+# Video files - compressed
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.webm filter=lfs diff=lfs merge=lfs -text
+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/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/calibration-report-imucam.pdf filter=lfs diff=lfs merge=lfs -text
+calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/calibration-report-imucam.pdf filter=lfs diff=lfs merge=lfs -text
+calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/calibration-report-imucam.pdf filter=lfs diff=lfs merge=lfs -text
+calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08/calibration-report-imucam.pdf filter=lfs diff=lfs merge=lfs -text

README.md

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+---
+pretty_name: OctoSense
+license: mit
+task_categories:
+  - depth-estimation
+  - image-segmentation
+  - robotics
+tags:
+  - autonomous-driving
+  - multimodal
+  - lidar
+  - event-camera
+  - stereo
+  - optical-flow
+  - ego-motion
+  - sensor-fusion
+  - infrared
+  - gps
+  - geospatial
+  - robotics
+  - 3d
+  - timeseries
+size_categories:
+  - n>1T
+configs:
+  - config_name: default
+    data_files: metadata.parquet
+---
+# Pre-Release State
+
+<p align="center">
+  <img src="assets/banner_inline.png" alt="OctoSense" width="760"/>
+</p>
+
+<p align="center">
+  <a href="https://colab.research.google.com/drive/1Fn94QmrD6Hd1SC8Qxv2kf-nFASRR-iUS?usp=sharing">
+    <img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open the quickstart in Colab"/>
+  </a>
+</p>
+
+<p align="center">
+  <video autoplay loop muted playsinline width="100%" poster="https://huggingface.co/datasets/anthonytec2/OctoSense/resolve/main/assets/hero.gif">
+    <source src="https://huggingface.co/datasets/anthonytec2/OctoSense/resolve/main/assets/hero.mp4" type="video/mp4"/>
+    <img src="assets/hero.gif" alt="OctoSense — synchronized multi-sensor driving across day, night, and degraded conditions" width="100%"/>
+  </video>
+</p>
+
+A time-synchronized, calibrated multi-sensor driving dataset: **371 sequences · 59 hrs · 2,474 km · 8.43 TB**,
+spanning urban, suburban, and rural driving (highway / residential / city) on **Long Island** and in
+**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.
+
+Upon release, we will provide code for using the dataset and deriving flow.
+
+
+> Canonical key for every sequence is its recording datetime, `rosbag2_YYYY_MM_DD-HH_MM_SS`.
+> 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).
+
+## Sensors
+
+| Modality | Sensor | Info | Rate |
+|---|---|---|---|
+| **RGB** (stereo) | 2× FLIR Blackfly S (Sony IMX421) | 1920×1456 | 100 Hz |
+| **Event** (stereo) | 2× SilkyEV VGA (Prophesee) | 640×480 |  ≈7 MEv/s avg |
+| **Thermal** | FLIR A35 | 320×256 | 50 Hz |
+| **LiDAR** | Ouster OS1-64 | 64 beams × 2048 | 10 Hz |
+| **IMU** | VectorNav VN-100T | Acc/Gyro/Mag/Baro/Temp | 400 Hz |
+| **IMU** (in LiDAR) | IAM-20680HT | Acc/Gyro | 100 Hz |
+| **GNSS** | u-blox ZED-F9P | RTK (NTRIP) | 5 Hz |
+| **Vehicle** | 2021 Mazda CX-5 | CAN Signals | 50–100 Hz |
+
+
+## Coordinate frames & calibration
+
+![Per-sensor coordinate axes on the OctoSense rig (red = X, green = Y, blue = Z)](assets/cal_axis.png)
+
+All extrinsics are stored per-sequence under `/calib` in the bag h5, named `A_T_B` — a 4×4 matrix that
+maps a point from frame **B** into frame **A** (e.g. `imgl_T_ouster` takes LiDAR points into the
+left-RGB frame). Frame abbreviations:
+
+| abbrev | frame | | abbrev | frame |
+|---|---|---|---|---|
+| `imgl` / `imgr` | RGB left / right | | `ir` | Infrared (FLIR A35) |
+| `evl` / `evr` | Event left / right | | `ouster` | LiDAR |
+| `imu` | VectorNav IMU | | | |
+
+Provided extrinsics: `imgl_T_imgr`, `imgl_T_imu`, `imgl_T_ir`, `imgr_T_imu`, `ir_T_imgl`, the event-pair
+set (`evl_T_evr`, `evl_T_imgl`, …), `ouster/imgl_T_ouster` / `ouster/ir_T_ouster`, and
+`calib/lidar_T_lidarimu` (LiDAR IMU → LiDAR/sensor frame, from the Ouster factory
+`imu_to_sensor_transform`). Each drive records which calibration it used via `rgb_cal_id` /
+`imu_cal_id` / `lidar_cal_id` (in the metadata). RKO-LIO odometry (`ouster/odom/*`) tracks the LiDAR pose in the **Map frame**;
+the `fused_traj` trajectory tracks the same LiDAR pose in the **UTM-relative world frame** (see Ground truth). The **depth**
+GT is rendered in the **rectified left-RGB camera image** (OpenCV `stereoRectify`, R1 applied). Use the
+`/calib` extrinsics (e.g. `imgl_T_ouster`) to move between frames.
+
+> **Per-session calibration** is released alongside the data, in **Kalibr** format:
+> - **Cameras** (`calibration-camchain.yaml`) — a **4-camera Kalibr chain**: `cam0` = RGB right
+>   (`/flir_cam_right`), `cam1` = RGB left (`/flir_cam_left`), `cam2` = event right (`/event_camera_right`,
+>   640×480), `cam3` = event left (`/event_camera_left`, 640×480). Each entry has pinhole
+>   `intrinsics [fx,fy,cx,cy]` + radtan `distortion_coeffs`; each cam after `cam0` carries `T_cn_cnm1`
+>   (transform from the previous cam in the chain).
+> - **Camera↔IMU** (`calibration-camchain-imucam.yaml`, adds `T_img[l/r]_imu`) + the **IMU** noise model (`calibration-imu.yaml`).
+> - **LiDAR↔camera** (`lidar_calibration_results.yaml`) and **IR** intrinsics + extrinsics (`ir_calib_result.json`).
+>
+> The processed h5 renames `cam0`/`cam1` to the `left`/`right` RGB streams above (and `cam2`/`cam3` are the right/left event cameras).
+
+![Ground-truth modalities: depth · semantic segmentation · odometry · optical flow](assets/gt.png)
+
+## Ground truth
+
+- **Odometry / ego-motion** — [**RKO-LIO**](https://docs.ros.org/en/jazzy/p/rko_lio/) LiDAR-inertial odometry: SE(3) LiDAR pose in the **Map frame** with linear/angular velocity. The high-rate `hf_odom/*` is obtained by integrating the IMU between LiDAR keyframes.
+- **Depth** — sparse metric depth in the rectified left-RGB image (`depth_cm`, uint16 cm,
+  `0 = invalid`). Built by accumulating **61 LiDAR scans (≈6 s)**, removing dynamic objects (**YOLO26-medium**
+  on the nearest RGB frame), keeping the **minimum** depth per pixel, and then projecting into the camera image.
+- **Optical flow** — **derived, not stored** — the ego-motion-induced flow (accumulated points projected into a
+  future RGB frame). Regenerate from `depth + poses` with `derive_flow.py`.
+- **Semantic segmentation** — 19-class Cityscapes pseudo-labels ([**EoMT**](https://github.com/tue-mps/eomt)), on the **303 daytime sequences**
+  (`has_seg = true`); night/degraded have no labels.
+- **Fused reference trajectory** — RKO-LIO odometry + GPS fused in a pose graph, under **`fused_traj`**
+  (`T_world_lidar` (N,4,4) + `t`) in a **UTM-relative world frame** anchored at the first GPS fix.
+  Geo-referencing + fusion quality live as `fused_traj` group attrs (`epsg`/`utm_zone`/`hemisphere`, `origin_{easting,northing,alt}_m`, `lever_xyz_lidar_m`, GPS residual
+  RMS + p90, `confidence_tier`). `fused_traj/t` is **non-uniformly sampled** — poses are emitted at the union of the LiDAR-odom (≈10 Hz) and
+  GPS (≈5 Hz) timestamps (≈13 Hz combined), so inter-pose intervals vary (≈0.02–0.1 s).
+
+## Per-sequence files (`<session>/<bag_id>/`)
+
+| file | contents |
+|---|---|
+| `data.h5` | timestamps, IMU, GPS, CAN, LiDAR (range [deskewed by RKO] / sig / nir / refl), RKO-LIO odom, `fused_traj` (fused GPS+LIO trajectory), `/calib` |
+| `events.h5` | raw async event streams (`ev/left`, `ev/right`) — **≈78% of a sequence's bytes** |
+| `img_{left,right,infrared}.mp4` | per-camera H.265 encoded video |
+| `rgb_left_rect_depth.h5` | sparse metric depth in the rectified left-RGB image (`depth_cm`); flow derived via `derive_flow.py` |
+| `rgb_left_rect_semantic.h5` | 19-class Cityscapes pseudo-label seg in the rectified left-RGB image — **day sequences only** |
+| `captions.h5` | per-window scene captions (Gemma-4-31B VLM) + 4096-d Qwen3-Embedding-8B caption vectors + window metadata |
+
+**Units/conventions:** depth in cm (`0`=invalid); event timestamps in µs; all other h5 time arrays in seconds.
+
+> **Experimental — `car/radar` (Mazda forward radar).** Six object tracks decoded from the CAN data
+> 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:
+> `car/radar/track_{1..6}/` with `t` (M,) float64 main-clock seconds, `dist` (M,) uint16, `ang` (M,) int16,
+> `vrel` (M,) int16. Values are stored **raw** (no scale/offset): `dist`=`DIST_OBJ` (sentinel `4095` = no track),
+> `ang`=`ANG_OBJ` (signed 12-bit), `vrel`=`RELV_OBJ` (signed 11-bit).
+
+## Data format
+
+All `*/t` arrays are **seconds on a common PPS-synced main clock** (Kalman-smoothed); event times are
+**µs** on that same clock (`t/1e6` → s). Align streams **by timestamp** — RGB runs
+≈100 Hz vs LiDAR ≈10 Hz. **Camera frames are raw (un-rectified)**: rectify with the per-camera `intrinsics` +
+radtan `dist_coeffs` (stored in the h5 and the camchain); the depth GT is already in the rectified left-RGB frame.
+
+**Main bag h5 (`data.h5`)**:
+
+| key | shape · dtype | meaning |
+|---|---|---|
+| `ouster/range_pcl` | (N,131072,3) int32 | LiDAR **XYZ in mm**, 64×2048 destaggered (`[0,0,0]` = no return) |
+| `ouster/{sig,nir}_pcl` · `refl_pcl` | (N,131072) uint16 · uint8 | per-point signal / near-IR / reflectivity |
+| `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 |
+| `ouster/{accel,ang_vel}` | (M,3) f32 | in-LiDAR IMU (IAM-20680HT); extrinsic to sensor frame = `calib/lidar_T_lidarimu` |
+| `img/{left,right}/`, `infrared/` | — | `t` (≈100/100/50 Hz) · `intrinsics` (3,3) · `dist_coeffs` (4,) · `resolution` (2,) |
+| `vectornav/` | (K,·) | `accel` (m/s²), `ang_vel` (rad/s) — each + `_raw` (uncompensated); `magnetic` (Gauss), `pressure` (Pa), `temperature` (°C), `t` (s); 400 Hz |
+| `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. |
+| `gps/velocity_enu` | (G,3) f64 | ENU velocity m/s `[East, North, Up]` (from `/fix_velocity`) — use this for course-over-ground |
+| `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.** |
