diff --git a/.gitattributes b/.gitattributes index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..7e7af395e8016f0f838d5b680009c7dc82f24ac9 100644 --- a/.gitattributes +++ b/.gitattributes @@ -58,3 +58,7 @@ saved_model/**/* 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 +sessions/2026-10-17_fieldC_run2/side/depth.mkv filter=lfs diff=lfs merge=lfs -text +sessions/2026-10-17_fieldC_run5/side/depth.mkv filter=lfs diff=lfs merge=lfs -text +sessions/2026-10-17_fieldC_run5/front/depth.mkv filter=lfs diff=lfs merge=lfs -text +sessions/2026-10-18_fieldD_run1/side/depth.mkv filter=lfs diff=lfs merge=lfs -text diff --git a/SHA256SUMS b/SHA256SUMS new file mode 100644 index 0000000000000000000000000000000000000000..a197e75f91b6afe0aea05762b1b1add5650a1a4f --- /dev/null +++ b/SHA256SUMS @@ -0,0 +1,226 @@ +97d8a9b6db49988ddb227b08bc6832b1c7030512411d99927b88fbe17c2cafea calibration/845112071331_factory.json +7efb17cbf3f81f11b969f39ea5b78c5c53fee26f220cce1f7f82094a1a3b7cb2 calibration/902512070232_factory.json +b883e897a6016fb63231f18c6068c8c64dba525b4c69a5e6a7830b23c95c6925 calibration/camera_to_lidar.json +13d41bfca3220fdeed4be021987717c3ea2b0bcc0cde8b733f7e39a5c7f9134d calibration/depth_correction_v1.json +fefc275af4a3a79e5be5a370851f6e3492b3913ab1b2dcaf71b97100c4ebb855 calibration/imu_noise.json +3258281bcd3481bcf465afa0b509a473c5aaa15b66dda416c37c3de9234727fa calibration/intrinsics_845112071331.json +03f9aa32f2d6d3a40a266eecd1dead7b4306270222276ea879c9ba4f36921f10 calibration/intrinsics_902512070232.json +8140191e5cc5cab42c9ffc4abbcb1e6a6f975b455ee276b0113f24f7085eab98 calibration/kinematics.json +5251bb439123affc458176e0cd090d79c805c8052eae43d6a4ff29f1031ada39 calibration/time_offsets.csv +4cfed63b1bdd141a97bc33524f2c99450bd0fad8c163473f7f064c13a20a7a46 meta/robot.json +f2cd7d679c289c48b181cf7f5bd3748ebba08d59cc8620c4b53b2b4d7fcb0faa meta/segments.parquet +e777cbda1ea56ec9e315336e3e6b4989c862993d978fdf8c8d70dec46c9bc6ce meta/sessions.parquet +4007bfc62991cc51d4c9df2c79ea16792bf9cf727e01f9d08c7356f793aaa0f3 sessions/2026-10-11_fieldA_run1/encoders.parquet +9d75006f13c6a9d2bac4a5608256b288e1b11018d2ac8034f1c6d6601dfac905 sessions/2026-10-11_fieldA_run1/export.json +eef2820db0233168cf778a3913bef9f979b45ea0b0fac4369ff58b5881a90e56 sessions/2026-10-11_fieldA_run1/front/depth.mkv +548590fa9aa9b1e8d8683296abc4704cc77c2d920c95f65b7d391bb1196dbd96 sessions/2026-10-11_fieldA_run1/front/depth_frames.parquet +aa8d07be822c11bba0b1853504b43a4b9c2fc5107dbd45fe5b925c26cd0ea1f4 sessions/2026-10-11_fieldA_run1/front/rgb.mp4 +45a26cf2a865945947d971ca7a512b4d825c3409b4f7f63b4d08d8c400396492 sessions/2026-10-11_fieldA_run1/front/rgb_frames.parquet +df8dcc3acc29909883b50e4591b48c01bee0d1c4eea76034e854f6c13b693fb9 sessions/2026-10-11_fieldA_run1/gnss.parquet +eb4e197ab457f9575f6b2b46689230f103ee9268ee004d25617f23949c6738e7 sessions/2026-10-11_fieldA_run1/lidar/imu.parquet +60365273cef0b2dbf196ae0a3694a840db455c20dae7a8c89ac3c4f6282e3072 sessions/2026-10-11_fieldA_run1/lidar/points_00.parquet +906dff393e809b73b98e83f135343e1589615daee9dca52c2321c439d0925266 sessions/2026-10-11_fieldA_run1/lidar/points_01.parquet +b2e24437d35cbf71ffb68514d23cb02a682a2c6d5ad282aa4da4d45b9c6ec1f4 sessions/2026-10-11_fieldA_run1/lidar/points_02.parquet +5db7f7dfa0e4eefc5f94f49b40556f1525ed1a9988db20501adb616fece92070 sessions/2026-10-11_fieldA_run1/lidar/points_03.parquet +6771a885ca17e99aa29f90074b5afd882e082a0c12bfb2bec34866b324d13bca sessions/2026-10-11_fieldA_run1/lidar/points_04.parquet +18f9cb0849f3685fb1c11cd0f5b87fd02bf6610e2c5ec9273f19dde640ba4155 sessions/2026-10-11_fieldA_run1/lidar/points_05.parquet +8a66760d1502a1c319810a5c86a13f27ef603348e32899721c812a2468a6aa0e sessions/2026-10-11_fieldA_run1/lidar/points_06.parquet +1ca3803b2bb47caeca37dbd34d35cb0e4c793cd3486251ec2eeb9e98ed12a9fb sessions/2026-10-11_fieldA_run1/lidar/points_07.parquet +0dc847ca4b71bbb3fce53c9e7c6e5cd9f2c4263badad7176dbe4da4eb675a7b7 sessions/2026-10-11_fieldA_run1/lidar/points_08.parquet +1a26577615c6f414147534d6c8f61f87e0f3eb16c646a1026cb35d94b5d1ca25 sessions/2026-10-11_fieldA_run1/lidar/points_09.parquet +6f20aaba1f11af61cbeaab8b7081feff4688301465eca9d3b3b46a12e6bd8ba6 sessions/2026-10-11_fieldA_run1/lidar/points_10.parquet +abd7be67c5f9ae55d3161d49dd4cd8bace22f734a001855bfea336a3d786536b sessions/2026-10-11_fieldA_run1/lidar/points_11.parquet +ec1d35556e6c39a6b9257fb3f45c5c17320481ae89682cc5e377449951c52560 sessions/2026-10-11_fieldA_run1/lidar/points_12.parquet +8ffea3d2e7a802b8b78e84b0a76c8e7fea0b489d01a270b95c5388daa32204d5 sessions/2026-10-11_fieldA_run1/lidar/points_13.parquet +aed1357398b83228b818ff0b35a0f0e74c402b53446498e85689328ef4e2ccfe sessions/2026-10-11_fieldA_run1/lidar/points_14.parquet +8613a92dc7695b4ccab342a2416595ce65f2fd5c5bccdf4fe7253affaa4e23e0 sessions/2026-10-11_fieldA_run1/lidar/points_15.parquet +fc93191a818b4858575f83dc92ff65b594ccfd287bb85e8787c761d6598862ba sessions/2026-10-11_fieldA_run1/lidar/points_16.parquet +2050e1ff827e267946c47227fb30f26a25a4b7514bccebb586a8e836a8dea650 sessions/2026-10-11_fieldA_run1/lidar/points_17.parquet +12e0153df3ec0e0cdd04859ed314b493d79ff4e4ef113fa1ad75e1451ec62281 sessions/2026-10-11_fieldA_run1/rc.parquet +8420fa48316162af6aa1ab3debb2232526dd52b098ef4696cc51393c0f5b4a9c sessions/2026-10-11_fieldA_run1/side/depth.mkv +ec2ce79d1c29d69dc915138490df2018c7e2a3d3393c75fe9c1987671f7917f7 sessions/2026-10-11_fieldA_run1/side/depth_frames.parquet +59543d6b19931b2776d91fd7c49a56c4d4748a0d6ef803476df0b41a0334b9b7 sessions/2026-10-11_fieldA_run1/side/rgb.mp4 +0b773939fb9e71a551b1d50c33c3917dc4a9cf0cf832b8708b0ce69d9530a63a sessions/2026-10-11_fieldA_run1/side/rgb_frames.parquet +0d115ce89f6c0a7f2982975239bc57a0f0512b80fdcd70bf2ddcd4ad19681aac sessions/2026-10-11_fieldA_run2/encoders.parquet +5d3f0d30760b96bc34d477e666ef9ff4bd3f16abeab28a9c060ec8fc2176722d sessions/2026-10-11_fieldA_run2/export.json +496067933aa9187efd435927f7256ed0529df0736eef070d98c08c305e2bf7c0 sessions/2026-10-11_fieldA_run2/front/depth.mkv +4375c1180023ebd13c78796bd742da2bfca0bee4b0c83b0ad51709a7835762d5 sessions/2026-10-11_fieldA_run2/front/depth_frames.parquet +55f5c5b4de1b2ccbdaf46863dbbd13880797f481c486b4fd7b73c353f272d938 sessions/2026-10-11_fieldA_run2/front/rgb.mp4 +661bde26f37babf7f172e5c74d0dc822692c93730acccfae3481ae55cc1e3b3e sessions/2026-10-11_fieldA_run2/front/rgb_frames.parquet +73a1806ea9908e4bca10eaa21791f4a40ca725400661621200f228c62fcecd05 sessions/2026-10-11_fieldA_run2/gnss.parquet +ea16ec8e874c289e8c19bdabb7299461e0133335a5516174160763132f88ad40 sessions/2026-10-11_fieldA_run2/lidar/imu.parquet +5b2a469ea83af7f169fb461c0264d8c70f511d72a8d7e000a509cae1a844ed13 sessions/2026-10-11_fieldA_run2/lidar/points_00.parquet +da71f4ce3d6821c85c962fcc4ad65f5a2d5c6413302d6b7f4dcb3e72cb5687e7 sessions/2026-10-11_fieldA_run2/lidar/points_01.parquet +14d175a8ef3017a43cdef7b442d13ed54b5bc92c4caafe1acee5e51c27251797 sessions/2026-10-11_fieldA_run2/lidar/points_02.parquet +5169dd122e848604bb44ef0dceb59eb09dffba88e387e81a8265a089a3d56279 sessions/2026-10-11_fieldA_run2/lidar/points_03.parquet +ad845147d9baa202fe599b9386309ea4e015e8fffa0ac60fe96f5fa35bb6c48e sessions/2026-10-11_fieldA_run2/lidar/points_04.parquet +9b258934ecf6730d89068b56ab91be11a00b6a344fc0e7493a020e2124f046c9 sessions/2026-10-11_fieldA_run2/lidar/points_05.parquet +9d13c11da8c9c47df5b42758735435c470eb9d2c1bb9121ef62bad7da35a90ea sessions/2026-10-11_fieldA_run2/lidar/points_06.parquet +40fb79d7fb26b128f7279bc590ab0f17f603d06337204a2ce4a85fc762cdaae7 sessions/2026-10-11_fieldA_run2/lidar/points_07.parquet +44cb6d6eea393ffe960ef63ec6f6b0d24e774cbebdc95036e5e81e5989e67c1f sessions/2026-10-11_fieldA_run2/lidar/points_08.parquet +7e93ffe447849cad77a9cfd6147d8478bec6220df71e93d28e2591773da626eb sessions/2026-10-11_fieldA_run2/lidar/points_09.parquet +e1e4552a4b7d76bebaecbcd13e98fe7aefbd9002228dbeb3c1d57a1f2682c2f6 sessions/2026-10-11_fieldA_run2/lidar/points_10.parquet +b061ba4bef6277dd497dff4b6a5d8d8cac9c753b2a62994be553b708c43fbc99 sessions/2026-10-11_fieldA_run2/lidar/points_11.parquet +9e1efd29cc60b2492c55f8932bf4a301a54bf71ef10718b294df72b5c6e3dab8 sessions/2026-10-11_fieldA_run2/lidar/points_12.parquet +e34bcddd9342f4beba106e7dab9bd06efdc91f74c7dc922b5b68166aa8d47059 sessions/2026-10-11_fieldA_run2/rc.parquet +433a98ca35258c1830270e8b4b2eedd6ff335f1083517eb7334a67ac3f9c3fe7 sessions/2026-10-11_fieldA_run2/side/depth.mkv +01a8d683bf74a2e705ee02b64f9ff7bdf86074e0255409d62706cc5ded42f5ae sessions/2026-10-11_fieldA_run2/side/depth_frames.parquet +67af306b6fd8147b7fbe61d898c94dc1c7ec0bcbdfc34c9e7c9ca44cca977225 sessions/2026-10-11_fieldA_run2/side/rgb.mp4 +83d220fc448dc298b5d55bd8268186b159a5acc51563bfd22a481f2dd2b6bd82 sessions/2026-10-11_fieldA_run2/side/rgb_frames.parquet +1a85a086dd61e9b85389027eea894c0884d0c858dde45a12ddcdbfeccec46726 sessions/2026-10-16_fieldB_run1/encoders.parquet +434d188cebb40e0d42560ebc699efd78c7395c389299e7063145ad0b2df99382 sessions/2026-10-16_fieldB_run1/export.json +7c6d11fad836360281f942e9a1accdb351451579f0e8b8a9337d99eb41f743a0 sessions/2026-10-16_fieldB_run1/front/depth.mkv +f8a2cf9a110e7245ecf86e5f4bd9d01ec98d98f1d1a78fd191022b2bb0fc98aa sessions/2026-10-16_fieldB_run1/front/depth_frames.parquet +e640756325368885ebc65e0394a69a1fb0761a1317fc7c1c2f71dc973e0eccbd sessions/2026-10-16_fieldB_run1/front/rgb.mp4 +32ee5fb966e114d6f132db7357bdcc956879c96c816ae33bb9e0465a84f357c3 sessions/2026-10-16_fieldB_run1/front/rgb_frames.parquet +0c654b60052139ce6fd4baa22d98c2135be09eaa3686e69dce27fdf685dd677f sessions/2026-10-16_fieldB_run1/gnss.parquet +5ebcb004aa010ddf91b98940e64c716d2e0ce4d37b78c153011d6227ba6a319a sessions/2026-10-16_fieldB_run1/lidar/imu.parquet +026cf337a4c348f6214c0c0e171ccb3579716337094d1828c063779e7502bfd8 sessions/2026-10-16_fieldB_run1/lidar/points_00.parquet +c3483f4be02979507034a77eeea0397c527034ab6c0422d1f1b4fcdabf48513a sessions/2026-10-16_fieldB_run1/lidar/points_01.parquet +b131738d555fddf9daa2888c917d6541f9927d21ec593829e6fc695f4a8392fd sessions/2026-10-16_fieldB_run1/lidar/points_02.parquet +794fb2c5458dbf02f775161330bafeaddc964a4060f7464495e5ef0bd273af5f sessions/2026-10-16_fieldB_run1/lidar/points_03.parquet +00b7aea6b34001ffac8d80e4cd73014e800a309c94c5b6dd39e723aed7d82133 sessions/2026-10-16_fieldB_run1/lidar/points_04.parquet +b6189107d5d4102a4aa8bee75ed7d7d354d2f69d0289e125b0d3a11073272c84 sessions/2026-10-16_fieldB_run1/lidar/points_05.parquet +e464f107216a55b587a1b7ead433e22dcd0211422aa4b406487001573d1428e1 sessions/2026-10-16_fieldB_run1/lidar/points_06.parquet +8a196a011fde5096f14161a707d5acdd6b814b60a608b8d6c77b1fc99d611f0d sessions/2026-10-16_fieldB_run1/lidar/points_07.parquet +0f55c24e2d483c40f22bd890b58150a1d69e2d176ac5dab875f7bc6fcac58629 sessions/2026-10-16_fieldB_run1/lidar/points_08.parquet +4c9c4a6c6fd4551a70fd28d97111be783ea93f87d3bce11ed64e02b21d84e278 sessions/2026-10-16_fieldB_run1/lidar/points_09.parquet +27f5e2bf97b92510832f8fba22d86ca2b9b54f8c82b1fab592bc1d76a854b061 sessions/2026-10-16_fieldB_run1/lidar/points_10.parquet +d17ee44ec7f69400d2661e849cac99708b7307f8117cbc778eda064af71320d2 sessions/2026-10-16_fieldB_run1/rc.parquet +f4993012d79f717aff25f3b4356d91227511e5328549c79435ee204e6abe048c sessions/2026-10-16_fieldB_run1/side/depth.mkv +02b671a7a07f0148d35c9def3d58fdd1f4f1136e72e7d43fc2ad0c936b521695 sessions/2026-10-16_fieldB_run1/side/depth_frames.parquet +5dca3f79520522905ba4f6a755630d09aaf49c052210c3669f65a719955edb55 sessions/2026-10-16_fieldB_run1/side/rgb.mp4 +4ad8b968aeedde6d8479c7598e720c116e500ed385024dd7f4cd065489630002 sessions/2026-10-16_fieldB_run1/side/rgb_frames.parquet +b8b6da3b7adb610005e57fa76a6d06adf2dec9fb323b72f175ddf5b46c0f0cf3 sessions/2026-10-16_fieldB_run2/encoders.parquet +4f2a4b847fa428754b14fa6114a1df2a2e8883462f7ef3dbb9e4b01f27b58707 