We provide both raw data and ROS bag of each sequence. For raw data, we provide:

• Raw stereo images from optical and thermal

• Stereo rectified images from optical and thermal

• Pointclouds frames

• Both IMU datas

• Raw GNSS observable and navigation solutions

• Groundtruth pose

Raw images (raw_img)

• Optical left (opt_0), optical right (opt_1), thermal left (ther_0), thermal right (ther_1)

• <camera_name>/<timestamp_ns>.png

• Optical: 8-bit monochrome images

• Thermal: 16-bit radiometric thermal images

Rectified images (rect_img) - images are rectified so that images are row-alligned

• Optical left (opt_0), optical right (opt_1), thermal left (ther_0), thermal right (ther_1)

• <camera_name>/<timestamp_ns>.png

• Optical: 8-bit monochrome images

• Thermal: 16-bit radiometric thermal images

IMU data

• Shared inertial format from both ICM20600 and HG4930

• other_sensor/lidar/icm20600_imu.csv

  • <timestamp_ns, gyro_x_radps, gyro_y_radps, gyro_z_radps, acc_x_mps2, acc_y_mps2, acc_z_mps2>

• other_sensor/hg4930_imu.csv

  • <timestamp_ns, gyro_x_radps, gyro_y_radps, gyro_z_radps, acc_x_mps2, acc_y_mps2, acc_z_mps2, die_temp_C, del_ang_x_rad, del_ang_y_rad, del_ang_z_rad, del_vel_x_mps, del_vel_y_mps, del_vel_z_mps, INS_avail>

Pointcloud data

• Each frame is a separate CSV file

• other_sensor/lidar/output/<timestamp_ns>.csv

  • <x_m, y_m, z_m, intensity, offset_from_SOF_ns>

GNSS data

• Raw observable of GNSS <X> - other_sensor/gps/ubx<X>.ubx

• Navigation solution of GNSS <X> 

  • other_sensor/gps/ubx<X>.csv  

• PPK output of GNSS 1

  •  other_sensor/gps/ubx<X>ppk.csv

• <timestamp_s, ns_offset, lat_deg, lon_deg, WGS84_alt_m, v_north_mps, v_east_mps, v_down_mps, fix_type, rel_pos_avail, rel_pos_north_m, rel_pos_east_m, rel_pos_down_m, hor_accuracy_m, ver_accuracy_m, north_accuracy_m, east_accuracy_m, down_accuracy_m>

Ground-truth trajectory

• pose.csv

• Initial relative position and quaternion is [0 0 0] and [1 0 0 0]

• <timestamp_s, pos_x_m, pos_y_m, pos_z_m, quat_x, quat_y, quat_z, quat_w, lat_deg, lon_deg, WGS84_alt_m>.

Miscellaneous data

• cloud_timing.csv - include the timestamps of available pointcloud frame to aid with indexing

• image_timing.csv - include the timestamps of available images to aid with indexing

• ther<X>_telem.csv - telemetry data obtained from the thermal images

  • <timestamp_ns, mean_temp_K, min_temp_K, max_temp_K, cam_temp_K, cam_temp_since_last_FCC_K, core_temp_K>

Calibration data

• tf.yaml - SE(3) transformation of extrinsic of NIGEL sensor

• cam_intrinsics.yaml - thermal and optical camera intrinsics and lense distortions

• hg4930.yaml and icm20600.yaml - IMUs noise parameters