+| `fused_traj/T_world_lidar` | (R,4,4) f64 | **fused** RKO-LIO+GPS pose, **UTM-relative world frame** (+ `fused_traj/t`; geo-ref + quality in `fused_traj` attrs: `epsg`/`utm_zone`, `origin_*`, `confidence_tier`, residual RMS/p90) |
+| `calib/` | — | extrinsics `A_T_B` |
+
+**Events (`events.h5`)** — flat async event streams per side, plus the **event-camera calibration** (kept here so `events.h5` is self-contained for projecting events without opening `data.h5`):
+
+| key | dtype | meaning |
+|---|---|---|
+| `ev/{left,right}/t` | uint64 | event time **µs** (main clock) |
+| `ev/{left,right}/{x,y}` | uint16 | pixel col / row, **raw 640×480** (un-rectified) |
+| `ev/{left,right}/p` | uint8 | polarity (0/1) |
+| `ev/{left,right}/ms_to_idx` | uint64 | millisecond → event index |
+| `ev/{left,right}/intrinsics` | (3,3) f64 | pinhole `K` at native **640×480** |
+| `ev/{left,right}/dist_coeffs` | (4,) f64 | radtan `[k1, k2, p1, p2]` |
+| `ev/{left,right}/resolution` | (2,) int32 | `[width, height]` = `[640, 480]` |
+
+**Depth GT (`rgb_left_rect_depth.h5`)** — per-LiDAR-scan sparse depth in the **rectified left-RGB** image.
+`N` = `n_lidar_frames`; frame `k` ↔ LiDAR scan `k`. Carries its own `timestamps`
+(identical to `data.h5` `ouster/t`) and index arrays:
+
+| key | shape · dtype | meaning |
+|---|---|---|
+| `depth_cm` | (N,1456,1920) uint16 | metric depth in **cm** (`m = depth_cm/100`), `0 = invalid` |
+| `timestamps` | (N,) f64 | main-clock seconds (= `data.h5` `ouster/t`) |
+| `lidar_indices` | (N,) int64 | LiDAR-scan index (`0..N−1`) |
+| `left_img_indices` | (N,) int64 | matching frame in `img_left.mp4`|
+| `poses` | (N,4,4) f32 | per-scan LiDAR pose used to accumulate the depth (input to `derive_flow.py`) |
+| `K_rect` · `R3` | (3,3) f64 | rectified left-RGB intrinsics · rectification rotation (`R1`) |
+| `imgl_T_ouster` | (4,4) f64 | LiDAR → **raw (unrectified)** left-RGB cam |
+| `raw_res` | (2,) int32 | source image resolution |
+
+Root attrs: `depth_scale_cm`, `flow_{gap,scale,invalid}`, `flow_stored` (=`False` — flow is **derived, not stored**), `n_scans`.
+
+**Semantic GT (`rgb_left_rect_semantic.h5`, day sequences only)** — per-LiDAR-scan 19-class seg in the
+**rectified left-RGB** image, aligned 1:1 with `rgb_left_rect_depth.h5`:
+
+| key | shape · dtype | meaning |
+|---|---|---|
+| `semantic` | (N,1456,1920) uint8 | Cityscapes class id `0..18` (see `classes` attr); `255` = ignore |
+| `lidar_indices` | (N,) int64 | LiDAR-scan index for each frame (`0..N−1`) |
+| `left_img_indices` | (N,) int64 | matching frame in `img_left.mp4` (RGB ≈100 Hz vs LiDAR ≈10 Hz) |
+| `timestamps` | (N,) f64 | main-clock seconds |
+
+Root attrs: `classes` (19 names), `num_classes=19`, `model=EoMT-Cityscapes-DINOv2-L-1024`,
+`coordinate_frame=rectified_left`, `preprocessing=rectify+CLAHE`, `resolution=1920x1456`.
+So `semantic[k]` ↔ `depth_cm[k]` ↔ `img_left.mp4[left_img_indices[k]]` ↔ `ouster/t[k]`.
+
+**Captions & semantic search (`captions.h5`)** — each sequence is split into **≈5 s windows** (`W` per
+sequence ≈ duration / 5 s); every window gets a natural-language scene caption (a **Gemma-4-31B** VLM) and a
+4096-d text embedding (**Qwen3-Embedding-8B**) for free-text retrieval:
+
+| key | shape · dtype | meaning |
+|---|---|---|
+| `captions` | (W,) str | one scene caption per window |
+| `embeddings` | (W,4096) f32 | Qwen3-Embedding-8B vector for each caption |
+| `metadata` | (W,) struct | `window_id`, `frame_idx` (→ `img_left.mp4` frame), `timestamp` (main-clock s), `speed_mps`, `turn_deg`, `dist_m`, `is_night` |
+
+Root attrs: `caption_model`, `embed_model`, `embed_dim` (4096), `num_windows`, `video_id`. 
+
+## Splits
+
+`train` = 293 · `test` = 78 (bag-level; preserved across dataset versions). The dataset contains daytime, nighttime, and degraded sequences. 
+
+## `metadata.parquet` fields (27)
+
+`bag_id, session, start_time, split, is_daytime, degraded, has_seg,
+duration_s, n_lidar_frames, n_rgb_frames, n_imu_samples, n_events_left, n_events_right,
+n_gps_fixes, n_gps_valid, gps_quality, gps_lat_min/max, gps_lon_min/max,
+mean_speed_mph, idle_fraction, distance_m, rgb_cal_id, imu_cal_id, lidar_cal_id, sensor_dropout`
+
+- `gps_quality` ∈ {`RTK_fixed_cm`, `float_dm`, `single_m`, `no_fix`, `absent`} — 67 / 62 / 239 / 2 / 1 (RTK-fixed **≈1–3 cm**, float **≈0.1–0.5 m**, single **≈0.5–3 m**).
+- `sensor_dropout` — `null`, or `sensor:seconds[;sensor:seconds]`
+
+## Loading
+
+```python
+import h5py, hdf5plugin, numpy as np, pyarrow.parquet as pq
+meta = pq.read_table("metadata.parquet").to_pydict()       # per-sequence table
+with h5py.File("<session>/<bag_id>/data.h5") as f:
+    lidar = f["ouster/range_pcl"][:]; odom = f["ouster/odom/map_T_lidart"][:]
+
+# RGB / IR frames — native-res H.265 mp4 decoded with torchcodec.
+from torchcodec.decoders import VideoDecoder
+dec = VideoDecoder("<session>/<bag_id>/img_left.mp4")      # 1920x1456; len(dec) == n_rgb_frames
+rgb_k = dec[k]                                             # (3, H, W) uint8 tensor at frame k
+# RGB runs ≈100 Hz vs LiDAR ≈10 Hz — align by TIMESTAMP, not shared index:
+with h5py.File("<session>/<bag_id>/data.h5") as f:
+    img_t = f["img/left/t"][:]; lid_t = f["ouster/t"][:]   # seconds, same main clock
+k = int(np.argmin(np.abs(img_t - lid_t[j])))              # RGB frame nearest LiDAR frame j
+# img_right.mp4 / img_infrared.mp4 decode the same way (IR is grayscale-as-video, ≈50 Hz).
+
+# Depth + semantic GT — one frame per LiDAR scan, in the rectified left-RGB image:
+with h5py.File("<session>/<bag_id>/rgb_left_rect_depth.h5") as f:
+    depth_m = f["depth_cm"][j] / 100.0                     # (1456,1920); 0 = invalid (j = LiDAR scan)
+with h5py.File("<session>/<bag_id>/rgb_left_rect_semantic.h5") as f:   # day sequences only
+    seg     = f["semantic"][j]                             # (1456,1920) uint8, class 0..18
+    rgb_idx = f["left_img_indices"][j]                     # matching img_left.mp4 frame for scan j
+
+# flow is derived, not stored:
+from derive_flow import derive_flow_from_h5
+flow_uv = derive_flow_from_h5("<session>/<bag_id>/rgb_left_rect_depth.h5", frame_idx, poses=odom)
+```
+
+## Statistics
+
+371 sequences · 59 hrs · 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.
+
+## Notes/Known limitations
+
+- **Optical flow is derived solely from ego-motion** — rigid camera-motion reprojection of LiDAR depth; it does **not**
+  capture independent motion of dynamic objects.
+- **Seg is day-only** (303 sequences); night/degraded have no segmentation labels.
+- **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.
+- **5 sequences have a >10 s sensor dropout** (see `sensor_dropout`): 3 with the event camera off early
+  (20–43 s), 1 GPS+CAN, 1 CAN. **3 sequences have no usable GPS** (`no_fix`/`absent`), and **5 sequences have no `fused_traj`** (GPS too sparse / low-quality for the pose-graph fusion).
+- **IR & GPS are PPS-synced indirectly, through the IMU PPS-system clock calibration.** 
+- **IR calibration is best-effort.** The infrared intrinsics/extrinsics were calibrated from existing data without a heated target board. They are estimated from the markerboard's 4 corners alone, then manually refined. Treat the IR calibration as approximate.
+- **LiDAR clock is PPS-stepped, not Kalman-aligned.** Unlike the other streams, the Ouster clock is not
+  actively Kalman-smoothed onto the main clock; its internal clock only advances its whole-second
+  counter when the PPS edge arrives.
+- **IMU is noisy from vehicle vibration.** Both IMUs pick up road and engine vibration; the sensors are
+  soft-mounted to dampen it, but residual vibration noise remains in the accelerometer / gyro signals.
+- **IR frame rate occasionally dips below 50 Hz.** The infrared camera is not run as a composable node, so
+  under load it sometimes falls below its nominal 50 Hz capture rate (gaps visible in `infrared/t`).
+- **RKO-LIO cold-start transient.** The estimator's initial phase can occasionally be jerky — at the start of a
+  sequence the LIO briefly reports ≈zero motion, then "catches up" with a jump once it converges →
+  jerky roll/pitch (occasionally z) over the first few meters of motion (upstream RKO-LIO issue #139).
+- **LiDAR deskew is a constant-motion approximation.** Each ~100 ms sweep is
+  [motion-compensated by RKO-LIO](https://github.com/PRBonn/rko_lio/blob/a67dd406caaa8229d3ff858f2f38519eb8097831/rko_lio/core/lio.cpp#L437)
+  using the **average** body acceleration `a` and **average** angular velocity `ω` over the sweep — a point at offset
+  `dt` from the scan reference time is warped by `exp([ v·dt + ½·a·dt²,  ω·dt ])` (constant-acceleration
+  translation + constant-angular-velocity rotation). Because `a`/`ω` are held constant across the sweep,
+  rapid intra-sweep motion (high jerk, sharp turns, potholes) leaves some residual skew; `a` is
+  Kalman-filtered + jerk-bounded to limit this but cannot fully remove it.
+- **LiDAR noise can leak into the depth GT.** The depth ground truth is projected directly from the raw
+  Ouster returns, so sensor noise (stray or spurious returns from rain, snow, fog, dust, retroreflectors
+  (see [LiDAR ghosts & blooming](https://www.teachkidsrobotics.com/blog/what-are-lidar-ghosts-and-blooming/)),
+  or specular/multi-path reflections) can survive into our depth ground truth as a small number of
+  erroneous points.
+- **Platform Bounce.** On a few sequences the SeaSuckers loosened, resulting in vertical motion (bounce) of the platform.
+
+We have taken great care to perform data quality checks on this data. That said, some issues at this scale may slip through, so should you find any examples of gross desynchronization, please report them and we can take a look.
+
+## Citation
+```bibtex
+@misc{bisulco2026octosense,
+  title        = {{OctoSense}: Self-Supervised Learning for Multimodal Robot Perception},
+  author       = {Bisulco, Anthony and Wang, Jeremy and Daniilidis, Kostas and Balestriero, Randall and Chaudhari, Pratik},
+  year         = {2026},
+  howpublished = {Preprint},
+}
+```
+
+## License
+
+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/hero.mp4