sessions/2026-10-16_fieldB_run2/export.json +33645a301c8147f9f575bb50d95572a6408e552a120d7f4b0405804866f52b53 sessions/2026-10-16_fieldB_run2/front/depth.mkv +cfe61f69c656ccd5daa28a84e243f5682580b7394abf312d5e56170b43d4da1f sessions/2026-10-16_fieldB_run2/front/depth_frames.parquet +0e8b24c66363532c92da3da6276f4177898086c9b9952a3367ab2865b7362bbf sessions/2026-10-16_fieldB_run2/front/rgb.mp4 +648ef488897df8e7aefcb904fc0417d9d51895791907662ff13ee7e4e9949614 sessions/2026-10-16_fieldB_run2/front/rgb_frames.parquet +9d904ba706e5df7c6f8158ada401310dd3f525d0fbb1235077752ea0382f7706 sessions/2026-10-16_fieldB_run2/gnss.parquet +1534ff6b86315b13e90864d91edd7286619720dcda2b072729491891f0473926 sessions/2026-10-16_fieldB_run2/lidar/imu.parquet +d37de4f4ab1353ec337ca9769b29c7ab9fdd12b05b7b57c2c39fa48c909477e5 sessions/2026-10-16_fieldB_run2/lidar/points_00.parquet +ca1b19f05522d37e8a935d2d211cc0a5cdb822161beebfffea157d08bff767c7 sessions/2026-10-16_fieldB_run2/lidar/points_01.parquet +67e50981f1867d476c7a9d0de3e1f936aec56940ac94190aaa9a220281ee2394 sessions/2026-10-16_fieldB_run2/lidar/points_02.parquet +b06b03a9bbedcd42d5777e089316b9d6955fbac153fbdf5f55afb26332edbb26 sessions/2026-10-16_fieldB_run2/lidar/points_03.parquet +cb7bdd6b0002b77aeb147f19475293e1e1d47d5b7f5338e852aeeffb26229756 sessions/2026-10-16_fieldB_run2/lidar/points_04.parquet +8c06588cc06f9b4a5939703514badad0ccbacd69aab1efe5479683692bf06ae9 sessions/2026-10-16_fieldB_run2/lidar/points_05.parquet +640caaceb10cb3af518ea64425a8bbd0e9d3bc4479fc2b4dc3000ba2f4a8b985 sessions/2026-10-16_fieldB_run2/lidar/points_06.parquet +7b276ccb9d4f9cb8b37db0f3abe1cf71cbbac3185db13c0f7bd7a69a9ed8b095 sessions/2026-10-16_fieldB_run2/lidar/points_07.parquet +35558039ee2840f784a8233717ade314588fe8f9410b1ab4c4a84fcf1377a5ea sessions/2026-10-16_fieldB_run2/lidar/points_08.parquet +1ab6206e22fa9d8a1aebc11d55489f18de5bd23ed6a7e980db46f37a94ce77bd sessions/2026-10-16_fieldB_run2/lidar/points_09.parquet +7fb9d30ba2d7f550e1e70db131461a313ed43c6c05f1fa91ae6bedd2f0d2233b sessions/2026-10-16_fieldB_run2/lidar/points_10.parquet +fb6b2fcea313b88b96e3abeeeb779b8b2648bde7da6196d9790be67ba1ae5b7d sessions/2026-10-16_fieldB_run2/lidar/points_11.parquet +c6f9166c9f4a2f57abcdded8213b12dbd55d2c6fac1518d7b34d243cfa30b337 sessions/2026-10-16_fieldB_run2/lidar/points_12.parquet +fec3658d8aa34d2751ed70ee99368a1347d30974eab70d69d7068fcae39ae96f sessions/2026-10-16_fieldB_run2/lidar/points_13.parquet +18fce74caa76b2c928a04e8011a0cd1efc3f3b3b9a1f93035c86a5f355ab3d16 sessions/2026-10-16_fieldB_run2/lidar/points_14.parquet +d4958a212d7fa5b68b36d401dc3bec35ef3c018b60114c0b84f093479e1da01e sessions/2026-10-16_fieldB_run2/lidar/points_15.parquet +21047542a64e44733766159d44bd49d39087dd23f5a36fce62341c5c952c2f61 sessions/2026-10-16_fieldB_run2/lidar/points_16.parquet +51c734e3c23d7439122f28e2c8f8bfee0c8cba8a3f9aeb08cb53645080e41342 sessions/2026-10-16_fieldB_run2/lidar/points_17.parquet +113e3654af06c58da54d8597a4ab0c60aee363689398e266d24d20699baffce2 sessions/2026-10-16_fieldB_run2/lidar/points_18.parquet +f5f1c23d906a87cb7d78a58766cd1381593b4f9fdfd199ed171c90c78152f021 sessions/2026-10-16_fieldB_run2/rc.parquet +93a80dc0e7fa4cadbb0295f1e7a36c235c0d33ff0b9afbec015d21fb02d2668b sessions/2026-10-16_fieldB_run2/side/depth.mkv +5711996680d4edc794062172b7b2ec8880507a229eb6c060cd8070fae8b11812 sessions/2026-10-16_fieldB_run2/side/depth_frames.parquet +fe0b8393b7caf987c63897d45b7ea23010946f8be7fa098f2f3e12fa08a7ed31 sessions/2026-10-16_fieldB_run2/side/rgb.mp4 +4d8d9941eb6cd608f9db1dd93dccaf4429f690d673f2523d1f604e0b052fb399 sessions/2026-10-16_fieldB_run2/side/rgb_frames.parquet +7f596f67420e29d813b6d010c94baa8a5dcbb0253be436edd5d308918fde17ed sessions/2026-10-17_fieldC_run1/encoders.parquet +0fd8d3f228bd4d8e321445b4d5bfb192033e1c9ba5c67fa1d7005afccd58200f sessions/2026-10-17_fieldC_run1/export.json +07b1e3134b80dad5979d4ac56a6dffe19a1436de824b2e5704b14650b0c8526d sessions/2026-10-17_fieldC_run1/front/depth.mkv +bb29ebf752addbe07090eb0c81f8684481dcd03279f7bed3a7b376ce112bb989 sessions/2026-10-17_fieldC_run1/front/depth_frames.parquet +c6bdf1ee04e284f04782f3bcbc54984cf95d7540a57e8982f8fb74440a70e38d sessions/2026-10-17_fieldC_run1/front/rgb.mp4 +d3ad295ccdd5afff165228ff2a3611af464185cca2153d1eb1bcff6f7cd9db29 sessions/2026-10-17_fieldC_run1/front/rgb_frames.parquet +53b383d05b77d4a8f20ce9a7fa98f869ed0004937adccecfd21768f8ba9273ed sessions/2026-10-17_fieldC_run1/gnss.parquet +15d10070459da2ed65713f47d757d6ea688a56a72c19ba4fdfa9f825a9248bbc sessions/2026-10-17_fieldC_run1/lidar/imu.parquet +f6027cacb03e5f9af7777e17de69c432700e769d8def12cf59fee4dfe6746874 sessions/2026-10-17_fieldC_run1/lidar/points_00.parquet +fefc9c78336bf8d7a772d17a57b57906742cabd5f5ab5d00baaa14ca2515f2d8 sessions/2026-10-17_fieldC_run1/lidar/points_01.parquet +acc5b454df28fc56d99ec6e534ffdec7e065889a5093ef1a9de9688ed09bf721 sessions/2026-10-17_fieldC_run1/lidar/points_02.parquet +6d86351424f4729e3c85b04b1a99babe91726fd4866cf3f13333f8325c154edc sessions/2026-10-17_fieldC_run1/lidar/points_03.parquet +1a61d6b5bbaa0926c88aa67bed47fa85bf353f1cb08499a7eadd51afd2c400d7 sessions/2026-10-17_fieldC_run1/lidar/points_04.parquet +c19afb45f46f29584edba5b77e5e9fd169c631eeb8a2de2b5e837653e4c18774 sessions/2026-10-17_fieldC_run1/lidar/points_05.parquet +7cc74048b11c0ce98a81a4902e1d6c8ee7878073921b05f8e7c65494fe5195dc sessions/2026-10-17_fieldC_run1/lidar/points_06.parquet +f1bb1375a21a9ee4a2c7767c857788f69580db782bd874569905d3ac57fe7dc9 sessions/2026-10-17_fieldC_run1/rc.parquet +22ee6b75531741f64112050b12ba711948b7bc3c822ed5eb3173168d5e175e0f sessions/2026-10-17_fieldC_run1/side/depth.mkv +bcbd73bcf201623b65fbf894396ac435d9b546dbba8582de40e8a3db53e40283 sessions/2026-10-17_fieldC_run1/side/depth_frames.parquet +4e367d85ef93aa442d60645be684fb641d26e9387f147e7da5d0f9f5a29cfe2d sessions/2026-10-17_fieldC_run1/side/rgb.mp4 +d044c843a59276a320bd0771eb766de90fd92ac1c93bcacf3b68a8cadc9a92ea sessions/2026-10-17_fieldC_run1/side/rgb_frames.parquet +7247e97dca11f279c192cfe70fe8590dc30c1b873ab24bd5e5c8ef348b4a2af1 sessions/2026-10-17_fieldC_run2/encoders.parquet +5f3f2463bf5b7ff06b670f5053e729c7ffeb3f07bd10cc702ea0a7db22465f04 sessions/2026-10-17_fieldC_run2/export.json +7be7c6e0128037d8a0ba72cc0698e7ecacdab6324f29e422e8fc4437a42f97ef sessions/2026-10-17_fieldC_run2/front/depth.mkv +467989cdf44da11978d2e38e6155a33acd6a046fb0eca80d7789d14c0253cc30 sessions/2026-10-17_fieldC_run2/front/depth_frames.parquet +b715794d9cb96a8beacb9258d5ececfeb31800494f46cf0a99cdda99c70406d1 sessions/2026-10-17_fieldC_run2/front/rgb.mp4 +9e356234ca4302f16327da27166ffae8254c269c1803c4e07aa85cd76248b46b sessions/2026-10-17_fieldC_run2/front/rgb_frames.parquet +f3e89cb7356b7cf1606b3aca324580635a5fb16b9505f4cf5a95aa9f694d59ed sessions/2026-10-17_fieldC_run2/gnss.parquet +68277b970525b9e3dd45e08fcea0e7f46a4b78d177a10ff3e862c06909abb839 sessions/2026-10-17_fieldC_run2/lidar/imu.parquet +d62fad3ba532fa5cf312e86d8338ef5c454a3d550d8e1ac9dd69c87ef2f48e4b sessions/2026-10-17_fieldC_run2/lidar/points_00.parquet +900d484469be766fb72274742f20ab50062cd592d80832a94d807b03927d10f4 sessions/2026-10-17_fieldC_run2/lidar/points_01.parquet +730d8295e2ac5d1035d9c2aa538e52962fcf96ae996c7a39f0d2ac9527b9e5ee sessions/2026-10-17_fieldC_run2/lidar/points_02.parquet +3a2be7e466db5005d44ad0a0ea563e00e3b850561c946cacb546e0bb3bffff43 sessions/2026-10-17_fieldC_run2/lidar/points_03.parquet +7dafccfc2058022da3c43927a8ce36d60af7c261df6e9547b942f22887cb2b71 sessions/2026-10-17_fieldC_run2/rc.parquet +81eeead9c723bf2c8429107808686441f19701bbf0daa88c2b8ebf93996302b3 sessions/2026-10-17_fieldC_run2/side/depth.mkv +a6fa73062d8e7549dfdf335824896ca495dcaf920bd266a83b7b6b561c94c881 sessions/2026-10-17_fieldC_run2/side/depth_frames.parquet +c960cf74c4545fcbe7043175cab6e788014f692d347f7b804bc7e1b131219507 sessions/2026-10-17_fieldC_run2/side/rgb.mp4 +45af99bc68eb7bd1e936b854d2b842bc0956427389e825ea87e5fc20482e1a1f sessions/2026-10-17_fieldC_run2/side/rgb_frames.parquet +96ab7aaa3b9443685d879d8abe70d32872a286866bf7db76fc98b1cabe6fae95 sessions/2026-10-17_fieldC_run3/encoders.parquet +ab6e2e16aa270fe0bc46d058ff0613134330497ffc24efd4da7d6713465be8ab sessions/2026-10-17_fieldC_run3/export.json +e82c923e558c57adf3b6eac59096c0c4f01e544c4eedc2e394443487481e43b6 sessions/2026-10-17_fieldC_run3/front/depth.mkv +7a847cf3f76957a73e88205d5629df23ee2729bfd807ec17c321fc03b4d965e5 sessions/2026-10-17_fieldC_run3/front/depth_frames.parquet +3b8bcb342465d93085e2c88f995ddb57ddb4a20999ef2ba89b4b34e8b0a6aafb sessions/2026-10-17_fieldC_run3/front/rgb.mp4 +261adaac8b28f3a4e822086e5bd6b734622f3f8a5f2ed19817dc2adf5ec5869c sessions/2026-10-17_fieldC_run3/front/rgb_frames.parquet +fc1bdf812ab51d18ed7e4cd296162d943b15919cc199b65ce24d9f7d42f1ab99 sessions/2026-10-17_fieldC_run3/gnss.parquet +fbfac339386748ada652122844e7cc237aa760ecb018c68b280ea8aea9eb5dcc sessions/2026-10-17_fieldC_run3/lidar/imu.parquet +7b94adc13a020dbc85a463652e7ebff1e347688ffb5551ba2d71a09ff962c240 sessions/2026-10-17_fieldC_run3/lidar/points_00.parquet +e8902d791f6cf2572b06a8f30249ca316054cf3f58cf39c36869337fff202f4c sessions/2026-10-17_fieldC_run3/rc.parquet +d9ac4200263c11b0996d6185d4e888f47fcec73cf5fc36903c7c38d6edb46800 sessions/2026-10-17_fieldC_run3/side/depth.mkv +0ae89371276ca97d17f1612ae9a6135e3e7ae37502fa2f6dc9677b5b85ac33c8 sessions/2026-10-17_fieldC_run3/side/depth_frames.parquet +e2ba27b085ca8036aa8831b55172cb0516ecd47c6e0049fbaf304b63ef376dd2 sessions/2026-10-17_fieldC_run3/side/rgb.mp4 +54c78cc5b0c1cbe6b08d4979bef91ccd52270bc13987a92756df125d70c9e3af sessions/2026-10-17_fieldC_run3/side/rgb_frames.parquet +afbcbe2d6045332bc875954572a2b1c36385f7157f603c92fb827bbc1b859b00 sessions/2026-10-17_fieldC_run5/encoders.parquet +b8aaca7f126eb71de225a87f39e71d213aab6df1638441df50e5cfa14595acc8 sessions/2026-10-17_fieldC_run5/export.json +8c0eca81fb900c48c2f26d50b1673402d4ca95d3afd986811798ea4093ecd962 sessions/2026-10-17_fieldC_run5/front/depth.mkv +d7f9a30c52599c0463519ed7e5c2b6d663c928deea7763d4949ee264226307c9 sessions/2026-10-17_fieldC_run5/front/depth_frames.parquet +730663c2b06fb409dd5649df868995ae425046fc62ea88ce93e154607c50431c sessions/2026-10-17_fieldC_run5/front/rgb.mp4 +4f8fc3a2308f6e5138abb4f395f3c3af5cb096726e4de63753d52a092f87433a sessions/2026-10-17_fieldC_run5/front/rgb_frames.parquet +9db24e875fcb7272bc1bc78333aa08c8ff0f8404662c17994658bcf2d53cdda1 sessions/2026-10-17_fieldC_run5/gnss.parquet +be670835fde477543a23e3f11d0f2c9fd0f2daaba73635407b586d8aae65d09d sessions/2026-10-17_fieldC_run5/lidar/imu.parquet +b1292a195a830e9ae251da11a1eeca6928e38dbd85d7f73a20070792696191b2 sessions/2026-10-17_fieldC_run5/lidar/points_00.parquet +87feb880b2923d9438be06af8279049adb4939c457e0a4e803abf3d4cdfa084f sessions/2026-10-17_fieldC_run5/lidar/points_01.parquet +4269e5e8677bca5ae945ab4b686776cb52bd556bb097bcd44d0480467fa288b9 sessions/2026-10-17_fieldC_run5/lidar/points_02.parquet +2459b213ee40ae117e05c6d19bb69734dfcf0d3ddda011e0e14b08d0b931e211 sessions/2026-10-17_fieldC_run5/lidar/points_03.parquet +2c63251ee97663407cd6a660743d10d98db0d81867f1ff59fd42d0c019a95d64 sessions/2026-10-17_fieldC_run5/lidar/points_04.parquet +06aabbcb582335f58e076330cc7ca1feb1e74b285fb7189250f07b17f596111d sessions/2026-10-17_fieldC_run5/lidar/points_05.parquet +2298713fd6d77bf3811a76775c25a584c9cc7ba7ed033be5595ce107b9642aaa sessions/2026-10-17_fieldC_run5/lidar/points_06.parquet +310917df5f04890c1fce06cdd91f2d7f8f213cde25b9657878f7faa486f06b6a sessions/2026-10-17_fieldC_run5/lidar/points_07.parquet +0119b7d862b5b59f5cabf93eb2643fbafc858d2e99abf03df87724233b1dcfc2 sessions/2026-10-17_fieldC_run5/lidar/points_08.parquet +a82a7355f660ddd1bbd62fbe9bae37ad09c5c2893436e681dca7f083c60493ec sessions/2026-10-17_fieldC_run5/lidar/points_09.parquet +37f57eec6adca6b6e026990097b929fd7b4460ec73e249e070253c754861081e sessions/2026-10-17_fieldC_run5/rc.parquet +17708cefda9773dee36504d00b683f4cd94527bcf17dfb35abfdb2b4c05587af sessions/2026-10-17_fieldC_run5/side/depth.mkv +9da72370385f617ec281b7e37af6552beda7c27babbef25caac5b55d321735a8 sessions/2026-10-17_fieldC_run5/side/depth_frames.parquet +149409dd990cf8646678d1a073c3470b7c1798608dd05ab4cba05a0a3c214650 sessions/2026-10-17_fieldC_run5/side/rgb.mp4 +62b6e82115164ec1e0c33d031a8475835e94db50139cc0c3543c1a84ae0ecde5 sessions/2026-10-17_fieldC_run5/side/rgb_frames.parquet +69b694a26ae0dc7e8e6c100d019bdacec772891a78a74d0881703e01a9481515 sessions/2026-10-18_fieldD_run1/encoders.parquet +7f02b52d1d78b2db376045cd66724c6ef46822442c9159633074315cacfca05a sessions/2026-10-18_fieldD_run1/export.json +ca415f172d78b24546f2dceba3e4c56b9da6d5efda66f16df7fd977dd675fcad sessions/2026-10-18_fieldD_run1/front/depth.mkv +2a37440f91f8f1b2564c668317e2f696880569c0c7cd6f6e4fe97dda3d882d83 sessions/2026-10-18_fieldD_run1/front/depth_frames.parquet +e13512ffbfc42bde79922f6a5fbcfdb300af42fbacb2fc13aadb8462f23cf40e sessions/2026-10-18_fieldD_run1/front/rgb.mp4 +d93e9c3c3bef42fe104897d9c6c9e06ad63e4c6cd4bb873549e4e74275ae4b5f sessions/2026-10-18_fieldD_run1/front/rgb_frames.parquet +f2f6f6ede53eef235dbd70a8213734a2f1dfc32e76555af511747ea95883e564 sessions/2026-10-18_fieldD_run1/gnss.parquet +983b7c287547b6125c9a5de14ed4c1b0bac53dd37b49f38c364926c80d3e4b8c sessions/2026-10-18_fieldD_run1/lidar/imu.parquet +11bf7c343f22501bcea829eee9ca7dc8fbe3d0b5df5a5c969dac4b67b4e50d69 sessions/2026-10-18_fieldD_run1/lidar/points_00.parquet +26b33f2496c24cae959a031b7e1846336985aabc8469a010230a11607d324c4c sessions/2026-10-18_fieldD_run1/lidar/points_01.parquet +0f756b7058db5e46c6213376d419580e5914f20e57a2b718ccea9113cd7e3e14 sessions/2026-10-18_fieldD_run1/lidar/points_02.parquet +f6b17f9316a8bd5e03f91cd0052215c97dcb222a67839f84bb730271b04eee55 sessions/2026-10-18_fieldD_run1/lidar/points_03.parquet +837653ba92ab49a7f5272b91f0bb793570f2014b107464cbe0e70ed25976108b sessions/2026-10-18_fieldD_run1/lidar/points_04.parquet +c59c506e0848437a74c7b85d9388a8efae15e7279d9090c66d453cd71a2aa62d sessions/2026-10-18_fieldD_run1/lidar/points_05.parquet +25849d51c44d3427b813408455097779a242266f085fbee5087f0385bd93955b sessions/2026-10-18_fieldD_run1/lidar/points_06.parquet +fcbed4dabffea605e4ed44d2a32a4830dbd0c4fd04873cd5f337cf9d704064c5 sessions/2026-10-18_fieldD_run1/lidar/points_07.parquet +ca4ac51c20ace317e0fc4a9d2b976fd350ddacb6e44d5bd594daaf509779d333 sessions/2026-10-18_fieldD_run1/lidar/points_08.parquet +1207f91596693ee31ab147b74a6b215ecb870a3be37cd21e82988994dda86b82 sessions/2026-10-18_fieldD_run1/lidar/points_09.parquet +7e706ac2e7e3553dbd4021796c1c018e0d5b10315cd17059683b812a7915c531 sessions/2026-10-18_fieldD_run1/lidar/points_10.parquet +d5ad597ff99b7d6b99e9cee359f0a48ed864395509d521b20752d375ddcbb69b sessions/2026-10-18_fieldD_run1/lidar/points_11.parquet +020fbda69fb96120b61cfcb2aa5d56ed8db9e6d35e4f44ee2daf04522b52861a sessions/2026-10-18_fieldD_run1/lidar/points_12.parquet +cb8eebbddcefeef50ab950b66d3af50ea54f70a33424ccfabed8710d4b2bd002 sessions/2026-10-18_fieldD_run1/lidar/points_13.parquet +075ebb0533b44e6b5cc518b187d7f41e6a7fb816db8307a5633f3cc8f50ec918 sessions/2026-10-18_fieldD_run1/rc.parquet +f2d08121af0049653ac5a2084f78cbbec55df2f2baacf88c8870870ef01b07c0 sessions/2026-10-18_fieldD_run1/side/depth.mkv +8165c776182c63c2139c1fa58f5f43d01e89d9d5292a2e3ad170f5fbee707610 sessions/2026-10-18_fieldD_run1/side/depth_frames.parquet +79a1dbf98f85a94d86c090724c127d4694204b48cb7ef5b61b5734f53171781b sessions/2026-10-18_fieldD_run1/side/rgb.mp4 +863f1a65e560002ec10846a68a33d4863a9df345040adf86c0c46f096b08bc92 sessions/2026-10-18_fieldD_run1/side/rgb_frames.parquet diff --git a/calibration/845112071331_factory.json b/calibration/845112071331_factory.json new file mode 100644 index 0000000000000000000000000000000000000000..3bf08b8d3da2e1559df8300562fe9ab339871bd6 --- /dev/null +++ b/calibration/845112071331_factory.json @@ -0,0 +1,58 @@ +{ + "serial": "845112071331", + "name": "RealSense D435I", + "firmware": "5.11.15", + "usb": "3.2", + "depth": { + "w": 640, + "h": 480, + "fx": 382.88018798828125, + "fy": 382.88018798828125, + "ppx": 321.6478271484375, + "ppy": 241.74131774902344, + "model": "distortion.brown_conrady", + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + "color": { + "w": 640, + "h": 480, + "fx": 616.5374755859375, + "fy": 616.59765625, + "ppx": 314.1569519042969, + "ppy": 239.00279235839844, + "model": "distortion.inverse_brown_conrady", + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + "depth_scale_m": 0.0010000000474974513, + "depth_to_color": { + "rotation": [ + 0.9999861121177673, + 0.0008376938058063388, + -0.005208709742873907, + -0.0008314557489939034, + 0.999998927116394, + 0.0011996689718216658, + 0.0052097090519964695, + -0.0011953214416280389, + 0.9999856948852539 + ], + "translation": [ + 0.014730876311659813, + 0.0002348998241359368, + 0.0003387298493180424 + ] + }, + "file": "cam_845112071331.db3" +} \ No newline at end of file diff --git a/calibration/902512070232_factory.json b/calibration/902512070232_factory.json new file mode 100644 index 0000000000000000000000000000000000000000..5a8f4a76451572ab9d5fd1739c5c6c0b3a31b458 --- /dev/null +++ b/calibration/902512070232_factory.json @@ -0,0 +1,58 @@ +{ + "serial": "902512070232", + "name": "RealSense D435I", + "firmware": "5.14.0", + "usb": "3.2", + "depth": { + "w": 640, + "h": 480, + "fx": 380.3311767578125, + "fy": 380.3311767578125, + "ppx": 318.26763916015625, + "ppy": 237.6750030517578, + "model": "distortion.brown_conrady", + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + "color": { + "w": 640, + "h": 480, + "fx": 613.4813232421875, + "fy": 613.9688110351562, + "ppx": 309.4621276855469, + "ppy": 248.64813232421875, + "model": "distortion.inverse_brown_conrady", + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + "depth_scale_m": 0.0010000000474974513, + "depth_to_color": { + "rotation": [ + 0.9999629855155945, + 0.007881678640842438, + -0.0034555229358375072, + -0.007875613868236542, + 0.9999674558639526, + 0.0017650073859840631, + 0.003469321643933654, + -0.0017377276672050357, + 0.9999924898147583 + ], + "translation": [ + 0.014962587505578995, + 0.00030630972469225526, + 0.00041857874020934105 + ] + }, + "file": "cam_902512070232.db3" +} \ No newline at end of file diff --git a/calibration/camera_to_lidar.json b/calibration/camera_to_lidar.json new file mode 100644 index 0000000000000000000000000000000000000000..a4896c6ecf41a1b11a7b5eb4422fba56733534b9 --- /dev/null +++ b/calibration/camera_to_lidar.json @@ -0,0 +1,869 @@ +{ + "convention": "p_lidar = R @ p_camera + t; camera optical frame x right, y down, z forward (colour sensor); Mid-360 frame x right, y forward, z up; metres", + "cameras": { + "front": { + "serial": "845112071331", + "R": [ + [ + 0.999836, + -0.017337, + -0.004806 + ], + [ + 0.00493, + 0.006844, + 0.999961 + ], + [ + -0.017304, + -0.999825, + 0.006935 + ] + ], + "t_m": [ + -0.032, + 0.0218, + -0.101 + ], + "rotation_from_solved_v1_deg_camera_axes": [ + -0.828, + 0.161, + 0.739 + ], + "rotation_run_to_run_sd_deg": [ + 0.139, + 0.105, + 0.111 + ], + "angle_from_square_mount_deg": 1.113, + "uncertainty": "rotation: run-to-run repeatability about 0.2 deg (not an independently validated accuracy); the rotation from the other eight runs beats solved_v1 on every run (held out); translation: tape and Oct 23 photo, about 1 cm, a prior rather than a measured uncertainty", + "per_run": [ + { + "session": "2026-10-11_fieldA_run1", + "rotation_from_solved_v1_deg": [ + -0.65, + 0.25, + 0.8 + ], + "R": [ + [ + 0.999823, + -0.018431, + -0.003227 + ], + [ + 0.003416, + 0.00995, + 0.999942 + ], + [ + -0.018398, + -0.999779, + 0.010018 + ] + ] + }, + { + "session": "2026-10-11_fieldA_run2", + "rotation_from_solved_v1_deg": [ + -0.6, + 0.35, + 0.55 + ], + "R": [ + [ + 0.999898, + -0.014082, + -0.001449 + ], + [ + 0.001607, + 0.010856, + 0.999937 + ], + [ + -0.014066, + -0.999841, + 0.010884 + ] + ] + }, + { + "session": "2026-10-16_fieldB_run1", + "rotation_from_solved_v1_deg": [ + -1.05, + 0.05, + 0.8 + ], + "R": [ + [ + 0.999806, + -0.018361, + -0.006797 + ], + [ + 0.006857, + 0.002945, + 0.999969 + ], + [ + -0.018341, + -0.999826, + 0.003077 + ] + ] + }, + { + "session": "2026-10-16_fieldB_run2", + "rotation_from_solved_v1_deg": [ + -0.95, + 0.1, + 0.75 + ], + "R": [ + [ + 0.999827, + -0.017508, + -0.005898 + ], + [ + 0.005986, + 0.004703, + 0.999968 + ], + [ + -0.017481, + -0.999834, + 0.004813 + ] + ] + }, + { + "session": "2026-10-17_fieldC_run1", + "rotation_from_solved_v1_deg": [ + -0.85, + 0.1, + 0.65 + ], + "R": [ + [ + 0.999856, + -0.015775, + -0.005865 + ], + [ + 0.005973, + 0.00646, + 0.999958 + ], + [ + -0.015737, + -0.999853, + 0.00656 + ] + ] + }, + { + "session": "2026-10-17_fieldC_run2", + "rotation_from_solved_v1_deg": [ + -0.8, + 0.1, + 0.85 + ], + "R": [ + [ + 0.999795, + -0.019271, + -0.005881 + ], + [ + 0.006028, + 0.007308, + 0.999952 + ], + [ + -0.019228, + -0.999786, + 0.007429 + ] + ] + }, + { + "session": "2026-10-17_fieldC_run3", + "rotation_from_solved_v1_deg": [ + -0.8, + 0.2, + 0.7 + ], + "R": [ + [ + 0.999851, + -0.016666, + -0.004118 + ], + [ + 0.004245, + 0.007337, + 0.999961 + ], + [ + -0.016635, + -0.999833, + 0.007413 + ] + ] + }, + { + "session": "2026-10-17_fieldC_run5", + "rotation_from_solved_v1_deg": [ + -0.9, + 0.05, + 0.9 + ], + "R": [ + [ + 0.999773, + -0.020125, + -0.006781 + ], + [ + 0.006899, + 0.00555, + 0.999958 + ], + [ + -0.020087, + -0.999781, + 0.005694 + ] + ] + }, + { + "session": "2026-10-18_fieldD_run1", + "rotation_from_solved_v1_deg": [ + -0.85, + 0.25, + 0.65 + ], + "R": [ + [ + 0.999868, + -0.015795, + -0.003248 + ], + [ + 0.003355, + 0.006474, + 0.99997 + ], + [ + -0.015774, + -0.999853, + 0.006533 + ] + ] + } + ], + "field_check_score_per_run": { + "tape": [ + 0.8044, + 0.8159, + 0.8175, + 0.8276, + 0.8172, + 0.8397, + 0.8297, + 0.8346, + 0.8131 + ], + "tape_lens": [ + 0.6819, + 0.6412, + 0.6457, + 0.6391, + 0.6488, + 0.6829, + 0.6869, + 0.6948, + 0.6754 + ], + "solved_v1": [ + 0.7053, + 0.6669, + 0.6692, + 0.6548, + 0.6638, + 0.694, + 0.6989, + 0.7056, + 0.6867 + ], + "field_rot": [ + 0.6663, + 0.6233, + 0.63, + 0.6242, + 0.6331, + 0.6689, + 0.6739, + 0.6725, + 0.6567 + ] + }, + "depth_scale_k_per_run": [ + 1.069, + 1.063, + 1.064, + 1.062, + 1.062, + 1.057, + 1.059, + 1.062, + 1.062 + ], + "depth_note": "repeatable cross-sensor depth discrepancy: the D435i optical-axis depth reads short of the LiDAR Z in the same frame, more so with distance (see depth_relation_held_out); cause not established, no correction applied; raw depth files are as recorded", + "depth_relation_held_out": [ + { + "session": "2026-10-11_fieldA_run1", + "a": 0.8769, + "b_m": 0.0627, + "kept_share": 0.818, + "median_D_over_Z_by_distance": { + "0.3-0.75 m": 0.9634, + "0.75-1.5 m": 0.9398, + "1.5-2.5 m": 0.9162, + "2.5-4.0 m": 0.8897 + } + }, + { + "session": "2026-10-11_fieldA_run2", + "a": 0.8823, + "b_m": 0.053, + "kept_share": 0.841, + "median_D_over_Z_by_distance": { + "0.3-0.75 m": 0.9622, + "0.75-1.5 m": 0.938, + "1.5-2.5 m": 0.9139, + "2.5-4.0 m": 0.8907 + } + }, + { + "session": "2026-10-16_fieldB_run1", + "a": 0.8779, + "b_m": 0.0569, + "kept_share": 0.803, + "median_D_over_Z_by_distance": { + "0.3-0.75 m": 0.9562, + "0.75-1.5 m": 0.9378, + "1.5-2.5 m": 0.9155, + "2.5-4.0 m": 0.8835 + } + }, + { + "session": "2026-10-16_fieldB_run2", + "a": 0.8816, + "b_m": 0.0537, + "kept_share": 0.801, + "median_D_over_Z_by_distance": { + "0.3-0.75 m": 0.9597, + "0.75-1.5 m": 0.9387, + "1.5-2.5 m": 0.9146, + "2.5-4.0 m": 0.8849 + } + }, + { + "session": "2026-10-17_fieldC_run1", + "a": 0.8749, + "b_m": 0.0604, + "kept_share": 0.83, + "median_D_over_Z_by_distance": { + "0.3-0.75 m": 0.9619, + "0.75-1.5 m": 0.9391, + "1.5-2.5 m": 0.9118, + "2.5-4.0 m": 0.8828 + } + }, + { + "session": "2026-10-17_fieldC_run2", + "a": 0.8788, + "b_m": 0.0595, + "kept_share": 0.795, + "median_D_over_Z_by_distance": { + "0.3-0.75 m": 0.9688, + "0.75-1.5 m": 0.9417, + "1.5-2.5 m": 0.9145, + "2.5-4.0 m": 0.8863 + } + }, + { + "session": "2026-10-17_fieldC_run3", + "a": 0.8697, + "b_m": 0.0628, + "kept_share": 0.782, + "median_D_over_Z_by_distance": { + "0.3-0.75 m": 0.9641, + "0.75-1.5 m": 0.9372, + "1.5-2.5 m": 0.9087, + "2.5-4.0 m": 0.8741 + } + }, + { + "session": "2026-10-17_fieldC_run5", + "a": 0.8749, + "b_m": 0.0593, + "kept_share": 0.816, + "median_D_over_Z_by_distance": { + "0.3-0.75 m": 0.9637, + "0.75-1.5 m": 0.9373, + "1.5-2.5 m": 0.9063, + "2.5-4.0 m": 0.8897 + } + }, + { + "session": "2026-10-18_fieldD_run1", + "a": 0.875, + "b_m": 0.0617, + "kept_share": 0.843, + "median_D_over_Z_by_distance": { + "0.3-0.75 m": 0.9651, + "0.75-1.5 m": 0.9393, + "1.5-2.5 m": 0.9105, + "2.5-4.0 m": 0.8884 + } + } + ] + }, + "side": { + "serial": "902512070232", + "R": [ + [ + -0.013263, + -0.00353, + 0.999902 + ], + [ + -0.999798, + 0.01505, + -0.013214 + ], + [ + -0.015004, + -0.999877, + -0.003732 + ] + ], + "t_m": [ + 0.1017, + -0.0954, + -0.09 + ], + "rotation_from_solved_v1_deg_camera_axes": [ + -0.083, + 0.456, + 0.461 + ], + "rotation_run_to_run_sd_deg": [ + 0.19, + 0.124, + 0.268 + ], + "angle_from_square_mount_deg": 1.178, + "uncertainty": "rotation: run-to-run repeatability about 0.2 deg (not an independently validated accuracy); the rotation from the other eight runs beats solved_v1 on every run (held out); translation: tape and Oct 23 photo, about 1 cm, a prior rather than a measured uncertainty", + "per_run": [ + { + "session": "2026-10-11_fieldA_run1", + "rotation_from_solved_v1_deg": [ + 0.1, + 0.4, + 0.2 + ], + "R": [ + [ + -0.012275, + -0.000374, + 0.999921 + ], + [ + -0.999868, + 0.010465, + -0.012276 + ], + [ + -0.010461, + -0.999942, + -0.000506 + ] + ] + }, + { + "session": "2026-10-11_fieldA_run2", + "rotation_from_solved_v1_deg": [ + 0.0, + 0.35, + 0.25 + ], + "R": [ + [ + -0.011408, + -0.002114, + 0.999929 + ], + [ + -0.999869, + 0.011353, + -0.011388 + ], + [ + -0.01133, + -0.99993, + -0.002246 + ] + ] + }, + { + "session": "2026-10-16_fieldB_run1", + "rotation_from_solved_v1_deg": [ + -0.35, + 0.35, + 0.3 + ], + "R": [ + [ + -0.011425, + -0.008215, + 0.999897 + ], + [ + -0.999859, + 0.012276, + -0.011329 + ], + [ + -0.012183, + -0.999888, + -0.008357 + ] + ] + }, + { + "session": "2026-10-16_fieldB_run2", + "rotation_from_solved_v1_deg": [ + -0.25, + 0.3, + 0.6 + ], + "R": [ + [ + -0.010571, + -0.00643, + 0.99992 + ], + [ + -0.999791, + 0.017495, + -0.010462 + ], + [ + -0.017428, + -0.999823, + -0.006617 + ] + ] + }, + { + "session": "2026-10-17_fieldC_run1", + "rotation_from_solved_v1_deg": [ + 0.1, + 0.4, + 0.5 + ], + "R": [ + [ + -0.012282, + -0.000328, + 0.999921 + ], + [ + -0.9998, + 0.0157, + -0.01228 + ], + [ + -0.015697, + -0.999873, + -0.000524 + ] + ] + }, + { + "session": "2026-10-17_fieldC_run2", + "rotation_from_solved_v1_deg": [ + 0.0, + 0.65, + 0.85 + ], + "R": [ + [ + -0.016665, + -0.001987, + 0.999855 + ], + [ + -0.999622, + 0.021823, + -0.016623 + ], + [ + -0.021788, + -0.999757, + -0.002353 + ] + ] + }, + { + "session": "2026-10-17_fieldC_run3", + "rotation_from_solved_v1_deg": [ + -0.25, + 0.6, + 0.9 + ], + "R": [ + [ + -0.015828, + -0.006347, + 0.999851 + ], + [ + -0.999617, + 0.022741, + -0.015685 + ], + [ + -0.022639, + -0.999718, + -0.006708 + ] + ] + }, + { + "session": "2026-10-17_fieldC_run5", + "rotation_from_solved_v1_deg": [ + -0.25, + 0.5, + 0.25 + ], + "R": [ + [ + -0.014035, + -0.006471, + 0.999877 + ], + [ + -0.999836, + 0.011395, + -0.013966 + ], + [ + -0.011305, + -0.999911, + -0.006633 + ] + ] + }, + { + "session": "2026-10-18_fieldD_run1", + "rotation_from_solved_v1_deg": [ + 0.15, + 0.55, + 0.3 + ], + "R": [ + [ + -0.014893, + 0.000521, + 0.999885 + ], + [ + -0.999813, + 0.012199, + -0.014903 + ], + [ + -0.012207, + -0.999922, + 0.000336 + ] + ] + } + ], + "field_check_score_per_run": { + "tape": [ + 0.6943, + 0.7984, + 0.7805, + 0.8054, + 0.7432, + 0.8091, + 0.7871, + 0.7685, + 0.7147 + ], + "tape_lens": [ + 0.7286, + 0.8072, + 0.7788, + 0.7876, + 0.7571, + 0.8566, + 0.8119, + 0.7964, + 0.7692 + ], + "solved_v1": [ + 0.6665, + 0.7636, + 0.7321, + 0.7476, + 0.7093, + 0.8163, + 0.7709, + 0.7505, + 0.7195 + ], + "field_rot": [ + 0.6408, + 0.7453, + 0.7111, + 0.736, + 0.6901, + 0.7773, + 0.7431, + 0.7261, + 0.6862 + ] + }, + "depth_scale_k_per_run": [ + 1.017, + 1.016, + 1.023, + 1.02, + 1.021, + 1.013, + 1.009, + 1.015, + 1.022 + ], + "depth_note": "repeatable cross-sensor depth discrepancy: the D435i optical-axis depth reads short of the LiDAR Z in the same frame, more so with distance (see depth_relation_held_out); cause not established, no correction applied; raw depth files are as recorded", + "depth_relation_held_out": [ + { + "session": "2026-10-11_fieldA_run1", + "a": 0.9612, + "b_m": 0.0219, + "kept_share": 0.634, + "median_D_over_Z_by_distance": { + "0.3-0.75 m": 1.0017, + "0.75-1.5 m": 0.9828, + "1.5-2.5 m": 0.9734, + "2.5-4.0 m": 0.9644 + } + }, + { + "session": "2026-10-11_fieldA_run2", + "a": 0.9639, + "b_m": 0.0174, + "kept_share": 0.438, + "median_D_over_Z_by_distance": { + "0.3-0.75 m": 1.0052, + "0.75-1.5 m": 0.9828, + "1.5-2.5 m": 0.9755, + "2.5-4.0 m": 0.9572 + } + }, + { + "session": "2026-10-16_fieldB_run1", + "a": 0.951, + "b_m": 0.0194, + "kept_share": 0.527, + "median_D_over_Z_by_distance": { + "0.3-0.75 m": 0.9912, + "0.75-1.5 m": 0.9733, + "1.5-2.5 m": 0.9638, + "2.5-4.0 m": 0.9425 + } + }, + { + "session": "2026-10-16_fieldB_run2", + "a": 0.9559, + "b_m": 0.0186, + "kept_share": 0.458, + "median_D_over_Z_by_distance": { + "0.3-0.75 m": 0.9977, + "0.75-1.5 m": 0.976, + "1.5-2.5 m": 0.9667, + "2.5-4.0 m": 0.9506 + } + }, + { + "session": "2026-10-17_fieldC_run1", + "a": 0.9615, + "b_m": 0.0169, + "kept_share": 0.521, + "median_D_over_Z_by_distance": { + "0.3-0.75 m": 0.9982, + "0.75-1.5 m": 0.9786, + "1.5-2.5 m": 0.9728, + "2.5-4.0 m": 0.9596 + } + }, + { + "session": "2026-10-17_fieldC_run2", + "a": 0.9634, + "b_m": 0.0157, + "kept_share": 0.397, + "median_D_over_Z_by_distance": { + "0.3-0.75 m": 1.0018, + "0.75-1.5 m": 0.9794, + "1.5-2.5 m": 0.9726, + "2.5-4.0 m": 0.9553 + } + }, + { + "session": "2026-10-17_fieldC_run3", + "a": 0.9609, + "b_m": 0.0198, + "kept_share": 0.482, + "median_D_over_Z_by_distance": { + "0.3-0.75 m": 1.0037, + "0.75-1.5 m": 0.9819, + "1.5-2.5 m": 0.9725, + "2.5-4.0 m": 0.9552 + } + }, + { + "session": "2026-10-17_fieldC_run5", + "a": 0.9633, + "b_m": 0.0184, + "kept_share": 0.485, + "median_D_over_Z_by_distance": { + "0.3-0.75 m": 1.0036, + "0.75-1.5 m": 0.983, + "1.5-2.5 m": 0.977, + "2.5-4.0 m": 0.9608 + } + }, + { + "session": "2026-10-18_fieldD_run1", + "a": 0.9642, + "b_m": 0.0156, + "kept_share": 0.541, + "median_D_over_Z_by_distance": { + "0.3-0.75 m": 1.0033, + "0.75-1.5 m": 0.9811, + "1.5-2.5 m": 0.9717, + "2.5-4.0 m": 0.9708 + } + } + ] + } + } +} \ No newline at end of file diff --git a/calibration/depth_correction_v1.json b/calibration/depth_correction_v1.json new file mode 100644 index 0000000000000000000000000000000000000000..e9ce06af649520809637264be37fd024eb1ea7fd --- /dev/null +++ b/calibration/depth_correction_v1.json @@ -0,0 +1,138 @@ +{ + "what": "D435i depth correction, disparity model: 1 / Z = s / D + c (D the recorded depth in metres, optical-axis Z), fitted on metric checkerboard planes (pose from the colour image and the printed square size only) of the home and driveway sessions; tested on held-out field B and field A boards and on the nine field runs against the LiDAR", + "apply": "Z = 1 / (s / D + c) for D > 0; leave D = 0 (no depth) as is; use only inside valid_z_m", + "cameras": { + "front": { + "serial": "845112071331", + "s": 0.98782, + "c_per_m": -0.0532, + "valid_z_m": [ + 0.3, + 2.5 + ], + "board_fit": { + "calibration_median_abs_rel_err": 0.0076, + "held_out_boards_median_abs_rel_err": 0.0155, + "raw_held_out_boards_median_abs_rel_err": 0.0805 + }, + "field_runs_vs_lidar": { + "median_abs_rel_err_raw": 0.0663, + "median_abs_rel_err_corrected": 0.0212, + "ratio_range_by_distance_raw": { + "0.3-0.75 m": [ + 0.9562, + 0.9688 + ], + "0.75-1.5 m": [ + 0.9372, + 0.9417 + ], + "1.5-2.5 m": [ + 0.9063, + 0.9162 + ], + "2.5-4.0 m": [ + 0.8741, + 0.8907 + ] + }, + "ratio_range_by_distance_corrected": { + "0.3-0.75 m": [ + 0.9997, + 1.0124 + ], + "0.75-1.5 m": [ + 1.0028, + 1.008 + ], + "1.5-2.5 m": [ + 1.0102, + 1.0242 + ], + "2.5-4.0 m": [ + 1.0318, + 1.0609 + ] + } + }, + "note": "outside valid_z_m the corrected depth is not validated (the boards reached 2.8 m with few holds)" + }, + "side": { + "serial": "902512070232", + "s": 1.00041, + "c_per_m": -0.01561, + "valid_z_m": [ + 0.3, + 4.0 + ], + "board_fit": { + "calibration_median_abs_rel_err": 0.0043, + "held_out_boards_median_abs_rel_err": 0.0025, + "raw_held_out_boards_median_abs_rel_err": 0.0177 + }, + "field_runs_vs_lidar": { + "median_abs_rel_err_raw": 0.0225, + "median_abs_rel_err_corrected": 0.016, + "ratio_range_by_distance_raw": { + "0.3-0.75 m": [ + 0.9912, + 1.0052 + ], + "0.75-1.5 m": [ + 0.9733, + 0.983 + ], + "1.5-2.5 m": [ + 0.9638, + 0.977 + ], + "2.5-4.0 m": [ + 0.9425, + 0.9708 + ] + }, + "ratio_range_by_distance_corrected": { + "0.3-0.75 m": [ + 0.9979, + 1.0113 + ], + "0.75-1.5 m": [ + 0.9892, + 0.9993 + ], + "1.5-2.5 m": [ + 0.991, + 1.0047 + ], + "2.5-4.0 m": [ + 0.9812, + 1.0118 + ] + } + }, + "note": "outside valid_z_m the corrected depth is not validated (the boards reached 2.8 m with few holds)" + } + }, + "sources_sha256": { + "depth_correction_fit_v2.json": "768805cdd91a564fa370572ff865367675c257bde9db97d552d73fd1d9b44bbe", + "2026-10-11_fieldA_run1_front.json": "5d6573560f0a3d98dbfa96554d4816356cb9cdbbf896b3f485c95d366a132578", + "2026-10-11_fieldA_run2_front.json": "74331e70acdce3edb884a1df1eb8c18dd2fba6c03061644d4c328a07cae6bc48", + "2026-10-16_fieldB_run1_front.json": "3ae8ea4631a8a85b34a5127bd8f7679e941548dbe04deabd882c12ff9a79d687", + "2026-10-16_fieldB_run2_front.json": "9a8dc060d55426797d1983ee5ab58a35a21730503645081cdc26fb5292c85423", + "2026-10-17_fieldC_run1_front.json": "b2fd6c644f68ee8d4558b852b667423874c61e0ed21c69c53b2a2a946283e572", + "2026-10-17_fieldC_run2_front.json": "81ce2d2cd2c3fb2466ce73c3526f6fd931b0339f4d71a1cefd9cad8e589db06a", + "2026-10-17_fieldC_run3_front.json": "6d167aaa82a780055ef4761e44d6c6a350090d56ac33616fd73104e9c5981c80", + "2026-10-17_fieldC_run5_front.json": "1118666bc018661ca69e4883bb6a4a2a6c95c3b24518b240e2efb29c79216a2f", + "2026-10-18_fieldD_run1_front.json": "b91e960f9daf4c98fb33a469996d50ff7b66e97ea231551c237bc17fb030e3a7", + "2026-10-11_fieldA_run1_side.json": "b22bf6db25f6ddd9d0ed287b66cc7918030c184ba1e43cc28fda6fb4181a3e06", + "2026-10-11_fieldA_run2_side.json": "6e0225fa36ca26410b14d519debb589cae256b5ebda77f6414d17f7363dd0409", + "2026-10-16_fieldB_run1_side.json": "fdf104f95879039ec9dad7ed149ad37c0dd22959ddefd04b0c644b1b621571ca", + "2026-10-16_fieldB_run2_side.json": "0d2599bb206d1e4ab28096803d2e1a8a5e6db3d55e76a726b752743354aaa6a5", + "2026-10-17_fieldC_run1_side.json": "394efc0c25e0acc98457d55bf68d95be1c0ad3ac87dd1b96a1c9c548c23858f9", + "2026-10-17_fieldC_run2_side.json": "1e6b811080518b6d5ab2ab37764676d10513a34fe94a48c07862afc56a1b9960", + "2026-10-17_fieldC_run3_side.json": "7e10f59a20f985c6500f7e7ed9f41b8b5dee941138f7001df2bc854dccf87c84", + "2026-10-17_fieldC_run5_side.json": "042a43247f84dfe9abdb1b3dedfb1ee6ecee434a504e79ee7f21f027ad4409ab", + "2026-10-18_fieldD_run1_side.json": "7af47af7ebff2e808e2c0b7ff3129a316039ce557b2f99aab87d7e7df7dae4e5" + }, + "code_sha256": "ebb8740f19dbbb94b3580489644e99825f78c59b66b42aa260657412b7bbb92e" +} \ No newline at end of file diff --git a/calibration/imu_noise.json b/calibration/imu_noise.json new file mode 100644 index 0000000000000000000000000000000000000000..5bff2e29672026d352c1af0c82bbe83423517880 --- /dev/null +++ b/calibration/imu_noise.json @@ -0,0 +1,71 @@ +{ + "what": "Mid-360 built-in IMU noise, overlapping Allan deviation of a 3 h still recording (Oct 23)", + "rate_hz": 200.0, + "stretch_s": 7062.0, + "axes": { + "gx": { + "mean": 2.098084621631139, + "std": 0.1453985099198997, + "adev_at_1s": 0.004968962019556436, + "adev_min": 0.0025679796016712976, + "tau_min_s": 9.695847941719254, + "bias_instability": 0.0038674391591435203, + "arw_deg_per_sqrt_h": 0.29813772117338616, + "units": "deg/s", + "bias_instability_deg_per_h": 13.922780972916673 + }, + "gy": { + "mean": -0.1553490428921722, + "std": 0.045547123640386815, + "adev_at_1s": 0.0036518620977319103, + "adev_min": 0.0007218067367254562, + "tau_min_s": 65.49271001840114, + "bias_instability": 0.001087058338441952, + "arw_deg_per_sqrt_h": 0.2191117258639146, + "units": "deg/s", + "bias_instability_deg_per_h": 3.9134100183910276 + }, + "gz": { + "mean": 2.4623829347504493, + "std": 0.08028368673320417, + "adev_at_1s": 0.004439979845675565, + "adev_min": 0.0016678324419075166, + "tau_min_s": 20.817504256237356, + "bias_instability": 0.00251179584624626, + "arw_deg_per_sqrt_h": 0.2663987907405339, + "units": "deg/s", + "bias_instability_deg_per_h": 9.042465046486535 + }, + "ax": { + "mean": 13.370344927848437, + "std": 3.1590170616420252, + "adev_at_1s": 0.0591056325043528, + "adev_min": 0.012273233235256103, + "tau_min_s": 95.96533739807222, + "bias_instability": 0.018483784992855575, + "vrw_m_s_per_sqrt_h": 0.034777695059928684, + "units": "mg" + }, + "ay": { + "mean": 7.330792176613825, + "std": 4.346457264768525, + "adev_at_1s": 0.0676835288063118, + "adev_min": 0.00836099511153347, + "tau_min_s": 95.96533739807222, + "bias_instability": 0.012591860107731128, + "vrw_m_s_per_sqrt_h": 0.03982492066610505, + "units": "mg" + }, + "az": { + "mean": 991.825891205614, + "std": 2.2822772171818384, + "adev_at_1s": 0.05433751599736953, + "adev_min": 0.019881840496934578, + "tau_min_s": 95.96533739807222, + "bias_instability": 0.029942530868877375, + "vrw_m_s_per_sqrt_h": 0.03197214007533623, + "units": "mg" + } + }, + "note": "large constant gyro biases (about 2.1 and 2.5 deg/s on x and z) must be estimated; the accelerometer reads gravity about 0.8 % low" +} \ No newline at end of file diff --git a/calibration/intrinsics_845112071331.json b/calibration/intrinsics_845112071331.json new file mode 100644 index 0000000000000000000000000000000000000000..7e5261d082fcda830a421dd74386df4fe58cfb02 --- /dev/null +++ b/calibration/intrinsics_845112071331.json @@ -0,0 +1,42 @@ +{ + "camera": "front", + "serial": "845112071331", + "stream": "colour 640 x 480", + "model": "pinhole with radial and tangential distortion k1 k2 p1 p2 (OpenCV order, Brown-Conrady)", + "fx": 614.9354228991989, + "fy": 614.9954471857525, + "cx": 314.1569519042969, + "cy": 239.00279235839844, + "dist_k1_k2_p1_p2": [ + 0.09830485223226998, + -0.1869669929815629, + -0.0032161622988268832, + -0.002259697297879376, + 0.0 + ], + "fit": { + "views": 138, + "rms_px": 0.30497344376984803, + "bootstrap_sd": { + "fx": 3.2872337857509217, + "fy": 3.2875546549924324, + "cx": 0.0, + "cy": 0.0, + "k1": 0.008119214970921905, + "k2": 0.025991140797470152, + "p1": 0.0008805300894857817, + "p2": 0.0003914856032598181, + "k3": 0.0 + }, + "holdout_rms_px_fitted": 0.3088756248354912, + "holdout_rms_px_factory": 0.3228185519576073 + }, + "principal_point": "factory value kept (not resolved by the board views)", + "factory": { + "fx": 616.5374755859375, + "fy": 616.59765625, + "cx": 314.1569519042969, + "cy": 239.00279235839844 + }, + "method": "pooled checkerboard sessions (Oct 11 to 26), still views, near duplicates merged, one outlier pass" +} \ No newline at end of file diff --git a/calibration/intrinsics_902512070232.json b/calibration/intrinsics_902512070232.json new file mode 100644 index 0000000000000000000000000000000000000000..e198ee23fe2b94761eb4f291949f551fb16c7471 --- /dev/null +++ b/calibration/intrinsics_902512070232.json @@ -0,0 +1,42 @@ +{ + "camera": "side", + "serial": "902512070232", + "stream": "colour 640 x 480", + "model": "pinhole with radial and tangential distortion k1 k2 p1 p2 (OpenCV order, Brown-Conrady)", + "fx": 602.3087915666354, + "fy": 602.7874013830431, + "cx": 309.4621276855469, + "cy": 248.64813232421875, + "dist_k1_k2_p1_p2": [ + 0.13130346917481883, + -0.35381411372742505, + 0.0016854556790474066, + 0.0008978799477173244, + 0.0 + ], + "fit": { + "views": 114, + "rms_px": 0.34913509638603546, + "bootstrap_sd": { + "fx": 5.335010384655206, + "fy": 5.33924971899082, + "cx": 0.0, + "cy": 0.0, + "k1": 0.01234615328791439, + "k2": 0.03548847971285684, + "p1": 0.000790268595708833, + "p2": 0.0007893632384807972, + "k3": 0.0 + }, + "holdout_rms_px_fitted": 0.35144681483507156, + "holdout_rms_px_factory": 0.369226923584938 + }, + "principal_point": "factory value kept (not resolved by the board views)", + "factory": { + "fx": 613.4813232421875, + "fy": 613.9688110351562, + "cx": 309.4621276855469, + "cy": 248.64813232421875 + }, + "method": "pooled checkerboard sessions (Oct 11 to 26), still views, near duplicates merged, one outlier pass" +} \ No newline at end of file diff --git a/calibration/kinematics.json b/calibration/kinematics.json new file mode 100644 index 0000000000000000000000000000000000000000..1b71e6e11d8eb11301ee2ad7d99ca56562b0c8dd --- /dev/null +++ b/calibration/kinematics.json @@ -0,0 +1,139 @@ +{ + "what": "track scale on soil against RTK and effective track width per run", + "concrete_m_per_sprocket_revolution": 0.57, + "edges_per_revolution": 1224, + "rtk_lag_after_encoders_ms": 50, + "reliable_channels": [ + "fl", + "rr" + ], + "runs": [ + { + "session": "2026-10-11_fieldA_run1", + "rtk_fixed_share": 0.0, + "samples_straight": 0, + "ratio_rtk_over_tracks": null, + "m_per_rev_soil": null, + "samples_turning": 4388, + "b_eff_m": 0.4571, + "b_eff_corr": 0.9909, + "b_eff_resid_rms_m_s": 0.034 + }, + { + "session": "2026-10-11_fieldA_run2", + "rtk_fixed_share": 0.0, + "samples_straight": 0, + "ratio_rtk_over_tracks": null, + "m_per_rev_soil": null, + "samples_turning": 1934, + "b_eff_m": 0.4624, + "b_eff_corr": 0.9963, + "b_eff_resid_rms_m_s": 0.0239 + }, + { + "session": "2026-10-16_fieldB_run1", + "rtk_fixed_share": 0.934, + "samples_straight": 764, + "ratio_rtk_over_tracks": 0.9624, + "ratio_p25_p75": [ + 0.8759, + 1.0427 + ], + "m_per_rev_soil": 0.5486, + "samples_turning": 3585, + "b_eff_m": 0.4441, + "b_eff_corr": 0.9961, + "b_eff_resid_rms_m_s": 0.0214 + }, + { + "session": "2026-10-16_fieldB_run2", + "rtk_fixed_share": 0.786, + "samples_straight": 1640, + "ratio_rtk_over_tracks": 0.9789, + "ratio_p25_p75": [ + 0.9031, + 1.0643 + ], + "m_per_rev_soil": 0.558, + "samples_turning": 7238, + "b_eff_m": 0.4473, + "b_eff_corr": 0.9967, + "b_eff_resid_rms_m_s": 0.0213 + }, + { + "session": "2026-10-17_fieldC_run1", + "rtk_fixed_share": 0.92, + "samples_straight": 2616, + "ratio_rtk_over_tracks": 0.9991, + "ratio_p25_p75": [ + 0.9497, + 1.0407 + ], + "m_per_rev_soil": 0.5695, + "samples_turning": 5932, + "b_eff_m": 0.4545, + "b_eff_corr": 0.9957, + "b_eff_resid_rms_m_s": 0.0191 + }, + { + "session": "2026-10-17_fieldC_run2", + "rtk_fixed_share": 0.909, + "samples_straight": 3259, + "ratio_rtk_over_tracks": 0.9999, + "ratio_p25_p75": [ + 0.9548, + 1.041 + ], + "m_per_rev_soil": 0.5699, + "samples_turning": 10895, + "b_eff_m": 0.4659, + "b_eff_corr": 0.9823, + "b_eff_resid_rms_m_s": 0.0338 + }, + { + "session": "2026-10-17_fieldC_run3", + "rtk_fixed_share": 0.882, + "samples_straight": 1117, + "ratio_rtk_over_tracks": 0.9938, + "ratio_p25_p75": [ + 0.9359, + 1.041 + ], + "m_per_rev_soil": 0.5665, + "samples_turning": 4793, + "b_eff_m": 0.4757, + "b_eff_corr": 0.9854, + "b_eff_resid_rms_m_s": 0.0502 + }, + { + "session": "2026-10-17_fieldC_run5", + "rtk_fixed_share": 0.214, + "samples_straight": 477, + "ratio_rtk_over_tracks": 1.0095, + "ratio_p25_p75": [ + 0.9715, + 1.0339 + ], + "m_per_rev_soil": 0.5754, + "samples_turning": 5636, + "b_eff_m": 0.4672, + "b_eff_corr": 0.9773, + "b_eff_resid_rms_m_s": 0.047 + }, + { + "session": "2026-10-18_fieldD_run1", + "rtk_fixed_share": 0.247, + "samples_straight": 873, + "ratio_rtk_over_tracks": 0.9991, + "ratio_p25_p75": [ + 0.9648, + 1.0301 + ], + "m_per_rev_soil": 0.5695, + "samples_turning": 9406, + "b_eff_m": 0.4722, + "b_eff_corr": 0.9882, + "b_eff_resid_rms_m_s": 0.0458 + } + ] +} \ No newline at end of file diff --git a/calibration/time_offsets.csv b/calibration/time_offsets.csv new file mode 100644 index 0000000000000000000000000000000000000000..aea6879f10a62d3c8d0dd2af33a59b680b8aa7f0 --- /dev/null +++ b/calibration/time_offsets.csv @@ -0,0 +1,19 @@ +session,camera,offset_ms_camera_minus_lidar,signal,corr,bootstrap_p5_ms,bootstrap_p95_ms +2026-10-11_fieldA_run1,front,-19,horizontal_vs_yaw,0.952,-20.0,-18.950000000000003 +2026-10-11_fieldA_run1,side,-18,vertical_vs_roll,-0.858,-19.0,-17.0 +2026-10-11_fieldA_run2,front,-12,horizontal_vs_yaw,0.947,-13.0,-11.0 +2026-10-11_fieldA_run2,side,-12,vertical_vs_roll,-0.771,-14.0,-11.0 +2026-10-16_fieldB_run1,front,-17,horizontal_vs_yaw,0.967,-17.0,-16.0 +2026-10-16_fieldB_run1,side,-19,vertical_vs_roll,-0.603,-20.0,-18.0 +2026-10-16_fieldB_run2,front,-13,horizontal_vs_yaw,0.967,-13.0,-12.0 +2026-10-16_fieldB_run2,side,-11,vertical_vs_roll,-0.61,-13.0,-10.0 +2026-10-17_fieldC_run1,front,-22,horizontal_vs_yaw,0.941,-22.0,-21.0 +2026-10-17_fieldC_run1,side,-22,vertical_vs_roll,-0.601,-23.0,-22.0 +2026-10-17_fieldC_run2,front,-22,horizontal_vs_yaw,0.935,-22.0,-22.0 +2026-10-17_fieldC_run2,side,-22,vertical_vs_roll,-0.612,-22.05,-21.0 +2026-10-17_fieldC_run3,front,-22,horizontal_vs_yaw,0.917,-23.0,-21.0 +2026-10-17_fieldC_run3,side,-22,vertical_vs_roll,-0.563,-23.0,-21.950000000000003 +2026-10-17_fieldC_run5,front,-22,horizontal_vs_yaw,0.94,-22.05,-22.0 +2026-10-17_fieldC_run5,side,-22,vertical_vs_roll,-0.64,-22.0,-21.0 +2026-10-18_fieldD_run1,front,-22,horizontal_vs_yaw,0.95,-22.0,-21.0 +2026-10-18_fieldD_run1,side,-22,vertical_vs_roll,-0.649,-23.0,-22.0 diff --git a/meta/robot.json b/meta/robot.json new file mode 100644 index 0000000000000000000000000000000000000000..3722f4039a93e7c51d71d4f6f21015f1881d71a7 --- /dev/null +++ b/meta/robot.json @@ -0,0 +1,55 @@ +{ + "source": "tape measurements, Oct 23, 2026; about 0.5 to 1 cm; orientations nominal here (solved camera orientations in calibration/camera_to_lidar.json)", + "body_frame": "origin on the floor at the centre of the track footprint; x forward, y left, z up; metres", + "dimensions_m": { + "track_length": 0.406, + "width_over_tracks": 0.447, + "track_gauge_centre_to_centre": 0.364, + "track_width": 0.083 + }, + "sensors": { + "front_camera": { + "serial": "845112071331", + "position_m": [ + 0.146, + 0.005, + 0.272 + ], + "point": "front glass, middle of the bar", + "faces": "+x (forward)" + }, + "side_camera": { + "serial": "902512070232", + "position_m": [ + -0.003, + -0.0965, + 0.283 + ], + "point": "glass plane, middle of the bar", + "faces": "-y (right)" + }, + "lidar_mid360": { + "position_m": [ + 0.124, + 0.0075, + 0.373 + ], + "point": "optical origin (47 mm above the base)", + "axes": "lidar +y = body +x (forward), lidar +x = body -y (right), lidar +z = body +z (up)" + }, + "gnss_antenna": { + "position_m": [ + -0.119, + -0.005, + 0.324 + ], + "point": "antenna reference point (base of the puck)", + "receiver": "u-blox ZED-F9P" + } + }, + "kinematics": { + "m_per_sprocket_revolution": 0.57, + "effective_track_width_m": 0.49, + "note": "effective width from field data (skid steer), larger than the 0.364 m gauge" + } +} \ No newline at end of file diff --git a/meta/segments.parquet b/meta/segments.parquet new file mode 100644 index 0000000000000000000000000000000000000000..072935c52f3cdc9b168448a07f89ff452e50df37 --- /dev/null +++ b/meta/segments.