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+version https://git-lfs.github.com/spec/v1
+oid sha256:8de4e5f17914637763e8da50440389e65d92c1d3b1bcd30bbe3766614b0b6f9e
+size 5538200

calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/calibration-camchain.yaml

@@ -0,0 +1,47 @@
+cam0:
+  cam_overlaps: [1, 2, 3]
+  camera_model: pinhole
+  distortion_coeffs: [-0.15385396380802188, 0.0749641388870442, 0.001000267559278542, 0.002804201584318143]
+  distortion_model: radtan
+  intrinsics: [1417.501796249508, 1413.430442569655, 988.1439401050002, 733.8064858691746]
+  resolution: [1920, 1456]
+  rostopic: /flir_cam_right
+cam1:
+  T_cn_cnm1:
+  - [0.9995593640170585, -0.007529703240476874, 0.02871204233227203, 0.3838725843195073]
+  - [0.005717000260326077, 0.998015962148046, 0.0627013174159818, 0.0009849047658489283]
+  - [-0.029127198866407675, -0.06250954220586345, 0.9976192477189764, -0.0019515762440131853]
+  - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [0, 2, 3]
+  camera_model: pinhole
+  distortion_coeffs: [-0.15589065459647117, 0.06084534489493509, -0.00234409054407442, -0.0026530574846732736]
+  distortion_model: radtan
+  intrinsics: [1428.3251206496743, 1423.8837606531902, 902.691023138746, 632.4383854230887]
+  resolution: [1920, 1456]
+  rostopic: /flir_cam_left
+cam2:
+  T_cn_cnm1:
+  - [0.9999095568056536, 0.007131281197360464, -0.011402764454651456, -0.2765923364369594]
+  - [-0.007491974492247794, 0.9994627085780684, -0.031908689725550894, 0.001973280420442845]
+  - [0.01116908800805142, 0.031991233022160025, 0.9994257413549008, 0.0007015331518512155]
+  - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [0, 1, 3]
+  camera_model: pinhole
+  distortion_coeffs: [-0.16106104491840462, 0.08215485720807618, -0.0009966249214452445, -0.002603151199575899]
+  distortion_model: radtan
+  intrinsics: [427.79848694363847, 427.3455387218023, 311.33829577023766, 228.50968889775194]
+  resolution: [640, 480]
+  rostopic: /event_camera_right
+cam3:
+  T_cn_cnm1:
+  - [0.9999988997457284, 0.001238941642642881, 0.0008158007899400578, 0.37992465909227136]
+  - [-0.0012351223343334272, 0.999988353044184, -0.004665645591967993, -0.0007861317242734042]
+  - [-0.000821571750958009, 0.004664632844795503, 0.9999887830472257, -0.012386021719521651]
+  - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [0, 1, 2]
+  camera_model: pinhole
+  distortion_coeffs: [-0.1568936987135577, 0.07657681907205878, 0.0008004354838615022, -0.0012859496766683847]
+  distortion_model: radtan
+  intrinsics: [427.5042540144832, 426.1324526071299, 313.2063248051701, 223.6201600911985]
+  resolution: [640, 480]
+  rostopic: /event_camera_left

calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/calibration-results-cam.txt

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+Calibration results 
+====================
+Camera-system parameters:
+cam0 (/flir_cam_right):
+    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
+    distortion: [-0.15385396  0.07496414  0.00100027  0.0028042 ] +- [0.00073926 0.00114316 0.00008007 0.00008395]
+    projection: [1417.50179625 1413.43044257  988.14394011  733.80648587] +- [0.14282976 0.15942435 0.03996132 0.24838398]
+    reprojection error: [-0.002576, -0.011486] +- [1.106160, 1.284410]
+
+cam1 (/flir_cam_left):
+    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
+    distortion: [-0.15589065  0.06084534 -0.00234409 -0.00265306] +- [0.00066284 0.00104279 0.00008345 0.00006756]
+    projection: [1428.32512065 1423.88376065  902.69102314  632.43838542] +- [0.15164593 0.16250659 0.03110859 0.23649301]
+    reprojection error: [0.002399, 0.009587] +- [1.099249, 1.085763]
+
+cam2 (/event_camera_right):
+    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
+    distortion: [-0.16106104  0.08215486 -0.00099662 -0.00260315] +- [0.00192452 0.00300279 0.00021092 0.00015584]
+    projection: [427.79848694 427.34553872 311.33829577 228.5096889 ] +- [0.18781801 0.20852822 0.13149429 0.34753077]
+    reprojection error: [0.001266, 0.001172] +- [0.411296, 0.386043]
+
+cam3 (/event_camera_left):
+    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
+    distortion: [-0.1568937   0.07657682  0.00080044 -0.00128595] +- [0.00208104 0.00347396 0.00023031 0.00015028]
+    projection: [427.50425401 426.13245261 313.20632481 223.62016009] +- [0.1683201  0.17927078 0.00461333 0.05233623]
+    reprojection error: [0.000858, -0.002563] +- [0.489927, 0.427000]
+
+baseline T_1_0:
+    q: [ 0.03132153 -0.0144685  -0.00331367  0.99939914] +- [0.00034278 0.0000651  0.00004473]
+    t: [ 0.38387258  0.0009849  -0.00195158] +- [0.00006778 0.0000523  0.0002185 ]
+
+baseline T_2_1:
+    q: [-0.01597738  0.00564381  0.00365636  0.99984974] +- [0.00089633 0.00035066 0.00011301]
+    t: [-0.27659234  0.00197328  0.00070153] +- [0.00015098 0.00015531 0.00057625]
+
+baseline T_3_2:
+    q: [-0.00233258 -0.00040934  0.00061852  0.999997  ] +- [0.00081957 0.00036337 0.00015682]
+    t: [ 0.37992466 -0.00078613 -0.01238602] +- [0.00020842 0.00020971 0.0006807 ]
+
+
+
+Target configuration
+====================
+
+  Type: aprilgrid
+  Tags: 
+    Rows: 6
+    Cols: 6
+    Size: 0.1121 [m]
+    Spacing 0.028025 [m]

calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/img_infrared.mp4

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+size 6929857

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+  "fx_source": "full_fov_lidar_tuning"
+}

calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/lidar_calibration_results.yaml

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+rotation_matrix:
+- - 0.038391927015290095
+  - -0.9992573277241956
+  - -0.0032943784773484253
+- - 0.06381339228740623
+  - 0.005741792988315175
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+  - 0.038102818829828244
+  - 0.0639864383474737
+translation_vector:
+- 0.1418411979547808
+- -0.1090404289171035
+- 0.020060963891382896
+config:
+  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
+  video_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/img_left.mp4
+  metadata_json_path: /data/rosbags/raw/calibrations/rev7_1.json
+  kalibr_file: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/calibration-camchain.yaml
+  cam_name: cam1
+  true_radius: 0.432
+  filter_dist: 0.01

calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/time_offset.npz

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+size 207639

calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/calibration-camchain.yaml

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+cam0:
+  cam_overlaps: [1, 2, 3]
+  camera_model: pinhole
+  distortion_coeffs: [-0.1426568615786943, 0.07628358991356403, -0.000908446598250203, -6.748113073224323e-05]
+  distortion_model: radtan
+  intrinsics: [1398.2699754978512, 1400.186224869683, 973.8555741006179, 751.495969115427]
+  resolution: [1920, 1456]
+  rostopic: /flir_cam_right
+cam1:
+  T_cn_cnm1:
+  - [0.9999545009096574, -0.0049176999396421716, -0.008173881441767668, 0.38229768083647114]
+  - [0.004925522475114707, 0.9999874303998881, 0.0009371609139109687, 0.0018753647043283606]
+  - [0.008169170023176797, -0.0009773789106922296, 0.9999661541230283, -0.0027115590462577235]
+  - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [0, 2, 3]
+  camera_model: pinhole
+  distortion_coeffs: [-0.1436030205679032, 0.07898677140910257, -0.0004848330496942119, -0.0018099632545118306]
+  distortion_model: radtan
+  intrinsics: [1401.7762438243033, 1402.8201774222791, 941.4989575858184, 734.47904421732]
+  resolution: [1920, 1456]
+  rostopic: /flir_cam_left
+cam2:
+  T_cn_cnm1:
+  - [0.999988717481768, 0.0044123705757418905, -0.0017595155745295057, -0.2754415661582165]
+  - [-0.004406507279129324, 0.9999847720463868, 0.0033224040874964915, 0.0008861766254893126]
+  - [0.0017741484587443616, -0.0033146132842249176, 0.9999929328430318, 0.0024474959217993986]
+  - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [0, 1, 3]
+  camera_model: pinhole
+  distortion_coeffs: [-0.14880697099123483, 0.08077396406963679, -0.0005375739635001428, 0.00037295846206041196]
+  distortion_model: radtan
+  intrinsics: [420.38809104308325, 421.46420981254107, 318.7538807240635, 244.47413174989723]
+  resolution: [640, 480]
+  rostopic: /event_camera_right
+cam3:
+  T_cn_cnm1:
+  - [0.9999898171351708, 0.004500654068547862, -0.00033126864134058346, 0.37948651243408443]
+  - [-0.0044996844487672875, 0.9999857528676026, 0.0028717419217569994, -0.0006966856410890064]
+  - [0.0003441886386763681, -0.0028702220748433958, 0.9999958216709767, -0.002890277294159323]
+  - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [0, 1, 2]
+  camera_model: pinhole
+  distortion_coeffs: [-0.13409145089148422, 0.06806644083326019, -0.00045836638913454645, -0.002516334836130025]
+  distortion_model: radtan
+  intrinsics: [421.6126479946354, 422.1641646911804, 321.74911305883643, 236.09261887460912]
+  resolution: [640, 480]
+  rostopic: /event_camera_left

calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/calibration-results-cam.txt