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2cd7d679c289c48b181cf7f5bd3748ebba08d59cc8620c4b53b2b4d7fcb0faa +size 4561 diff --git a/meta/sessions.parquet b/meta/sessions.parquet new file mode 100644 index 0000000000000000000000000000000000000000..180360a3778539c1d77da30784e90225f726ca41 --- /dev/null +++ b/meta/sessions.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e777cbda1ea56ec9e315336e3e6b4989c862993d978fdf8c8d70dec46c9bc6ce +size 5543 diff --git a/sessions/2026-10-11_fieldA_run1/encoders.parquet b/sessions/2026-10-11_fieldA_run1/encoders.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b412f62d2062db333d14d182c894ccf2e72f0f89 --- /dev/null +++ b/sessions/2026-10-11_fieldA_run1/encoders.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4007bfc62991cc51d4c9df2c79ea16792bf9cf727e01f9d08c7356f793aaa0f3 +size 1412363 diff --git a/sessions/2026-10-11_fieldA_run1/export.json b/sessions/2026-10-11_fieldA_run1/export.json new file mode 100644 index 0000000000000000000000000000000000000000..6231086b8a2aae7affaf5a0722f44f617c784cdf --- /dev/null +++ b/sessions/2026-10-11_fieldA_run1/export.json @@ -0,0 +1,168 @@ +{ + "release_id": "2026-10-11_fieldA_run1", + "segments": [ + [ + 0, + 1791756993103859989, + 1791757320851560448 + ], + [ + 1, + 1791757339883877632, + 1791757543103859989 + ], + [ + 2, + 1791757562103859989, + 1791757811103859989 + ], + [ + 3, + 1791757823103859989, + 1791757846103859989 + ], + [ + 4, + 1791757852103859989, + 1791757884103859989 + ], + [ + 5, + 1791757893103859989, + 1791757943103859989 + ], + [ + 6, + 1791757950103859989, + 1791758132103859989 + ], + [ + 7, + 1791758144103859989, + 1791758154103859989 + ], + [ + 8, + 1791758160103859989, + 1791758281103859989 + ], + [ + 9, + 1791758287103859989, + 1791758327103859989 + ], + [ + 10, + 1791758335103859989, + 1791758367103859989 + ], + [ + 11, + 1791758375103859989, + 1791758508103859989 + ], + [ + 12, + 1791758522103859989, + 1791758750103859989 + ], + [ + 13, + 1791758768103859989, + 1791758778103859989 + ], + [ + 14, + 1791758913103859989, + 1791759073103859989 + ], + [ + 15, + 1791759084103859989, + 1791759107103859989 + ], + [ + 16, + 1791759119103859989, + 1791759599103859989 + ], + [ + 17, + 1791759613103859989, + 1791759681294745856 + ] + ], + "lidar_points_per_segment": { + "0": 65548800, + "1": 40642752, + "2": 49798560, + "3": 4599840, + "4": 6399936, + "5": 9999936, + "6": 36399456, + "7": 1999872, + "8": 24199680, + "9": 7999872, + "10": 6399936, + "11": 26599584, + "12": 45598848, + "13": 1999968, + "14": 31999776, + "15": 4599936, + "16": 95998656, + "17": 13638144 + }, + "cameras": { + "front": { + "frames_written": { + "rgb": 71116, + "depth": 71107 + }, + "masked": { + "rgb": 479, + "depth": 487 + }, + "frames_not_global_time": 0, + "ffmpeg": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers", + "encoder": { + "rgb": "-c:v libx264 -preset medium -crf 12 -pix_fmt yuv420p -g 15 -bf 0", + "depth": "-c:v ffv1 -level 3 -g 1 -slices 16 -slicecrc 1" + } + }, + "side": { + "frames_written": { + "rgb": 71109, + "depth": 71100 + }, + "masked": { + "rgb": 1542, + "depth": 1561 + }, + "frames_not_global_time": 0, + "ffmpeg": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers", + "encoder": { + "rgb": "-c:v libx264 -preset medium -crf 12 -pix_fmt yuv420p -g 15 -bf 0", + "depth": "-c:v ffv1 -level 3 -g 1 -slices 16 -slicecrc 1" + } + } + }, + "checks": { + "front": { + "depth_crc_mismatch": 0, + "rgb_psnr_min": 38.38, + "rgb_psnr_median": 39.65, + "ok": true + }, + "side": { + "depth_crc_mismatch": 0, + "rgb_psnr_min": 37.99, + "rgb_psnr_median": 39.46, + "ok": true + } + }, + "code_sha256": { + "export_sensors.py": "41466b98268bf0c9a1f3587d97e169358611b5e72ff5c98ddacd3c952a55e58c", + "release_common.py": "aa59cd6e3ed4e26ec1c134ed7912989ee57964cf7796ca99c7ef56199da59aac", + "export_cameras.py": "5f458b8dea4fc68b3f25719bc205509cb429d56cfd8f5827f86719f2d69ba346" + } +} \ No newline at end of file diff --git a/sessions/2026-10-11_fieldA_run1/gnss.parquet b/sessions/2026-10-11_fieldA_run1/gnss.parquet new file mode 100644 index 0000000000000000000000000000000000000000..dd022613bb38c1dc11d983e4e33fdea0d02d110a --- /dev/null +++ b/sessions/2026-10-11_fieldA_run1/gnss.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df8dcc3acc29909883b50e4591b48c01bee0d1c4eea76034e854f6c13b693fb9 +size 365130 diff --git a/sessions/2026-10-11_fieldA_run1/rc.parquet b/sessions/2026-10-11_fieldA_run1/rc.parquet new file mode 100644 index 0000000000000000000000000000000000000000..3f6de4c4605be411af9445e117eb5204628ca2f4 --- /dev/null +++ b/sessions/2026-10-11_fieldA_run1/rc.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12e0153df3ec0e0cdd04859ed314b493d79ff4e4ef113fa1ad75e1451ec62281 +size 1516119 diff --git a/sessions/2026-10-11_fieldA_run2/encoders.parquet b/sessions/2026-10-11_fieldA_run2/encoders.parquet new file mode 100644 index 0000000000000000000000000000000000000000..72ce24a45f3e7e5b543fe545b94e7682b70f38f9 --- /dev/null +++ b/sessions/2026-10-11_fieldA_run2/encoders.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d115ce89f6c0a7f2982975239bc57a0f0512b80fdcd70bf2ddcd4ad19681aac +size 617084 diff --git a/sessions/2026-10-11_fieldA_run2/export.json b/sessions/2026-10-11_fieldA_run2/export.json new file mode 100644 index 0000000000000000000000000000000000000000..ba0828bf9d407995bf855c222f2b9ba83ad6223b --- /dev/null +++ b/sessions/2026-10-11_fieldA_run2/export.json @@ -0,0 +1,138 @@ +{ + "release_id": "2026-10-11_fieldA_run2", + "segments": [ + [ + 0, + 1791760166187228160, + 1791760204663083856 + ], + [ + 1, + 1791760216663083856, + 1791760283663083856 + ], + [ + 2, + 1791760299663083856, + 1791760411314927872 + ], + [ + 3, + 1791760418375740672, + 1791760535412968960 + ], + [ + 4, + 1791760572536182528, + 1791760611663083856 + ], + [ + 5, + 1791760621663083856, + 1791760646505853440 + ], + [ + 6, + 1791760683617947904, + 1791760750583891968 + ], + [ + 7, + 1791760789736351232, + 1791761057663083856 + ], + [ + 8, + 1791761068663083856, + 1791761134663083856 + ], + [ + 9, + 1791761150663083856, + 1791761196663083856 + ], + [ + 10, + 1791761223663083856, + 1791761318663083856 + ], + [ + 11, + 1791761356663083856, + 1791761416663083856 + ], + [ + 12, + 1791761427663083856, + 1791761447978162688 + ] + ], + "lidar_points_per_segment": { + "0": 7695168, + "1": 13399968, + "2": 22329696, + "3": 23406816, + "4": 7825152, + "5": 4968480, + "6": 13392768, + "7": 53585088, + "8": 13199520, + "9": 9199872, + "10": 18999936, + "11": 11999904, + "12": 4063008 + }, + "cameras": { + "front": { + "frames_written": { + "rgb": 30593, + "depth": 30585 + }, + "masked": { + "rgb": 1281, + "depth": 1286 + }, + "frames_not_global_time": 0, + "ffmpeg": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers", + "encoder": { + "rgb": "-c:v libx264 -preset medium -crf 12 -pix_fmt yuv420p -g 15 -bf 0", + "depth": "-c:v ffv1 -level 3 -g 1 -slices 16 -slicecrc 1" + } + }, + "side": { + "frames_written": { + "rgb": 30582, + "depth": 30582 + }, + "masked": { + "rgb": 718, + "depth": 723 + }, + "frames_not_global_time": 0, + "ffmpeg": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers", + "encoder": { + "rgb": "-c:v libx264 -preset medium -crf 12 -pix_fmt yuv420p -g 15 -bf 0", + "depth": "-c:v ffv1 -level 3 -g 1 -slices 16 -slicecrc 1" + } + } + }, + "checks": { + "front": { + "depth_crc_mismatch": 0, + "rgb_psnr_min": 38.1, + "rgb_psnr_median": 39.32, + "ok": true + }, + "side": { + "depth_crc_mismatch": 0, + "rgb_psnr_min": 37.75, + "rgb_psnr_median": 39.33, + "ok": true + } + }, + "code_sha256": { + "export_sensors.py": "41466b98268bf0c9a1f3587d97e169358611b5e72ff5c98ddacd3c952a55e58c", + "release_common.py": "aa59cd6e3ed4e26ec1c134ed7912989ee57964cf7796ca99c7ef56199da59aac", + "export_cameras.py": "5f458b8dea4fc68b3f25719bc205509cb429d56cfd8f5827f86719f2d69ba346" + } +} \ No newline at end of file diff --git a/sessions/2026-10-11_fieldA_run2/gnss.parquet b/sessions/2026-10-11_fieldA_run2/gnss.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f5331a4a457e7b2d1c99c38fea88f18dfdf70f9e --- /dev/null +++ b/sessions/2026-10-11_fieldA_run2/gnss.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73a1806ea9908e4bca10eaa21791f4a40ca725400661621200f228c62fcecd05 +size 157231 diff --git a/sessions/2026-10-11_fieldA_run2/rc.parquet b/sessions/2026-10-11_fieldA_run2/rc.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2eef0d12281b2580f78c29eaff5f7f039d018078 --- /dev/null +++ b/sessions/2026-10-11_fieldA_run2/rc.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e34bcddd9342f4beba106e7dab9bd06efdc91f74c7dc922b5b68166aa8d47059 +size 636401 diff --git a/sessions/2026-10-16_fieldB_run1/encoders.parquet b/sessions/2026-10-16_fieldB_run1/encoders.parquet new file mode 100644 index 0000000000000000000000000000000000000000..871fb8b57b9bfb0b486950fa79e1ab372a3d894a --- /dev/null +++ b/sessions/2026-10-16_fieldB_run1/encoders.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a85a086dd61e9b85389027eea894c0884d0c858dde45a12ddcdbfeccec46726 +size 759718 diff --git a/sessions/2026-10-16_fieldB_run1/export.json b/sessions/2026-10-16_fieldB_run1/export.json new file mode 100644 index 0000000000000000000000000000000000000000..4ae609bad24b078e1a1cc2086a5298901d8a05e6 --- /dev/null +++ b/sessions/2026-10-16_fieldB_run1/export.json @@ -0,0 +1,126 @@ +{ + "release_id": "2026-10-16_fieldB_run1", + "segments": [ + [ + 0, + 1792186711923564607, + 1792186751450360832 + ], + [ + 1, + 1792186758464012032, + 1792187729923564607 + ], + [ + 2, + 1792187736923564607, + 1792187789923564607 + ], + [ + 3, + 1792187820923564607, + 1792187854196368896 + ], + [ + 4, + 1792187881249410560, + 1792187933241121792 + ], + [ + 5, + 1792187975305357056, + 1792188018294563328 + ], + [ + 6, + 1792188023334759168, + 1792188038306657792 + ], + [ + 7, + 1792188057354848512, + 1792188064322702336 + ], + [ + 8, + 1792188075365791488, + 1792188084335040512 + ], + [ + 9, + 1792188097379248896, + 1792188128363035648 + ], + [ + 10, + 1792188137404909312, + 1792188149923564607 + ] + ], + "lidar_points_per_segment": { + "0": 7905312, + "1": 194287488, + "2": 10599936, + "3": 6654528, + "4": 10398336, + "5": 8597760, + "6": 2994432, + "7": 1393536, + "8": 1793856, + "9": 6196800, + "10": 2503776 + }, + "cameras": { + "front": { + "frames_written": { + "rgb": 37974, + "depth": 37970 + }, + "masked": { + "rgb": 1103, + "depth": 1109 + }, + "frames_not_global_time": 0, + "ffmpeg": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers", + "encoder": { + "rgb": "-c:v libx264 -preset medium -crf 12 -pix_fmt yuv420p -g 15 -bf 0", + "depth": "-c:v ffv1 -level 3 -g 1 -slices 16 -slicecrc 1" + } + }, + "side": { + "frames_written": { + "rgb": 37975, + "depth": 37970 + }, + "masked": { + "rgb": 529, + "depth": 536 + }, + "frames_not_global_time": 0, + "ffmpeg": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers", + "encoder": { + "rgb": "-c:v libx264 -preset medium -crf 12 -pix_fmt yuv420p -g 15 -bf 0", + "depth": "-c:v ffv1 -level 3 -g 1 -slices 16 -slicecrc 1" + } + } + }, + "checks": { + "front": { + "depth_crc_mismatch": 0, + "rgb_psnr_min": 36.69, + "rgb_psnr_median": 39.14, + "ok": true + }, + "side": { + "depth_crc_mismatch": 0, + "rgb_psnr_min": 37.86, + "rgb_psnr_median": 39.2, + "ok": true + } + }, + "code_sha256": { + "export_sensors.py": "41466b98268bf0c9a1f3587d97e169358611b5e72ff5c98ddacd3c952a55e58c", + "release_common.py": "aa59cd6e3ed4e26ec1c134ed7912989ee57964cf7796ca99c7ef56199da59aac", + "export_cameras.py": "5f458b8dea4fc68b3f25719bc205509cb429d56cfd8f5827f86719f2d69ba346" + } +} \ No newline at end of file diff --git a/sessions/2026-10-16_fieldB_run1/gnss.parquet b/sessions/2026-10-16_fieldB_run1/gnss.parquet new file mode 100644 index 0000000000000000000000000000000000000000..5b0ec7190eb7974214ac768621f9f9333246f23d --- /dev/null +++ b/sessions/2026-10-16_fieldB_run1/gnss.