@@ -0,0 +1,50 @@
+Calibration results 
+====================
+Camera-system parameters:
+cam0 (/flir_cam_right):
+    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
+    distortion: [-0.14265686  0.07628359 -0.00090845 -0.00006748] +- [0.00152725 0.0028502  0.00019905 0.00017411]
+    projection: [1398.2699755  1400.18622487  973.8555741   751.49596912] +- [0.21190694 0.22358612 0.01362437 0.07182291]
+    reprojection error: [-0.000668, -0.000496] +- [0.530497, 0.326562]
+
+cam1 (/flir_cam_left):
+    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
+    distortion: [-0.14360302  0.07898677 -0.00048483 -0.00180996] +- [0.00150894 0.00189865 0.00018073 0.00021982]
+    projection: [1401.77624382 1402.82017742  941.49895759  734.47904422] +- [0.22581272 0.22558942 0.00896132 0.0552479 ]
+    reprojection error: [0.000086, -0.000453] +- [0.439034, 0.289310]
+
+cam2 (/event_camera_right):
+    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
+    distortion: [-0.14880697  0.08077396 -0.00053757  0.00037296] +- [0.00353113 0.00598779 0.00043567 0.00028482]
+    projection: [420.38809104 421.46420981 318.75388072 244.47413175] +- [0.30739548 0.2914447  0.036425   0.11938748]
+    reprojection error: [0.000001, -0.000350] +- [0.426499, 0.382698]
+
+cam3 (/event_camera_left):
+    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
+    distortion: [-0.13409145  0.06806644 -0.00045837 -0.00251633] +- [0.00371379 0.00353187 0.00033296 0.00057622]
+    projection: [421.61264799 422.16416469 321.74911306 236.09261887] +- [0.26061686 0.25674905 0.01049326 0.04571637]
+    reprojection error: [0.000314, -0.000579] +- [0.426590, 0.412968]
+
+baseline T_1_0:
+    q: [ 0.00047864  0.00408581 -0.00246083  0.99998851] +- [0.00010544 0.00006059 0.00008233]
+    t: [ 0.38229768  0.00187536 -0.00271156] +- [0.00009407 0.00008597 0.0003443 ]
+
+baseline T_2_1:
+    q: [0.00165926 0.00088342 0.00220473 0.9999958 ] +- [0.00038649 0.00020076 0.00020658]
+    t: [-0.27544157  0.00088618  0.0024475 ] +- [0.00024407 0.00026242 0.00087789]
+
+baseline T_3_2:
+    q: [0.0014355  0.00016886 0.00225009 0.99999642] +- [0.00041806 0.0002536  0.00028278]
+    t: [ 0.37948651 -0.00069669 -0.00289028] +- [0.00034212 0.00034187 0.00108567]
+
+
+
+Target configuration
+====================
+
+  Type: aprilgrid
+  Tags: 
+    Rows: 6
+    Cols: 6
+    Size: 0.1121 [m]
+    Spacing 0.028025 [m]

calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/img_infrared.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06ed1aa810c454ea876cd4cb1f0d6882bbe0f6f92f658fc1313545b38802ddea
+size 7188494

calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/ir_calib_result.json

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+{
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+  "n_frames": 25,
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+  "board_size_est_m": 0.9808269087115785,
+  "IR_T_ouster": [
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+  "fx_source": "full_fov_lidar_tuning"
+}

calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/lidar_calibration_results.yaml

@@ -0,0 +1,22 @@
+rotation_matrix:
+- - 0.00837700055918117
+  - -0.9999267937283713
+  - 0.008731153745665354
+- - 0.000769294866470982
+  - -0.008725013164515794
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+- - 0.9999646163975202
+  - 0.00838339605279359
+  - 0.0006961491091040384
+translation_vector:
+- 0.15364458796714758
+- -0.13432477464805484
+- -0.013881318196416826
+config:
+  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
+  video_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/img_left.mp4
+  metadata_json_path: /data/rosbags/raw/calibrations/rev7_1.json
+  kalibr_file: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/calibration-camchain.yaml
+  cam_name: cam1
+  true_radius: 0.432
+  filter_dist: 0.01

calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/time_offset.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7a86d9014a5364f057aa209d7a5b39703962dcc783711e6e0804f0c97af73ff
+size 160180

calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/calibration-camchain.yaml

@@ -0,0 +1,47 @@
+cam0:
+  cam_overlaps: [1, 2, 3]
+  camera_model: pinhole
+  distortion_coeffs: [-0.14787396747563236, 0.09153047625690433, -0.0008960909329665315, -0.00021796604329297103]
+  distortion_model: radtan
+  intrinsics: [1399.1129208969217, 1397.1784349833051, 968.5988768996218, 752.7657075282705]
+  resolution: [1920, 1456]
+  rostopic: /flir_cam_right
+cam1:
+  T_cn_cnm1:
+  - [0.99996091983495, -0.005038352861862628, -0.0072645580221542645, 0.38182213737975873]
+  - [0.005054929172142473, 0.9999846580425193, 0.0022652528837507927, 0.0021775304865360983]
+  - [0.007253033426264367, -0.002301886183563151, 0.999971046993908, -0.0054618522845664656]
+  - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [0, 2, 3]
+  camera_model: pinhole
+  distortion_coeffs: [-0.14525155304234266, 0.0808709221398583, -0.0007681430128700377, -0.0017324421257447693]
+  distortion_model: radtan
+  intrinsics: [1400.9350120401848, 1397.7861994325692, 936.2239798398818, 736.0012771137447]
+  resolution: [1920, 1456]
+  rostopic: /flir_cam_left
+cam2:
+  T_cn_cnm1:
+  - [0.9999381917251355, 0.005035436091081004, -0.009912472590015695, -0.27513831961636137]
+  - [-0.005042244400620353, 0.9999870686991309, -0.00066197124794198, 0.00058676373406244]
+  - [0.009909011094937088, 0.000711911442054441, 0.9999506511229582, 0.0007545452379877609]
+  - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [0, 1, 3]
+  camera_model: pinhole
+  distortion_coeffs: [-0.14687653638039458, 0.08850552106068162, -0.001213295589460522, 0.0007508043789556837]
+  distortion_model: radtan
+  intrinsics: [420.5406993281328, 419.73120773720944, 320.36454361767585, 245.9047410606368]
+  resolution: [640, 480]
+  rostopic: /event_camera_right
+cam3:
+  T_cn_cnm1:
+  - [0.9999566369759583, 0.0034988536368112024, 0.008630306539849303, 0.3784857096347118]
+  - [-0.00357287682021566, 0.9999568367263917, 0.008576668081958781, -0.0007145241314788256]
+  - [-0.008599925521256465, -0.008607131193882076, 0.9999259765470903, -0.003866475785601903]
+  - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [0, 1, 2]
+  camera_model: pinhole
+  distortion_coeffs: [-0.14123459957364473, 0.07406590366055538, -0.0010618484880483684, -0.0014227224733529868]
+  distortion_model: radtan
+  intrinsics: [421.4787713400347, 420.6833344354001, 320.13875692093046, 235.32491748095796]
+  resolution: [640, 480]
+  rostopic: /event_camera_left

calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/calibration-results-cam.txt

@@ -0,0 +1,50 @@
+Calibration results 
+====================
+Camera-system parameters:
+cam0 (/flir_cam_right):
+    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
+    distortion: [-0.14787397  0.09153048 -0.00089609 -0.00021797] +- [0.00091862 0.00161794 0.00012694 0.00014832]
+    projection: [1399.1129209  1397.17843498  968.5988769   752.76570753] +- [0.14627228 0.17477558 0.01787351 0.14684089]
+    reprojection error: [-0.000312, -0.000815] +- [0.400515, 0.315315]
+
+cam1 (/flir_cam_left):
+    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
+    distortion: [-0.14525155  0.08087092 -0.00076814 -0.00173244] +- [0.00086686 0.00139414 0.00012529 0.00015329]
+    projection: [1400.93501204 1397.78619943  936.22397984  736.00127711] +- [0.15047087 0.16617003 0.00511123 0.06879126]
+    reprojection error: [0.000251, -0.000343] +- [0.233766, 0.207064]
+
+cam2 (/event_camera_right):
+    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
+    distortion: [-0.14687654  0.08850552 -0.0012133   0.0007508 ] +- [0.0023074  0.0037929  0.00024372 0.00020091]
+    projection: [420.54069933 419.73120774 320.36454362 245.90474106] +- [0.18662603 0.21296056 0.04826654 0.34361981]
+    reprojection error: [-0.000033, -0.000268] +- [0.381969, 0.350655]
+
+cam3 (/event_camera_left):
+    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
+    distortion: [-0.1412346   0.0740659  -0.00106185 -0.00142272] +- [0.00235878 0.00284866 0.00020967 0.00029177]
+    projection: [421.47877134 420.68333444 320.13875692 235.32491748] +- [0.16311444 0.20143687 0.00906464 0.04776329]
+    reprojection error: [0.000365, -0.000164] +- [0.355173, 0.326639]
+
+baseline T_1_0:
+    q: [ 0.0011418   0.00362944 -0.00252335  0.99998958] +- [0.00015518 0.00005714 0.00005809]
+    t: [ 0.38182214  0.00217753 -0.00546185] +- [0.00006425 0.00004516 0.00023504]
+
+baseline T_2_1:
+    q: [-0.00034348  0.00495545  0.00251946  0.99998449] +- [0.00084527 0.00018001 0.00011194]
+    t: [-0.27513832  0.00058676  0.00075455] +- [0.0001394  0.00012835 0.00046608]
+
+baseline T_3_2:
+    q: [ 0.00429604 -0.00430764  0.00176797  0.99997993] +- [0.00087002 0.00022299 0.00016118]
+    t: [ 0.37848571 -0.00071452 -0.00386648] +- [0.00021161 0.00017684 0.00060106]
+
+
+
+Target configuration
+====================
+
+  Type: aprilgrid
+  Tags: 
+    Rows: 6
+    Cols: 6
+    Size: 0.1121 [m]
+    Spacing 0.028025 [m]

calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/img_infrared.mp4

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+version https://git-lfs.github.com/spec/v1
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calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/ir_calib_result.json

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+{
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+}

calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/lidar_calibration_results.yaml

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+rotation_matrix:
+- - 0.012009213547199415
+  - -0.9998877384325338
+  - 0.008960430918799
+- - -0.007298371076940258
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+  - -0.007406216986205916
+translation_vector:
+- 0.15026963888830586
+- -0.11514947215995641
+- -0.034978436268994696
+config:
+  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
+  video_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/img_left.mp4
+  metadata_json_path: /data/rosbags/raw/calibrations/rev7_1.json
+  kalibr_file: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/calibration-camchain.yaml
+  cam_name: cam1
+  true_radius: 0.432
+  filter_dist: 0.01

calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/time_offset.npz

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+version https://git-lfs.github.com/spec/v1
+oid sha256:c5cb5b992444c23cf4a29c5a8d4bb0a43b280481dc509ba6cca36fbe425e291e
+size 211156

calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/calibration-camchain.yaml