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c654b60052139ce6fd4baa22d98c2135be09eaa3686e69dce27fdf685dd677f +size 173569 diff --git a/sessions/2026-10-16_fieldB_run1/rc.parquet b/sessions/2026-10-16_fieldB_run1/rc.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d9d5def59e26476a0621da0801df001950e34038 --- /dev/null +++ b/sessions/2026-10-16_fieldB_run1/rc.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d17ee44ec7f69400d2661e849cac99708b7307f8117cbc778eda064af71320d2 +size 754102 diff --git a/sessions/2026-10-16_fieldB_run2/encoders.parquet b/sessions/2026-10-16_fieldB_run2/encoders.parquet new file mode 100644 index 0000000000000000000000000000000000000000..931583345e85bb03d2d1e3b096075380a9421aec --- /dev/null +++ b/sessions/2026-10-16_fieldB_run2/encoders.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8b6da3b7adb610005e57fa76a6d06adf2dec9fb323b72f175ddf5b46c0f0cf3 +size 1370102 diff --git a/sessions/2026-10-16_fieldB_run2/export.json b/sessions/2026-10-16_fieldB_run2/export.json new file mode 100644 index 0000000000000000000000000000000000000000..3d6aaff4efb0bfbc89bd801ae43b76c15d13515a --- /dev/null +++ b/sessions/2026-10-16_fieldB_run2/export.json @@ -0,0 +1,174 @@ +{ + "release_id": "2026-10-16_fieldB_run2", + "segments": [ + [ + 0, + 1792188501651116064, + 1792188700651116064 + ], + [ + 1, + 1792188706651116064, + 1792188737651116064 + ], + [ + 2, + 1792188745651116064, + 1792188935651116064 + ], + [ + 3, + 1792188941651116064, + 1792189080651116064 + ], + [ + 4, + 1792189089651116064, + 1792189368651116064 + ], + [ + 5, + 1792189378651116064, + 1792189499651116064 + ], + [ + 6, + 1792189527651116064, + 1792189620651116064 + ], + [ + 7, + 1792189631651116064, + 1792189754651116064 + ], + [ + 8, + 1792189764651116064, + 1792189815651116064 + ], + [ + 9, + 1792189821651116064, + 1792190143651116064 + ], + [ + 10, + 1792190157651116064, + 1792190250651116064 + ], + [ + 11, + 1792190258651116064, + 1792190379651116064 + ], + [ + 12, + 1792190541651116064, + 1792190635651116064 + ], + [ + 13, + 1792190641651116064, + 1792190704651116064 + ], + [ + 14, + 1792190712651116064, + 1792190792651116064 + ], + [ + 15, + 1792190805651116064, + 1792190938044473856 + ], + [ + 16, + 1792191001109770496, + 1792191100651116064 + ], + [ + 17, + 1792191132651116064, + 1792191178651116064 + ], + [ + 18, + 1792191187651116064, + 1792191197874892288 + ] + ], + "lidar_points_per_segment": { + "0": 39798336, + "1": 6199872, + "2": 37999584, + "3": 27799200, + "4": 55799328, + "5": 24199872, + "6": 18600000, + "7": 24599424, + "8": 10199808, + "9": 64398624, + "10": 18599808, + "11": 24199584, + "12": 18799488, + "13": 12599616, + "14": 15999744, + "15": 26477376, + "16": 19908192, + "17": 9199872, + "18": 2044800 + }, + "cameras": { + "front": { + "frames_written": { + "rgb": 68565, + "depth": 68561 + }, + "masked": { + "rgb": 1058, + "depth": 1068 + }, + "frames_not_global_time": 0, + "ffmpeg": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers", + "encoder": { + "rgb": "-c:v libx264 -preset medium -crf 12 -pix_fmt yuv420p -g 15 -bf 0", + "depth": "-c:v ffv1 -level 3 -g 1 -slices 16 -slicecrc 1" + } + }, + "side": { + "frames_written": { + "rgb": 68555, + "depth": 68554 + }, + "masked": { + "rgb": 3062, + "depth": 3086 + }, + "frames_not_global_time": 0, + "ffmpeg": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers", + "encoder": { + "rgb": "-c:v libx264 -preset medium -crf 12 -pix_fmt yuv420p -g 15 -bf 0", + "depth": "-c:v ffv1 -level 3 -g 1 -slices 16 -slicecrc 1" + } + } + }, + "checks": { + "front": { + "depth_crc_mismatch": 0, + "rgb_psnr_min": 38.36, + "rgb_psnr_median": 39.64, + "ok": true + }, + "side": { + "depth_crc_mismatch": 0, + "rgb_psnr_min": 38.22, + "rgb_psnr_median": 39.82, + "ok": true + } + }, + "code_sha256": { + "export_sensors.py": "41466b98268bf0c9a1f3587d97e169358611b5e72ff5c98ddacd3c952a55e58c", + "release_common.py": "e8768bdcf3de7eea575f4188633117ddf44e319b4c88b2109db50fbd8894cb4c", + "export_cameras.py": "5f458b8dea4fc68b3f25719bc205509cb429d56cfd8f5827f86719f2d69ba346" + } +} \ No newline at end of file diff --git a/sessions/2026-10-16_fieldB_run2/gnss.parquet b/sessions/2026-10-16_fieldB_run2/gnss.parquet new file mode 100644 index 0000000000000000000000000000000000000000..263637189eb9a2c7f97abe322e70092e93a743d7 --- /dev/null +++ b/sessions/2026-10-16_fieldB_run2/gnss.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d904ba706e5df7c6f8158ada401310dd3f525d0fbb1235077752ea0382f7706 +size 319543 diff --git a/sessions/2026-10-16_fieldB_run2/rc.parquet b/sessions/2026-10-16_fieldB_run2/rc.parquet new file mode 100644 index 0000000000000000000000000000000000000000..18c6ae93181bba3f455fd2bf0c6b6427af206845 --- /dev/null +++ b/sessions/2026-10-16_fieldB_run2/rc.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5f1c23d906a87cb7d78a58766cd1381593b4f9fdfd199ed171c90c78152f021 +size 1516754 diff --git a/sessions/2026-10-17_fieldC_run1/encoders.parquet b/sessions/2026-10-17_fieldC_run1/encoders.parquet new file mode 100644 index 0000000000000000000000000000000000000000..3152ec10c71d3335122a52651573f943ed383462 --- /dev/null +++ b/sessions/2026-10-17_fieldC_run1/encoders.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f596f67420e29d813b6d010c94baa8a5dcbb0253be436edd5d308918fde17ed +size 1431221 diff --git a/sessions/2026-10-17_fieldC_run1/export.json b/sessions/2026-10-17_fieldC_run1/export.json new file mode 100644 index 0000000000000000000000000000000000000000..1d0f3b28e89e38ea8524f423a1cd7e36b6fba458 --- /dev/null +++ b/sessions/2026-10-17_fieldC_run1/export.json @@ -0,0 +1,102 @@ +{ + "release_id": "2026-10-17_fieldC_run1", + "segments": [ + [ + 0, + 1792255083519294280, + 1792255147519294280 + ], + [ + 1, + 1792255160519294280, + 1792255199519294280 + ], + [ + 2, + 1792255212519294280, + 1792255681519294280 + ], + [ + 3, + 1792255691519294280, + 1792256247519294280 + ], + [ + 4, + 1792256254519294280, + 1792256534519294280 + ], + [ + 5, + 1792256540519294280, + 1792256937519294280 + ], + [ + 6, + 1792256943519294280, + 1792257341519294280 + ] + ], + "lidar_points_per_segment": { + "0": 12799584, + "1": 7799520, + "2": 93798144, + "3": 111198144, + "4": 55998720, + "5": 79397664, + "6": 79597920 + }, + "cameras": { + "front": { + "frames_written": { + "rgb": 66040, + "depth": 66042 + }, + "masked": { + "rgb": 1433, + "depth": 1449 + }, + "frames_not_global_time": 0, + "ffmpeg": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers", + "encoder": { + "rgb": "-c:v libx264 -preset medium -crf 12 -pix_fmt yuv420p -g 15 -bf 0", + "depth": "-c:v ffv1 -level 3 -g 1 -slices 16 -slicecrc 1" + } + }, + "side": { + "frames_written": { + "rgb": 66035, + "depth": 66027 + }, + "masked": { + "rgb": 1898, + "depth": 1911 + }, + "frames_not_global_time": 0, + "ffmpeg": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers", + "encoder": { + "rgb": "-c:v libx264 -preset medium -crf 12 -pix_fmt yuv420p -g 15 -bf 0", + "depth": "-c:v ffv1 -level 3 -g 1 -slices 16 -slicecrc 1" + } + } + }, + "checks": { + "front": { + "depth_crc_mismatch": 0, + "rgb_psnr_min": 36.68, + "rgb_psnr_median": 38.19, + "ok": true + }, + "side": { + "depth_crc_mismatch": 0, + "rgb_psnr_min": 36.54, + "rgb_psnr_median": 38.55, + "ok": true + } + }, + "code_sha256": { + "export_sensors.py": "41466b98268bf0c9a1f3587d97e169358611b5e72ff5c98ddacd3c952a55e58c", + "release_common.py": "aa59cd6e3ed4e26ec1c134ed7912989ee57964cf7796ca99c7ef56199da59aac", + "export_cameras.py": "5f458b8dea4fc68b3f25719bc205509cb429d56cfd8f5827f86719f2d69ba346" + } +} \ No newline at end of file diff --git a/sessions/2026-10-17_fieldC_run1/rc.parquet b/sessions/2026-10-17_fieldC_run1/rc.parquet new file mode 100644 index 0000000000000000000000000000000000000000..51782b3b2421907a48384a984af85181a17f7124 --- /dev/null +++ b/sessions/2026-10-17_fieldC_run1/rc.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1bb1375a21a9ee4a2c7767c857788f69580db782bd874569905d3ac57fe7dc9 +size 1337376 diff --git a/sessions/2026-10-17_fieldC_run2/export.json b/sessions/2026-10-17_fieldC_run2/export.json new file mode 100644 index 0000000000000000000000000000000000000000..f7dc55ce64e4ba9033b7296e864c0a82f2839b91 --- /dev/null +++ b/sessions/2026-10-17_fieldC_run2/export.json @@ -0,0 +1,84 @@ +{ + "release_id": "2026-10-17_fieldC_run2", + "segments": [ + [ + 0, + 1792257836392243785, + 1792258125392243785 + ], + [ + 1, + 1792258135392243785, + 1792258868392243785 + ], + [ + 2, + 1792258888392243785, + 1792259042392243785 + ], + [ + 3, + 1792259050392243785, + 1792260818392243785 + ] + ], + "lidar_points_per_segment": { + "0": 57799296, + "1": 146597568, + "2": 30799584, + "3": 353593344 + }, + "cameras": { + "front": { + "frames_written": { + "rgb": 88258, + "depth": 88241 + }, + "masked": { + "rgb": 247, + "depth": 251 + }, + "frames_not_global_time": 0, + "ffmpeg": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers", + "encoder": { + "rgb": "-c:v libx264 -preset medium -crf 12 -pix_fmt yuv420p -g 15 -bf 0", + "depth": "-c:v ffv1 -level 3 -g 1 -slices 16 -slicecrc 1" + } + }, + "side": { + "frames_written": { + "rgb": 88242, + "depth": 88234 + }, + "masked": { + "rgb": 211, + "depth": 213 + }, + "frames_not_global_time": 0, + "ffmpeg": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers", + "encoder": { + "rgb": "-c:v libx264 -preset medium -crf 12 -pix_fmt yuv420p -g 15 -bf 0", + "depth": "-c:v ffv1 -level 3 -g 1 -slices 16 -slicecrc 1" + } + } + }, + "checks": { + "front": { + "depth_crc_mismatch": 0, + "rgb_psnr_min": 36.76, + "rgb_psnr_median": 38.57, + "ok": true + }, + "side": { + "depth_crc_mismatch": 0, + "rgb_psnr_min": 36.27, + "rgb_psnr_median": 38.32, + "ok": true + } + }, + "code_sha256": { + "export_sensors.py": "41466b98268bf0c9a1f3587d97e169358611b5e72ff5c98ddacd3c952a55e58c", + "release_common.py": "aa59cd6e3ed4e26ec1c134ed7912989ee57964cf7796ca99c7ef56199da59aac", + "export_cameras.py": "5f458b8dea4fc68b3f25719bc205509cb429d56cfd8f5827f86719f2d69ba346" + } +} \ No newline at end of file diff --git a/sessions/2026-10-17_fieldC_run2/front/rgb.mp4 b/sessions/2026-10-17_fieldC_run2/front/rgb.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bcbcbc53947299c04fece0ea81b98ade9f5a52d8 --- /dev/null +++ b/sessions/2026-10-17_fieldC_run2/front/rgb.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b715794d9cb96a8beacb9258d5ececfeb31800494f46cf0a99cdda99c70406d1 +size 5283991544 diff --git a/sessions/2026-10-17_fieldC_run2/gnss.parquet b/sessions/2026-10-17_fieldC_run2/gnss.parquet new file mode 100644 index 0000000000000000000000000000000000000000..7dfdadcadf7e5f3b14ad075e5f6cbd0a49f74d61 --- /dev/null +++ b/sessions/2026-10-17_fieldC_run2/gnss.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3e89cb7356b7cf1606b3aca324580635a5fb16b9505f4cf5a95aa9f694d59ed +size 469137 diff --git a/sessions/2026-10-17_fieldC_run2/side/depth.mkv b/sessions/2026-10-17_fieldC_run2/side/depth.mkv new file mode 100644 index 0000000000000000000000000000000000000000..9d1796dd3725800399256e586049e65cccfb1cc6 --- /dev/null +++ b/sessions/2026-10-17_fieldC_run2/side/depth.mkv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81eeead9c723bf2c8429107808686441f19701bbf0daa88c2b8ebf93996302b3 +size 4839499998 diff --git a/sessions/2026-10-17_fieldC_run2/side/rgb.mp4 b/sessions/2026-10-17_fieldC_run2/side/rgb.