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+cam0:
+  cam_overlaps: [1, 2, 3]
+  camera_model: pinhole
+  distortion_coeffs: [-0.15057920800818145, 0.07425854786994802, 0.00025953897477574327, -7.783198349369072e-05]
+  distortion_model: radtan
+  intrinsics: [1394.5046922987929, 1394.8473217839635, 969.9602386942076, 747.628445104563]
+  resolution: [1920, 1456]
+  rostopic: /flir_cam_right
+cam1:
+  T_cn_cnm1:
+  - [0.9999833706542005, -0.004776949832482648, -0.0032309697273294642, 0.38272106625805935]
+  - [0.004783759820713138, 0.9999863458156649, 0.0021032889074449855, 0.002071407601354094]
+  - [0.0032208783054791168, -0.0021187101142899484, 0.9999925684775912, -0.00602606157437941]
+  - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [0, 2, 3]
+  camera_model: pinhole
+  distortion_coeffs: [-0.1512563064547309, 0.07534917628069317, 0.000464225149620579, -0.001354875103324927]
+  distortion_model: radtan
+  intrinsics: [1396.2502568402901, 1396.312688393185, 931.8690619019077, 730.9654164178276]
+  resolution: [1920, 1456]
+  rostopic: /flir_cam_left
+cam2:
+  T_cn_cnm1:
+  - [0.9999617209294615, 0.005019999222104069, -0.0071663298548217185, -0.2757706125249656]
+  - [-0.005026607761880751, 0.9999869575057067, -0.0009044516992810886, 0.0009029477212918724]
+  - [0.007161696041178704, 0.0009404394069831432, 0.999973912501483, 0.003399234903134681]
+  - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [0, 1, 3]
+  camera_model: pinhole
+  distortion_coeffs: [-0.15316372865916947, 0.07624613936152609, 0.000264790481912241, -0.0005592383462134972]
+  distortion_model: radtan
+  intrinsics: [419.5180205638013, 419.6537725197218, 317.2693706751948, 244.6267898819202]
+  resolution: [640, 480]
+  rostopic: /event_camera_right
+cam3:
+  T_cn_cnm1:
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+  - [-0.003571970081011607, 0.9999503590213011, 0.009301640872599552, -0.0010595461838426138]
+  - [-0.009032572512178476, -0.009333583638443596, 0.9999156448672497, -0.006218068959930722]
+  - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [0, 1, 2]
+  camera_model: pinhole
+  distortion_coeffs: [-0.1514495097877584, 0.07525637261603504, -3.049124428850406e-05, -0.001595897674278915]
+  distortion_model: radtan
+  intrinsics: [420.39707529636104, 420.3597888766039, 316.87160989567013, 233.76566847560807]
+  resolution: [640, 480]
+  rostopic: /event_camera_left

calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/calibration-results-cam.txt

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+Calibration results 
+====================
+Camera-system parameters:
+cam0 (/flir_cam_right):
+    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
+    distortion: [-0.15057921  0.07425855  0.00025954 -0.00007783] +- [0.00092942 0.00148895 0.00013046 0.00012402]
+    projection: [1394.5046923  1394.84732178  969.96023869  747.6284451 ] +- [0.19437234 0.19730964 0.00562695 0.26932043]
+    reprojection error: [-0.000181, -0.000407] +- [0.433259, 0.390555]
+
+cam1 (/flir_cam_left):
+    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
+    distortion: [-0.15125631  0.07534918  0.00046423 -0.00135488] +- [0.00090461 0.00139384 0.00013118 0.00012311]
+    projection: [1396.25025684 1396.31268839  931.8690619   730.96541642] +- [0.17537326 0.1941718  0.01321986 0.24069265]
+    reprojection error: [0.000364, -0.000412] +- [0.432571, 0.364378]
+
+cam2 (/event_camera_right):
+    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
+    distortion: [-0.15316373  0.07624614  0.00026479 -0.00055924] +- [0.00226522 0.00354565 0.00025351 0.00018129]
+    projection: [419.51802056 419.65377252 317.26937068 244.62678988] +- [0.18895182 0.20122856 0.01139477 0.20701953]
+    reprojection error: [0.000165, -0.000112] +- [0.345196, 0.320073]
+
+cam3 (/event_camera_left):
+    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
+    distortion: [-0.15144951  0.07525637 -0.00003049 -0.0015959 ] +- [0.00198844 0.00263227 0.0002315  0.00018831]
+    projection: [420.3970753  420.35978888 316.8716099  233.76566848] +- [0.1899266  0.21367604 0.01836297 0.36058712]
+    reprojection error: [0.000462, -0.000099] +- [0.329305, 0.282710]
+
+baseline T_1_0:
+    q: [ 0.0010555   0.00161297 -0.00239019  0.99999529] +- [0.00037343 0.00006586 0.00005489]
+    t: [ 0.38272107  0.00207141 -0.00602606] +- [0.00008227 0.00006532 0.00028082]
+
+baseline T_2_1:
+    q: [-0.00046123  0.00358204  0.00251168  0.99999032] +- [0.00050158 0.00015125 0.00010319]
+    t: [-0.27577061  0.00090295  0.00339923] +- [0.00018988 0.00017214 0.00051828]
+
+baseline T_3_2:
+    q: [ 0.00465891 -0.00452461  0.00176495  0.99997735] +- [0.0009751  0.00020856 0.00014923]
+    t: [ 0.3796858  -0.00105955 -0.00621807] +- [0.00026162 0.00022682 0.00072346]
+
+
+
+Target configuration
+====================
+
+  Type: aprilgrid
+  Tags: 
+    Rows: 6
+    Cols: 6
+    Size: 0.1121 [m]
+    Spacing 0.028025 [m]

calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/img_infrared.mp4

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+oid sha256:e6c861370b497cddd2f4cc03a5943533cf95c14eb169d9c3dbd0dfa80e02b9b0
+size 7842256

calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/ir_calib_result.json

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+      -0.009376369859973921,
+      -0.013944423822591756,
+      -0.9998588083987183,
+      -0.10137516842062079
+    ],
+    [
+      0.9997857360370028,
+      0.018322707569849606,
+      -0.009631220289155473,
+      -0.01792936195242934
+    ],
+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "fx_source": "full_fov_lidar_tuning"
+}

calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/lidar_calibration_results.yaml

@@ -0,0 +1,22 @@
+rotation_matrix:
+- - 0.01845442237506867
+  - -0.9997348805716272
+  - 0.013769635552070725
+- - -0.009376369859973921
+  - -0.013944423822591756
+  - -0.9998588083987183
+- - 0.9997857360370028
+  - 0.018322707569849606
+  - -0.009631220289155473
+translation_vector:
+- 0.14249196551252338
+- -0.10152072084931757
+- -0.047966139010015424
+config:
+  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
+  video_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/img_left.mp4
+  metadata_json_path: /data/rosbags/raw/calibrations/rev7_1.json
+  kalibr_file: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/calibration-camchain.yaml
+  cam_name: cam1
+  true_radius: 0.432
+  filter_dist: 0.01

calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/time_offset.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f303989301640851fc61d9866914f58a4abf74693c42324a700854f024ddb7c5
+size 203380

calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/calibration-camchain.yaml

@@ -0,0 +1,47 @@
+cam0:
+  cam_overlaps: [1, 2, 3]
+  camera_model: pinhole
+  distortion_coeffs: [-0.1554359514433866, 0.0655399682995906, -0.0004923723374585663, -0.0004813524454894719]
+  distortion_model: radtan
+  intrinsics: [1401.3330677935874, 1402.3580366829, 979.1011654994055, 736.0102509319549]
+  resolution: [1920, 1456]
+  rostopic: /flir_cam_right
+cam1:
+  T_cn_cnm1:
+  - [0.9999843483197418, -0.0053747418258000695, -0.0015541125526817084, 0.3836692950340756]
+  - [0.005377012543751407, 0.9999844770207401, 0.0014606346703982965, 0.00217609086011549]
+  - [0.0015462378939695982, -0.0014689682917016478, 0.9999977256376699, -0.004404449483459246]
+  - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [0, 2, 3]
+  camera_model: pinhole
+  distortion_coeffs: [-0.15265826841492536, 0.06270859675813797, -2.531577575372254e-05, -0.0007931321618872502]
+  distortion_model: radtan
+  intrinsics: [1403.0924205367137, 1404.4065149128899, 935.954623179377, 720.4616727020557]
+  resolution: [1920, 1456]
+  rostopic: /flir_cam_left
+cam2:
+  T_cn_cnm1:
+  - [0.9998993746331619, 0.005535671805293441, -0.013061276578867232, -0.2772352111450309]
+  - [-0.005518100542089398, 0.99998382164129, 0.0013809497029069711, 0.000441358260666466]
+  - [0.013068709753184478, -0.0013087373069663082, 0.9999137442959979, 0.0020565038042740327]
+  - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [0, 1, 3]
+  camera_model: pinhole
+  distortion_coeffs: [-0.1561544157217615, 0.06634974106156304, -0.0007914339874798666, -0.0007719766204322734]
+  distortion_model: radtan
+  intrinsics: [421.6828357409248, 422.69999930284297, 320.11444417194963, 240.2869434582657]
+  resolution: [640, 480]
+  rostopic: /event_camera_right
+cam3:
+  T_cn_cnm1:
+  - [0.9998428538201524, 0.0023754883288630785, 0.017567718120537056, 0.38152246849497]
+  - [-0.0024934516841711224, 0.9999744733046574, 0.0066959269531191, -0.00038134179027356457]
+  - [-0.017551363578420763, -0.006738678970112609, 0.9998232543016119, -0.008718874903323194]
+  - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [0, 1, 2]
+  camera_model: pinhole
+  distortion_coeffs: [-0.15128607737031705, 0.06436865074657545, -0.00018876046347510376, -0.00031489747087819073]
+  distortion_model: radtan
+  intrinsics: [421.8291293383839, 422.43446331912327, 318.6584437728111, 230.45012064577492]
+  resolution: [640, 480]
+  rostopic: /event_camera_left

calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/calibration-results-cam.txt

@@ -0,0 +1,50 @@
+Calibration results 
+====================
+Camera-system parameters:
+cam0 (/flir_cam_right):
+    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
+    distortion: [-0.15543595  0.06553997 -0.00049237 -0.00048135] +- [0.00086249 0.00138737 0.00011111 0.00013337]
+    projection: [1401.33306779 1402.35803668  979.1011655   736.01025093] +- [0.153871   0.16778615 0.00757047 0.28023474]
+    reprojection error: [-0.000207, 0.000352] +- [0.657523, 0.424299]
+
+cam1 (/flir_cam_left):
+    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
+    distortion: [-0.15265827  0.0627086  -0.00002532 -0.00079313] +- [0.00080033 0.00127483 0.00011218 0.00013096]
+    projection: [1403.09242054 1404.40651491  935.95462318  720.4616727 ] +- [0.1529555  0.16739499 0.00799525 0.26448932]
+    reprojection error: [0.000103, 0.000312] +- [0.494104, 0.339989]
+
+cam2 (/event_camera_right):
+    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
+    distortion: [-0.15615442  0.06634974 -0.00079143 -0.00077198] +- [0.0024486  0.00411231 0.00023218 0.00018833]
+    projection: [421.68283574 422.6999993  320.11444417 240.28694346] +- [0.17276198 0.18679575 0.01162953 0.07754404]
+    reprojection error: [0.000138, 0.000107] +- [0.452299, 0.401975]
+
+cam3 (/event_camera_left):
+    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
+    distortion: [-0.15128608  0.06436865 -0.00018876 -0.0003149 ] +- [0.00163841 0.00202318 0.00020278 0.00018959]
+    projection: [421.82912934 422.43446332 318.65844377 230.45012065] +- [0.14338769 0.18211748 0.02023667 0.33990138]
+    reprojection error: [0.000361, 0.000108] +- [0.404852, 0.341270]
+
+baseline T_1_0:
+    q: [ 0.0007324   0.00077509 -0.00268795  0.99999582] +- [0.00040003 0.0000509  0.00005239]
+    t: [ 0.3836693   0.00217609 -0.00440445] +- [0.00005134 0.00003897 0.00020092]
+
+baseline T_2_1:
+    q: [0.00067244 0.00653266 0.00276351 0.99997462] +- [0.00020654 0.00012678 0.0001088 ]
+    t: [-0.27723521  0.00044136  0.0020565 ] +- [0.00012372 0.00011302 0.00034946]
+
+baseline T_3_2:
+    q: [ 0.0033588  -0.00878016  0.00121729  0.99995507] +- [0.00086615 0.00017584 0.0001541 ]
+    t: [ 0.38152247 -0.00038134 -0.00871887] +- [0.00018821 0.00014847 0.00050552]
+
+
+
+Target configuration
+====================
+
+  Type: aprilgrid
+  Tags: 
+    Rows: 6
+    Cols: 6
+    Size: 0.1121 [m]
+    Spacing 0.028025 [m]

calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/img_infrared.mp4

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9f634f0083b0d437091841e46b1ce0e53de29d4c981bd76c2decfa9a0eff852b
+size 9392986

calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/ir_calib_result.json

@@ -0,0 +1,232 @@
+{
+  "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",
+  "n_frames": 25,
+  "reproj_rms_px": 1.4962850486077985,
+  "lock_rotation": true,
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+  "board_size_est_m": 0.9668904550083379,
+  "IR_T_ouster": [
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+  ],
+  "fx_source": "full_fov_lidar_tuning"
+}

calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/lidar_calibration_results.yaml

@@ -0,0 +1,22 @@
+rotation_matrix:
+- - 0.013992610881249645
+  - -0.9998506845593221
+  - 0.010139794227758958
+- - 0.0012070938720981639
+  - -0.010123888455294938
+  - -0.9999480235526891
+- - 0.9999013700186186
+  - 0.01400412327852385
+  - 0.0010652540025848367
+translation_vector:
+- 0.1432224599918385
+- -0.10769633493339185
+- -0.017778067893121533
+config:
+  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
+  video_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/img_left.mp4
+  metadata_json_path: /data/rosbags/raw/calibrations/rev7_1.json
+  kalibr_file: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/calibration-camchain.yaml
+  cam_name: cam1
+  true_radius: 0.432
+  filter_dist: 0.01

calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/time_offset.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e944c3ca1d9243d1117020b0cebe06937ce0532ccc60ad89af970e52a4a1352b
+size 208348

calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/calibration-camchain-imucam.yaml

@@ -0,0 +1,33 @@
+cam0:
+  T_cam_imu:
+  - [0.008762102800190325, -0.9992339617232646, 0.038140730110303334, -0.24609711676445237]
+  - [-0.01971015828748829, -0.038307367472059595, -0.9990715966624422, -0.05010749445813287]
+  - [0.9997673405421883, 0.008002208207032124, -0.02003071264359446, -0.03411604197561325]
+  - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [1, 2, 3]
+  camera_model: pinhole
+  distortion_coeffs: [-0.15385396380802188, 0.0749641388870442, 0.001000267559278542, 0.002804201584318143]
+  distortion_model: radtan
+  intrinsics: [1417.501796249508, 1413.430442569655, 988.1439401050002, 733.8064858691746]
+  resolution: [1920, 1456]
+  rostopic: /flir_cam_right
+  timeshift_cam_imu: 0.004370749975378334
+cam1:
+  T_cam_imu:
+  - [0.0376120157492085, -0.9982754604345894, 0.04507151390169101, 0.1372816601219756]
+  - [0.043065769718079905, -0.04344223602746777, -0.9981273023054341, -0.05256923258411103]
+  - [0.998363999626324, 0.03948261925256247, 0.041357551028640194, -0.025686080174765594]
+  - [0.0, 0.0, 0.0, 1.0]
+  T_cn_cnm1:
+  - [0.9995593640170656, -0.007529703240476868, 0.02871204233227203, 0.3838725843195073]
+  - [0.005717000260326085, 0.9980159621480531, 0.0627013174159818, 0.0009849047658489283]
+  - [-0.029127198866407675, -0.06250954220586345, 0.9976192477189835, -0.0019515762440131853]
+  - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [0, 2, 3]
+  camera_model: pinhole
+  distortion_coeffs: [-0.15589065459647117, 0.06084534489493509, -0.00234409054407442, -0.0026530574846732736]
+  distortion_model: radtan
+  intrinsics: [1428.3251206496743, 1423.8837606531902, 902.691023138746, 632.4383854230887]
+  resolution: [1920, 1456]
+  rostopic: /flir_cam_left
+  timeshift_cam_imu: 0.004239598403763752

calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/calibration-imu.yaml

@@ -0,0 +1,14 @@
+imu0:
+  T_i_b:
+  - [1.0, 0.0, 0.0, 0.0]
+  - [0.0, 1.0, 0.0, 0.0]
+  - [0.0, 0.0, 1.0, 0.0]
+  - [0.0, 0.0, 0.0, 1.0]
+  accelerometer_noise_density: 0.001372
+  accelerometer_random_walk: 5.0e-05
+  gyroscope_noise_density: 6.10866e-05
+  gyroscope_random_walk: 4.0e-06
+  model: calibrated
+  rostopic: /imu/data
+  time_offset: 0.0
+  update_rate: 400.0

calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/calibration-results-imucam.txt

@@ -0,0 +1,120 @@
+Calibration results
+===================
+Normalized Residuals
+----------------------------
+Reprojection error (cam0):     mean 1.898110734869543, median 1.6339976015190572, std: 1.236595649857134
+Reprojection error (cam1):     mean 2.084584674084913, median 1.7567915462644819, std: 1.328938375074656
+Gyroscope error (imu0):        mean 0.8405573801381114, median 0.783460713322519, std: 0.4464555928560292
+Accelerometer error (imu0):    mean 2.052844931465704, median 1.8657613168768599, std: 1.2113983699199764
+
+Residuals
+----------------------------
+Reprojection error (cam0) [px]:     mean 1.898110734869543, median 1.6339976015190572, std: 1.236595649857134
+Reprojection error (cam1) [px]:     mean 2.084584674084913, median 1.7567915462644819, std: 1.328938375074656
+Gyroscope error (imu0) [rad/s]:     mean 0.0010269358491508955, median 0.0009571790242089478, std: 0.0005454490843711823
+Accelerometer error (imu0) [m/s^2]: mean 0.05633006491941892, median 0.05119649053510103, std: 0.03324077127060415
+
+Transformation (cam0):
+-----------------------
+T_ci:  (imu0 to cam0): 
+[[ 0.0087621  -0.99923396  0.03814073 -0.24609712]
+ [-0.01971016 -0.03830737 -0.9990716  -0.05010749]
+ [ 0.99976734  0.00800221 -0.02003071 -0.03411604]
+ [ 0.          0.          0.          1.        ]]
+
+T_ic:  (cam0 to imu0): 
+[[ 0.0087621  -0.01971016  0.99976734  0.03527681]
+ [-0.99923396 -0.03830737  0.00800221 -0.24755508]
+ [ 0.03814073 -0.9990716  -0.02003071 -0.04135802]
+ [ 0.          0.          0.          1.        ]]
+
+timeshift cam0 to imu0: [s] (t_imu = t_cam + shift)
+0.004370749975378334
+
+
+Transformation (cam1):
+-----------------------
+T_ci:  (imu0 to cam1): 
+[[ 0.03761202 -0.99827546  0.04507151  0.13728166]
+ [ 0.04306577 -0.04344224 -0.9981273  -0.05256923]
+ [ 0.998364    0.03948262  0.04135755 -0.02568608]
+ [ 0.          0.          0.          1.        ]]
+
+T_ic:  (cam1 to imu0): 
+[[ 0.03761202  0.04306577  0.998364    0.02274455]
+ [-0.99827546 -0.04344224  0.03948262  0.13577534]
+ [ 0.04507151 -0.9981273   0.04135755 -0.05759597]
+ [ 0.          0.          0.          1.        ]]
+
+timeshift cam1 to imu0: [s] (t_imu = t_cam + shift)
+0.004239598403763752
+
+Baselines:
+----------
+Baseline (cam0 to cam1): 
+[[ 0.99955936 -0.0075297   0.02871204  0.38387258]
+ [ 0.005717    0.99801596  0.06270132  0.0009849 ]
+ [-0.0291272  -0.06250954  0.99761925 -0.00195158]
+ [ 0.          0.          0.          1.        ]]
+baseline norm:  0.38387880858334866 [m]
+
+
+Gravity vector in target coords: [m/s^2]
+[-0.26905059 -9.72870178 -1.20349341]
+
+
+Calibration configuration
+=========================
+
+cam0
+-----
+  Camera model: pinhole
+  Focal length: [1417.501796249508, 1413.430442569655]
+  Principal point: [988.1439401050002, 733.8064858691746]
+  Distortion model: radtan
+  Distortion coefficients: [-0.15385396380802188, 0.0749641388870442, 0.001000267559278542, 0.002804201584318143]
+  Type: aprilgrid
+  Tags: 
+    Rows: 6
+    Cols: 6
+    Size: 0.1121 [m]
+    Spacing 0.028025 [m]
+
+cam1
+-----
+  Camera model: pinhole
+  Focal length: [1428.3251206496743, 1423.8837606531902]
+  Principal point: [902.691023138746, 632.4383854230887]
+  Distortion model: radtan
+  Distortion coefficients: [-0.15589065459647117, 0.06084534489493509, -0.00234409054407442, -0.0026530574846732736]
+  Type: aprilgrid
+  Tags: 
+    Rows: 6
+    Cols: 6
+    Size: 0.1121 [m]
+    Spacing 0.028025 [m]
+
+
+
+IMU configuration
+=================
+
+IMU0:
+ ----------------------------
+  Model: calibrated
+  Update rate: 400.0
+  Accelerometer:
+    Noise density: 0.001372 
+    Noise density (discrete): 0.02744 
+    Random walk: 5e-05
+  Gyroscope:
+    Noise density: 6.10866e-05
+    Noise density (discrete): 0.0012217320000000001 
+    Random walk: 4e-06
+  T_ib (imu0 to imu0)
+    [[1. 0. 0. 0.]
+     [0. 1. 0. 0.]
+     [0. 0. 1. 0.]
+     [0. 0. 0. 1.]]
+  time offset with respect to IMU0: 0.0 [s]
+

calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/img_infrared.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0052716e18512e33d38fc56e8a7006b37419b418df50fbb8b0b45269b0748411
+size 4634770

calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/timeSync.log

@@ -0,0 +1,66 @@
+2026-01-05 02:05:24,512 INFO:__main__:--------------------------------
+2026-01-05 02:05:24,512 WARNING:__main__:MISSING GPS Time Mark Messages
+2026-01-05 02:05:24,512 INFO:__main__:--------------------------------
+2026-01-05 02:05:42,848 INFO:root:Got All Sync Pulses
+2026-01-05 02:05:42,850 INFO:timeSync_calibration:FLIR Total Pulses: 70
+2026-01-05 02:05:42,850 INFO:timeSync_calibration:FLIR Publishing Rate: 100.00Hz
+2026-01-05 02:05:42,850 INFO:timeSync_calibration:FLIR First Pulse Time: 40.05ms
+2026-01-05 02:05:42,850 INFO:timeSync_calibration:FLIR Second Pulse Time: 0.052
+2026-01-05 02:05:42,850 WARNING:root:FLIR Dropped Packets: 0
+2026-01-05 02:05:42,850 INFO:timeSync_calibration:FLIR Time Range: 0.0 to 63.0
+2026-01-05 02:05:42,850 INFO:__main__:--------------------------------
+2026-01-05 02:05:45,840 INFO:root:Got All Sync Pulses
+2026-01-05 02:05:45,841 INFO:timeSync_calibration:FLIR Total Pulses: 70
+2026-01-05 02:05:45,842 INFO:timeSync_calibration:FLIR Publishing Rate: 100.00Hz
+2026-01-05 02:05:45,842 INFO:timeSync_calibration:FLIR First Pulse Time: 40.05ms
+2026-01-05 02:05:45,842 INFO:timeSync_calibration:FLIR Second Pulse Time: 0.052
+2026-01-05 02:05:45,842 WARNING:root:FLIR Dropped Packets: 0
+2026-01-05 02:05:45,842 INFO:timeSync_calibration:FLIR Time Range: 0.0 to 63.0
+2026-01-05 02:05:45,842 INFO:__main__:--------------------------------
+2026-01-05 02:05:54,144 INFO:root:Got All Sync Pulses
+2026-01-05 02:05:54,146 INFO:timeSync_calibration:/event_camera_0/events Total Pulses: 64
+2026-01-05 02:05:54,146 INFO:timeSync_calibration:/event_camera_0/events Publishing Rate: 1.00Hz
+2026-01-05 02:05:54,146 INFO:timeSync_calibration:/event_camera_0/events First Pulse Time: 1.00ms
+2026-01-05 02:05:54,146 INFO:timeSync_calibration:/event_camera_0/events Second Pulse Time: 1.00
+2026-01-05 02:05:54,146 WARNING:root:/event_camera_0/events Dropped Packets: 0
+2026-01-05 02:05:54,147 INFO:root:/event_camera_0/events Time Range: 0.0 to 63.0
+2026-01-05 02:05:54,147 INFO:__main__:--------------------------------
+2026-01-05 02:06:02,632 INFO:root:Got All Sync Pulses
+2026-01-05 02:06:02,633 INFO:timeSync_calibration:/event_camera_1/events Total Pulses: 64
+2026-01-05 02:06:02,633 INFO:timeSync_calibration:/event_camera_1/events Publishing Rate: 1.00Hz
+2026-01-05 02:06:02,633 INFO:timeSync_calibration:/event_camera_1/events First Pulse Time: 1.00ms
+2026-01-05 02:06:02,633 INFO:timeSync_calibration:/event_camera_1/events Second Pulse Time: 1.00
+2026-01-05 02:06:02,633 WARNING:root:/event_camera_1/events Dropped Packets: 0
+2026-01-05 02:06:02,633 INFO:root:/event_camera_1/events Time Range: 0.0 to 63.0
+2026-01-05 02:06:02,633 INFO:__main__:--------------------------------
+2026-01-05 02:06:05,931 INFO:root:Got All Sync Pulses
+2026-01-05 02:06:05,933 INFO:timeSync_calibration:IMU Total Pulses: 64
+2026-01-05 02:06:05,933 INFO:timeSync_calibration:IMU Trigger Publishing Rate: 1.00Hz
+2026-01-05 02:06:05,933 INFO:timeSync_calibration:IMU Device Publishing Rate: 400.00Hz
+2026-01-05 02:06:05,933 INFO:timeSync_calibration:IMU First Pulse Time: 1000.00ms
+2026-01-05 02:06:05,933 INFO:timeSync_calibration:IMU Second Pulse Time: 1.00s
+2026-01-05 02:06:05,933 WARNING:root:IMU Dropped Packets: 0
+2026-01-05 02:06:05,933 INFO:timeSync_calibration:IMU Time Range: 0.0 to 63.0
+2026-01-05 02:06:05,933 INFO:__main__:--------------------------------
+2026-01-05 02:06:08,839 INFO:root:Got All Sync Pulses
+2026-01-05 02:06:08,840 INFO:timeSync_calibration:FLIR Total Pulses: 70
+2026-01-05 02:06:08,840 INFO:timeSync_calibration:FLIR Publishing Rate: 49.99Hz
+2026-01-05 02:06:08,840 INFO:timeSync_calibration:FLIR First Pulse Time: 60.01ms
+2026-01-05 02:06:08,840 INFO:timeSync_calibration:FLIR Second Pulse Time: 0.082
+2026-01-05 02:06:08,840 WARNING:root:FLIR Dropped Packets: 0
+2026-01-05 02:06:08,840 INFO:timeSync_calibration:FLIR Time Range: 0.0 to 63.0
+2026-01-05 02:06:12,117 INFO:root:Got All Sync Pulses
+2026-01-05 02:06:12,119 INFO:__main__:--------------------------------
+2026-01-05 02:06:12,121 INFO:__main__:Saved time offset objects to /data/rosbags/processed/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59//time_offset.npz
+2026-01-05 02:06:12,128 INFO:timeSync_process:Processed /data/rosbags/raw/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59 to /data/rosbags/processed/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/
+2026-01-05 02:06:19,856 INFO:timeSync_process:process_infrared_camera completed in 7.67s
+2026-01-05 02:06:19,917 WARNING:timeSync_process:IMU topic counts don't match: IMU=29592, Trigger=29589. Will match by time and process only messages with valid trigger matches.
+2026-01-05 02:06:26,529 INFO:timeSync_process:IMU topic to trigger time difference: 0.00s
+2026-01-05 02:06:36,127 INFO:timeSync_process:parse_imu completed in 16.27s
+2026-01-05 02:07:22,647 INFO:timeSync_process:Ev/right camera: 913,611,319 events stored in 46.52s
+2026-01-05 02:08:09,489 INFO:timeSync_process:Ev/left camera: 938,651,681 events stored in 46.82s
+2026-01-05 02:08:35,134 INFO:timeSync_process:_process_flir_camera(img_right) completed in 25.62s
+2026-01-05 02:08:59,829 INFO:timeSync_process:_process_flir_camera(img_left) completed in 24.69s
+2026-01-05 02:08:59,835 INFO:root:Bag date 2026-01-04 >= cutoff 2025-12-01, using rev7_1 metadata: /data/rosbags/raw/calibrations/rev7_1.json
+2026-01-05 02:09:13,302 INFO:timeSync_process:parse_lidar completed in 13.47s
+2026-01-05 02:09:13,626 INFO:timeSync_process:Finished processing /data/rosbags/raw/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59 in 181.50s

calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/time_offset.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ad6e00a34d69d1e079b761c96fef70b14ca1c75bba57e9607dc6f466bc5674e
+size 108063

calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/calibration-camchain-imucam.yaml

@@ -0,0 +1,33 @@
+cam0:
+  T_cam_imu:
+  - [0.025313164036402797, -0.9990025547764871, 0.0367850414777085, -0.25877504946613533]
+  - [-0.009662133088720937, -0.037039605373558104, -0.9992670868281142, -0.08393699318291829]
+  - [0.9996328760653288, 0.024939189718626686, -0.010590085246887149, -0.044802659977724764]
+  - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [1, 2, 3]
+  camera_model: pinhole
+  distortion_coeffs: [-0.1426568615786943, 0.07628358991356403, -0.000908446598250203, -6.748113073224323e-05]
+  distortion_model: radtan
+  intrinsics: [1398.2699754978512, 1400.186224869683, 973.8555741006179, 751.495969115427]
+  resolution: [1920, 1456]
+  rostopic: /flir_cam_right
+  timeshift_cam_imu: 0.004385482531619741
+cam1:
+  T_cam_imu:
+  - [0.017188647167521443, -0.998978801383898, 0.04178402558563021, 0.1243133939769333]
+  - [-0.008600514221485278, -0.04193637730294986, -0.9990832655058488, -0.08337716304806565]
+  - [0.999815273719939, 0.016813525635475057, -0.009312560981209028, -0.04954464176854576]
+  - [0.0, 0.0, 0.0, 1.0]
+  T_cn_cnm1:
+  - [0.9999545009096568, -0.004917699939642172, -0.008173881441767668, 0.38229768083647114]
+  - [0.004925522475114708, 0.9999874303998875, 0.0009371609139109689, 0.0018753647043283606]
+  - [0.008169170023176797, -0.0009773789106922298, 0.9999661541230276, -0.0027115590462577235]
+  - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [0, 2, 3]
+  camera_model: pinhole
+  distortion_coeffs: [-0.1436030205679032, 0.07898677140910257, -0.0004848330496942119, -0.0018099632545118306]
+  distortion_model: radtan
+  intrinsics: [1401.7762438243033, 1402.8201774222791, 941.4989575858184, 734.47904421732]
+  resolution: [1920, 1456]
+  rostopic: /flir_cam_left
+  timeshift_cam_imu: 0.004421032586926354

calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/calibration-imu.yaml

@@ -0,0 +1,14 @@
+imu0:
+  T_i_b:
+  - [1.0, 0.0, 0.0, 0.0]
+  - [0.0, 1.0, 0.0, 0.0]
+  - [0.0, 0.0, 1.0, 0.0]
+  - [0.0, 0.0, 0.0, 1.0]
+  accelerometer_noise_density: 0.001372
+  accelerometer_random_walk: 5.0e-05
+  gyroscope_noise_density: 6.10866e-05
+  gyroscope_random_walk: 4.0e-06
+  model: calibrated
+  rostopic: /imu/data
+  time_offset: 0.0
+  update_rate: 400.0

calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/calibration-results-imucam.txt