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5e2fd3aae871ae24de4adc16368af94b2b5ab2f9 --- /dev/null +++ b/sessions/2026-10-17_fieldC_run2/side/rgb.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c960cf74c4545fcbe7043175cab6e788014f692d347f7b804bc7e1b131219507 +size 5049347026 diff --git a/sessions/2026-10-17_fieldC_run3/export.json b/sessions/2026-10-17_fieldC_run3/export.json new file mode 100644 index 0000000000000000000000000000000000000000..c2460157c2d1e1cd8e47b1ceebc9980de75af8b4 --- /dev/null +++ b/sessions/2026-10-17_fieldC_run3/export.json @@ -0,0 +1,66 @@ +{ + "release_id": "2026-10-17_fieldC_run3", + "segments": [ + [ + 0, + 1792262193023817689, + 1792263328023817689 + ] + ], + "lidar_points_per_segment": { + "0": 226995072 + }, + "cameras": { + "front": { + "frames_written": { + "rgb": 34025, + "depth": 34019 + }, + "masked": { + "rgb": 4909, + "depth": 4924 + }, + "frames_not_global_time": 0, + "ffmpeg": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers", + "encoder": { + "rgb": "-c:v libx264 -preset medium -crf 12 -pix_fmt yuv420p -g 15 -bf 0", + "depth": "-c:v ffv1 -level 3 -g 1 -slices 16 -slicecrc 1" + } + }, + "side": { + "frames_written": { + "rgb": 34021, + "depth": 34019 + }, + "masked": { + "rgb": 1525, + "depth": 1540 + }, + "frames_not_global_time": 0, + "ffmpeg": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers", + "encoder": { + "rgb": "-c:v libx264 -preset medium -crf 12 -pix_fmt yuv420p -g 15 -bf 0", + "depth": "-c:v ffv1 -level 3 -g 1 -slices 16 -slicecrc 1" + } + } + }, + "checks": { + "front": { + "depth_crc_mismatch": 0, + "rgb_psnr_min": 36.28, + "rgb_psnr_median": 38.33, + "ok": true + }, + "side": { + "depth_crc_mismatch": 0, + "rgb_psnr_min": 36.21, + "rgb_psnr_median": 38.14, + "ok": true + } + }, + "code_sha256": { + "export_sensors.py": "41466b98268bf0c9a1f3587d97e169358611b5e72ff5c98ddacd3c952a55e58c", + "release_common.py": "aa59cd6e3ed4e26ec1c134ed7912989ee57964cf7796ca99c7ef56199da59aac", + "export_cameras.py": "5f458b8dea4fc68b3f25719bc205509cb429d56cfd8f5827f86719f2d69ba346" + } +} \ No newline at end of file diff --git a/sessions/2026-10-17_fieldC_run5/export.json b/sessions/2026-10-17_fieldC_run5/export.json new file mode 100644 index 0000000000000000000000000000000000000000..0e808573e5f942b285f4e8133870ad46527efa61 --- /dev/null +++ b/sessions/2026-10-17_fieldC_run5/export.json @@ -0,0 +1,120 @@ +{ + "release_id": "2026-10-17_fieldC_run5", + "segments": [ + [ + 0, + 1792265709470082258, + 1792266487470082258 + ], + [ + 1, + 1792266505470082258, + 1792266653470082258 + ], + [ + 2, + 1792266665470082258, + 1792266822470082258 + ], + [ + 3, + 1792266830470082258, + 1792266890470082258 + ], + [ + 4, + 1792266897470082258, + 1792267055470082258 + ], + [ + 5, + 1792267077470082258, + 1792267116470082258 + ], + [ + 6, + 1792267138470082258, + 1792267304470082258 + ], + [ + 7, + 1792267363470082258, + 1792267504470082258 + ], + [ + 8, + 1792267511470082258, + 1792267738470082258 + ], + [ + 9, + 1792267747470082258, + 1792267783470082258 + ] + ], + "lidar_points_per_segment": { + "0": 155594016, + "1": 29598912, + "2": 31399104, + "3": 11999808, + "4": 31599744, + "5": 7800000, + "6": 33199680, + "7": 28199424, + "8": 45398784, + "9": 7199904 + }, + "cameras": { + "front": { + "frames_written": { + "rgb": 57260, + "depth": 57250 + }, + "masked": { + "rgb": 1481, + "depth": 1491 + }, + "frames_not_global_time": 0, + "ffmpeg": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers", + "encoder": { + "rgb": "-c:v libx264 -preset medium -crf 12 -pix_fmt yuv420p -g 15 -bf 0", + "depth": "-c:v ffv1 -level 3 -g 1 -slices 16 -slicecrc 1" + } + }, + "side": { + "frames_written": { + "rgb": 57252, + "depth": 57245 + }, + "masked": { + "rgb": 2164, + "depth": 2179 + }, + "frames_not_global_time": 0, + "ffmpeg": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers", + "encoder": { + "rgb": "-c:v libx264 -preset medium -crf 12 -pix_fmt yuv420p -g 15 -bf 0", + "depth": "-c:v ffv1 -level 3 -g 1 -slices 16 -slicecrc 1" + } + } + }, + "checks": { + "front": { + "depth_crc_mismatch": 0, + "rgb_psnr_min": 36.32, + "rgb_psnr_median": 37.85, + "ok": true + }, + "side": { + "depth_crc_mismatch": 0, + "rgb_psnr_min": 35.86, + "rgb_psnr_median": 38.21, + "ok": true + } + }, + "code_sha256": { + "export_sensors.py": "41466b98268bf0c9a1f3587d97e169358611b5e72ff5c98ddacd3c952a55e58c", + "release_common.py": "aa59cd6e3ed4e26ec1c134ed7912989ee57964cf7796ca99c7ef56199da59aac", + "export_cameras.py": "5f458b8dea4fc68b3f25719bc205509cb429d56cfd8f5827f86719f2d69ba346" + } +} \ No newline at end of file diff --git a/sessions/2026-10-17_fieldC_run5/front/depth.mkv b/sessions/2026-10-17_fieldC_run5/front/depth.mkv new file mode 100644 index 0000000000000000000000000000000000000000..a7157189d0c59d9a21043f80f15111d9b0b05486 --- /dev/null +++ b/sessions/2026-10-17_fieldC_run5/front/depth.mkv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c0eca81fb900c48c2f26d50b1673402d4ca95d3afd986811798ea4093ecd962 +size 5136651370 diff --git a/sessions/2026-10-17_fieldC_run5/front/rgb.mp4 b/sessions/2026-10-17_fieldC_run5/front/rgb.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fc7d5d39f89162d6988aa6e890056b5e4cb7759f --- /dev/null +++ b/sessions/2026-10-17_fieldC_run5/front/rgb.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:730663c2b06fb409dd5649df868995ae425046fc62ea88ce93e154607c50431c +size 3693598032 diff --git a/sessions/2026-10-17_fieldC_run5/side/depth.mkv b/sessions/2026-10-17_fieldC_run5/side/depth.mkv new file mode 100644 index 0000000000000000000000000000000000000000..361c4bb7e826b9461fd984b07f7cff856e7b6240 --- /dev/null +++ b/sessions/2026-10-17_fieldC_run5/side/depth.mkv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:17708cefda9773dee36504d00b683f4cd94527bcf17dfb35abfdb2b4c05587af +size 3344288114 diff --git a/sessions/2026-10-17_fieldC_run5/side/rgb.mp4 b/sessions/2026-10-17_fieldC_run5/side/rgb.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..84b59e3260562a3b4e0385ff42780904ef9e0344 --- /dev/null +++ b/sessions/2026-10-17_fieldC_run5/side/rgb.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:149409dd990cf8646678d1a073c3470b7c1798608dd05ab4cba05a0a3c214650 +size 3472547196 diff --git a/sessions/2026-10-18_fieldD_run1/export.json b/sessions/2026-10-18_fieldD_run1/export.json new file mode 100644 index 0000000000000000000000000000000000000000..f28e55018540b2616db6a9209ade000043aec29e --- /dev/null +++ b/sessions/2026-10-18_fieldD_run1/export.json @@ -0,0 +1,144 @@ +{ + "release_id": "2026-10-18_fieldD_run1", + "segments": [ + [ + 0, + 1792354011037770392, + 1792354087037770392 + ], + [ + 1, + 1792354143037770392, + 1792354515037770392 + ], + [ + 2, + 1792354531037770392, + 1792354551037770392 + ], + [ + 3, + 1792354560037770392, + 1792354569037770392 + ], + [ + 4, + 1792354575037770392, + 1792354604037770392 + ], + [ + 5, + 1792354612037770392, + 1792354728037770392 + ], + [ + 6, + 1792354738037770392, + 1792354950037770392 + ], + [ + 7, + 1792354958037770392, + 1792355187037770392 + ], + [ + 8, + 1792355196037770392, + 1792355310037770392 + ], + [ + 9, + 1792355317037770392, + 1792355409037770392 + ], + [ + 10, + 1792355438037770392, + 1792355701037770392 + ], + [ + 11, + 1792355712037770392, + 1792355900037770392 + ], + [ + 12, + 1792355910037770392, + 1792355929037770392 + ], + [ + 13, + 1792355937037770392, + 1792356820037770392 + ] + ], + "lidar_points_per_segment": { + "0": 15199296, + "1": 74399232, + "2": 4000032, + "3": 1800000, + "4": 5799936, + "5": 23198784, + "6": 42398688, + "7": 45799776, + "8": 22799904, + "9": 18399744, + "10": 52599072, + "11": 37598976, + "12": 3799872, + "13": 176595456 + }, + "cameras": { + "front": { + "frames_written": { + "rgb": 78605, + "depth": 78605 + }, + "masked": { + "rgb": 8620, + "depth": 8651 + }, + "frames_not_global_time": 1, + "ffmpeg": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers", + "encoder": { + "rgb": "-c:v libx264 -preset medium -crf 12 -pix_fmt yuv420p -g 15 -bf 0", + "depth": "-c:v ffv1 -level 3 -g 1 -slices 16 -slicecrc 1" + } + }, + "side": { + "frames_written": { + "rgb": 78601, + "depth": 78589 + }, + "masked": { + "rgb": 8078, + "depth": 8118 + }, + "frames_not_global_time": 0, + "ffmpeg": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers", + "encoder": { + "rgb": "-c:v libx264 -preset medium -crf 12 -pix_fmt yuv420p -g 15 -bf 0", + "depth": "-c:v ffv1 -level 3 -g 1 -slices 16 -slicecrc 1" + } + } + }, + "checks": { + "front": { + "depth_crc_mismatch": 0, + "rgb_psnr_min": 36.47, + "rgb_psnr_median": 38.38, + "ok": true + }, + "side": { + "depth_crc_mismatch": 0, + "rgb_psnr_min": 36.46, + "rgb_psnr_median": 38.63, + "ok": true + } + }, + "code_sha256": { + "export_sensors.py": "41466b98268bf0c9a1f3587d97e169358611b5e72ff5c98ddacd3c952a55e58c", + "release_common.py": "aa59cd6e3ed4e26ec1c134ed7912989ee57964cf7796ca99c7ef56199da59aac", + "export_cameras.py": "5f458b8dea4fc68b3f25719bc205509cb429d56cfd8f5827f86719f2d69ba346" + } +} \ No newline at end of file diff --git a/sessions/2026-10-18_fieldD_run1/front/rgb.mp4 b/sessions/2026-10-18_fieldD_run1/front/rgb.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..326d14b33c6b43bf16b137370f39d3676bef9d3c --- /dev/null +++ b/sessions/2026-10-18_fieldD_run1/front/rgb.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e13512ffbfc42bde79922f6a5fbcfdb300af42fbacb2fc13aadb8462f23cf40e +size 4209509325 diff --git a/sessions/2026-10-18_fieldD_run1/lidar/points_10.parquet b/sessions/2026-10-18_fieldD_run1/lidar/points_10.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e922206453118b41034e874df746916ffd39aef5 --- /dev/null +++ b/sessions/2026-10-18_fieldD_run1/lidar/points_10.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e706ac2e7e3553dbd4021796c1c018e0d5b10315cd17059683b812a7915c531 +size 428918612 diff --git a/sessions/2026-10-18_fieldD_run1/lidar/points_11.parquet b/sessions/2026-10-18_fieldD_run1/lidar/points_11.parquet new file mode 100644 index 0000000000000000000000000000000000000000..ed018c90f4c589ac83a78aaec18836756c4d325a --- /dev/null +++ b/sessions/2026-10-18_fieldD_run1/lidar/points_11.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5ad597ff99b7d6b99e9cee359f0a48ed864395509d521b20752d375ddcbb69b +size 303634148 diff --git a/sessions/2026-10-18_fieldD_run1/lidar/points_13.parquet b/sessions/2026-10-18_fieldD_run1/lidar/points_13.parquet new file mode 100644 index 0000000000000000000000000000000000000000..053ab49cf7e266ec5314476b1ffed3d44d9949d1 --- /dev/null +++ b/sessions/2026-10-18_fieldD_run1/lidar/points_13.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb8eebbddcefeef50ab950b66d3af50ea54f70a33424ccfabed8710d4b2bd002 +size 1239042299 diff --git a/sessions/2026-10-18_fieldD_run1/side/depth.mkv b/sessions/2026-10-18_fieldD_run1/side/depth.mkv new file mode 100644 index 0000000000000000000000000000000000000000..1835172036e8518b6a3ed98dd0594a1b227a84b7 --- /dev/null +++ b/sessions/2026-10-18_fieldD_run1/side/depth.mkv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2d08121af0049653ac5a2084f78cbbec55df2f2baacf88c8870870ef01b07c0 +size 4414490006 diff --git a/sessions/2026-10-18_fieldD_run1/side/rgb.mp4 b/sessions/2026-10-18_fieldD_run1/side/rgb.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5082615b229e062647b5a57456bf566236b5bc5e --- /dev/null +++ b/sessions/2026-10-18_fieldD_run1/side/rgb.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79a1dbf98f85a94d86c090724c127d4694204b48cb7ef5b61b5734f53171781b +size 3887799897