@@ -0,0 +1,120 @@
+Calibration results
+===================
+Normalized Residuals
+----------------------------
+Reprojection error (cam0):     mean 0.657714331773647, median 0.5949294940113462, std: 0.3765344606414184
+Reprojection error (cam1):     mean 0.6079673505445207, median 0.5789272102600939, std: 0.293092489540099
+Gyroscope error (imu0):        mean 0.9758646802733909, median 0.9302785444004955, std: 0.44545055798895083
+Accelerometer error (imu0):    mean 4.122935174984458, median 3.630587773759513, std: 2.327267750940309
+
+Residuals
+----------------------------
+Reprojection error (cam0) [px]:     mean 0.657714331773647, median 0.5949294940113462, std: 0.3765344606414184
+Reprojection error (cam1) [px]:     mean 0.6079673505445207, median 0.5789272102600939, std: 0.293092489540099
+Gyroscope error (imu0) [rad/s]:     mean 0.0011922451075597705, median 0.0011365510666075064, std: 0.0005442212011129569
+Accelerometer error (imu0) [m/s^2]: mean 0.11313334120157356, median 0.09962332851196103, std: 0.06386022708580207
+
+Transformation (cam0):
+-----------------------
+T_ci:  (imu0 to cam0): 
+[[ 0.02531316 -0.99900255  0.03678504 -0.25877505]
+ [-0.00966213 -0.03703961 -0.99926709 -0.08393699]
+ [ 0.99963288  0.02493919 -0.01059009 -0.04480266]
+ [ 0.          0.          0.          1.        ]]
+
+T_ic:  (cam0 to imu0): 
+[[ 0.02531316 -0.00966213  0.99963288  0.05052562]
+ [-0.99900255 -0.03703961  0.02493919 -0.26050859]
+ [ 0.03678504 -0.99926709 -0.01059009 -0.07483089]
+ [ 0.          0.          0.          1.        ]]
+
+timeshift cam0 to imu0: [s] (t_imu = t_cam + shift)
+0.004385482531619741
+
+
+Transformation (cam1):
+-----------------------
+T_ci:  (imu0 to cam1): 
+[[ 0.01718865 -0.9989788   0.04178403  0.12431339]
+ [-0.00860051 -0.04193638 -0.99908327 -0.08337716]
+ [ 0.99981527  0.01681353 -0.00931256 -0.04954464]
+ [ 0.          0.          0.          1.        ]]
+
+T_ic:  (cam1 to imu0): 
+[[ 0.01718865 -0.00860051  0.99981527  0.04668162]
+ [-0.9989788  -0.04193638  0.01681353  0.12152293]
+ [ 0.04178403 -0.99908327 -0.00931256 -0.08895643]
+ [ 0.          0.          0.          1.        ]]
+
+timeshift cam1 to imu0: [s] (t_imu = t_cam + shift)
+0.004421032586926354
+
+Baselines:
+----------
+Baseline (cam0 to cam1): 
+[[ 0.9999545  -0.0049177  -0.00817388  0.38229768]
+ [ 0.00492552  0.99998743  0.00093716  0.00187536]
+ [ 0.00816917 -0.00097738  0.99996615 -0.00271156]
+ [ 0.          0.          0.          1.        ]]
+baseline norm:  0.38231189664746235 [m]
+
+
+Gravity vector in target coords: [m/s^2]
+[-0.18837708 -9.59862185 -1.99984887]
+
+
+Calibration configuration
+=========================
+
+cam0
+-----
+  Camera model: pinhole
+  Focal length: [1398.2699754978512, 1400.186224869683]
+  Principal point: [973.8555741006179, 751.495969115427]
+  Distortion model: radtan
+  Distortion coefficients: [-0.1426568615786943, 0.07628358991356403, -0.000908446598250203, -6.748113073224323e-05]
+  Type: aprilgrid
+  Tags: 
+    Rows: 6
+    Cols: 6
+    Size: 0.1121 [m]
+    Spacing 0.028025 [m]
+
+cam1
+-----
+  Camera model: pinhole
+  Focal length: [1401.7762438243033, 1402.8201774222791]
+  Principal point: [941.4989575858184, 734.47904421732]
+  Distortion model: radtan
+  Distortion coefficients: [-0.1436030205679032, 0.07898677140910257, -0.0004848330496942119, -0.0018099632545118306]
+  Type: aprilgrid
+  Tags: 
+    Rows: 6
+    Cols: 6
+    Size: 0.1121 [m]
+    Spacing 0.028025 [m]
+
+
+
+IMU configuration
+=================
+
+IMU0:
+ ----------------------------
+  Model: calibrated
+  Update rate: 400.0
+  Accelerometer:
+    Noise density: 0.001372 
+    Noise density (discrete): 0.02744 
+    Random walk: 5e-05
+  Gyroscope:
+    Noise density: 6.10866e-05
+    Noise density (discrete): 0.0012217320000000001 
+    Random walk: 4e-06
+  T_ib (imu0 to imu0)
+    [[1. 0. 0. 0.]
+     [0. 1. 0. 0.]
+     [0. 0. 1. 0.]
+     [0. 0. 0. 1.]]
+  time offset with respect to IMU0: 0.0 [s]
+

calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/img_infrared.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8297987c6393d91bc050f6f41871d7f01f2a30e010be537a27b8df34fc8a0a9
+size 4264916

calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/img_right.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8ae6493b265769376207b34abd4cf443ca85f1804148d3f382ae6640be5be9d
+size 100644140

calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/timeSync.log

@@ -0,0 +1,63 @@
+2026-01-08 21:23:09,464 INFO:__main__:--------------------------------
+2026-01-08 21:23:09,464 WARNING:__main__:MISSING GPS Time Mark Messages
+2026-01-08 21:23:09,464 INFO:__main__:--------------------------------
+2026-01-08 21:23:31,538 INFO:root:Got All Sync Pulses
+2026-01-08 21:23:31,540 INFO:timeSync_calibration:FLIR Total Pulses: 65
+2026-01-08 21:23:31,540 INFO:timeSync_calibration:FLIR Publishing Rate: 100.00Hz
+2026-01-08 21:23:31,540 INFO:timeSync_calibration:FLIR First Pulse Time: 40.05ms
+2026-01-08 21:23:31,541 INFO:timeSync_calibration:FLIR Second Pulse Time: 0.052
+2026-01-08 21:23:31,541 WARNING:root:FLIR Dropped Packets: 0
+2026-01-08 21:23:31,541 INFO:timeSync_calibration:FLIR Time Range: 0.0 to 58.0
+2026-01-08 21:23:31,541 INFO:__main__:--------------------------------
+2026-01-08 21:23:34,198 INFO:root:Got All Sync Pulses
+2026-01-08 21:23:34,200 INFO:timeSync_calibration:FLIR Total Pulses: 65
+2026-01-08 21:23:34,200 INFO:timeSync_calibration:FLIR Publishing Rate: 100.00Hz
+2026-01-08 21:23:34,200 INFO:timeSync_calibration:FLIR First Pulse Time: 40.04ms
+2026-01-08 21:23:34,200 INFO:timeSync_calibration:FLIR Second Pulse Time: 0.052
+2026-01-08 21:23:34,200 WARNING:root:FLIR Dropped Packets: 0
+2026-01-08 21:23:34,200 INFO:timeSync_calibration:FLIR Time Range: 0.0 to 58.0
+2026-01-08 21:23:34,200 INFO:__main__:--------------------------------
+2026-01-08 21:23:41,678 INFO:root:Got All Sync Pulses
+2026-01-08 21:23:41,680 INFO:timeSync_calibration:/event_camera_0/events Total Pulses: 59
+2026-01-08 21:23:41,680 INFO:timeSync_calibration:/event_camera_0/events Publishing Rate: 1.00Hz
+2026-01-08 21:23:41,680 INFO:timeSync_calibration:/event_camera_0/events First Pulse Time: 1.00ms
+2026-01-08 21:23:41,680 INFO:timeSync_calibration:/event_camera_0/events Second Pulse Time: 1.00
+2026-01-08 21:23:41,680 WARNING:root:/event_camera_0/events Dropped Packets: 0
+2026-01-08 21:23:41,680 INFO:root:/event_camera_0/events Time Range: 0.0 to 58.0
+2026-01-08 21:23:41,680 INFO:__main__:--------------------------------
+2026-01-08 21:23:49,317 INFO:root:Got All Sync Pulses
+2026-01-08 21:23:49,318 INFO:timeSync_calibration:/event_camera_1/events Total Pulses: 59
+2026-01-08 21:23:49,318 INFO:timeSync_calibration:/event_camera_1/events Publishing Rate: 1.00Hz
+2026-01-08 21:23:49,319 INFO:timeSync_calibration:/event_camera_1/events First Pulse Time: 1.00ms
+2026-01-08 21:23:49,319 INFO:timeSync_calibration:/event_camera_1/events Second Pulse Time: 1.00
+2026-01-08 21:23:49,319 WARNING:root:/event_camera_1/events Dropped Packets: 0
+2026-01-08 21:23:49,319 INFO:root:/event_camera_1/events Time Range: 0.0 to 58.0
+2026-01-08 21:23:49,319 INFO:__main__:--------------------------------
+2026-01-08 21:23:52,479 INFO:root:Got All Sync Pulses
+2026-01-08 21:23:52,481 INFO:timeSync_calibration:IMU Total Pulses: 59
+2026-01-08 21:23:52,481 INFO:timeSync_calibration:IMU Trigger Publishing Rate: 1.00Hz
+2026-01-08 21:23:52,481 INFO:timeSync_calibration:IMU Device Publishing Rate: 400.00Hz
+2026-01-08 21:23:52,481 INFO:timeSync_calibration:IMU First Pulse Time: 1000.00ms
+2026-01-08 21:23:52,481 INFO:timeSync_calibration:IMU Second Pulse Time: 1.00s
+2026-01-08 21:23:52,481 WARNING:root:IMU Dropped Packets: 0
+2026-01-08 21:23:52,481 INFO:timeSync_calibration:IMU Time Range: 0.0 to 58.0
+2026-01-08 21:23:52,481 INFO:__main__:--------------------------------
+2026-01-08 21:23:52,481 INFO:__main__:Infrared camera will use system time calibration
+2026-01-08 21:23:55,647 INFO:root:Got All Sync Pulses
+2026-01-08 21:23:55,648 INFO:__main__:--------------------------------
+2026-01-08 21:23:55,651 INFO:__main__:Saved time offset objects to /data/rosbags/processed/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23//time_offset.npz
+2026-01-08 21:23:55,667 INFO:timeSync_process:Writing to local temp: /tmp/timeSync_imu_cal_rosbag2_2026_01_08-15_27_23_1/imu_cal_rosbag2_2026_01_08-15_27_23.h5, will copy to /data/rosbags/processed/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23//imu_cal_rosbag2_2026_01_08-15_27_23.h5
+2026-01-08 21:24:03,707 INFO:timeSync_process:process_infrared_camera completed in 7.98s
+2026-01-08 21:24:03,790 WARNING:timeSync_process:IMU topic counts don't match: IMU=27316, Trigger=27312. Will match by time and process only messages with valid trigger matches.
+2026-01-08 21:24:10,060 INFO:timeSync_process:IMU topic to trigger time difference: 0.00s
+2026-01-08 21:24:19,333 INFO:timeSync_process:parse_imu completed in 15.62s
+2026-01-08 21:25:03,178 INFO:timeSync_process:Ev/right camera: 688,237,991 events stored in 43.84s
+2026-01-08 21:27:21,854 INFO:timeSync_process:Ev/left camera: 717,199,456 events stored in 138.65s
+2026-01-08 21:27:44,970 INFO:timeSync_process:_process_flir_camera(img_right) completed in 23.09s
+2026-01-08 21:28:08,215 INFO:timeSync_process:_process_flir_camera(img_left) completed in 23.24s
+2026-01-08 21:28:08,221 INFO:root:Bag date 2026-01-08 >= cutoff 2025-12-01, using rev7_1 metadata: /data/rosbags/raw/calibrations/rev7_1.json
+2026-01-08 21:28:20,811 INFO:timeSync_process:parse_lidar completed in 12.59s
+2026-01-08 21:28:20,830 INFO:timeSync_process:Copying /tmp/timeSync_imu_cal_rosbag2_2026_01_08-15_27_23_1/imu_cal_rosbag2_2026_01_08-15_27_23.h5 to /data/rosbags/processed/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23//imu_cal_rosbag2_2026_01_08-15_27_23.h5...
+2026-01-08 21:28:25,978 INFO:timeSync_process:Copy completed in 5.15s
+2026-01-08 21:28:26,592 INFO:timeSync_process:Cleaned up temp directory: /tmp/timeSync_imu_cal_rosbag2_2026_01_08-15_27_23_1
+2026-01-08 21:28:26,592 INFO:timeSync_process:Finished processing /data/rosbags/raw/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23 in 270.92s