. ├── 2019May09-reference │   ├── asterx4 │   │   ├── asterx4.sbf ............................. Raw output from Septentrio AsteRx4 in Septentrio Binary Format │   │   ├── SEPT1290.19B ............................ SBAS broadcast data logged by Septentrio AsteRx4 │   │   ├── SEPT1290.19G ............................ GLONASS navigation data logged by Septentrio AsteRx4 │   │   ├── SEPT1290.19H ............................ SBAS navigation data logged by Septentrio AsteRx4 │   │   ├── SEPT1290.19N ............................ GPS navigation data logged by Septentrio AsteRx4 │   │   ├── SEPT1290.19O ............................ RINEX observables from Septentrio AsteRx4 │   │   └── SEPT1291.19O ............................ RINEX observables from Septentrio AsteRx4 │   ├── ntlab │   │   ├── bitpacking.pdf .......................... NTLAB front-end configuration and IF data bitpacking documentation │   │   ├── ntlab.sdrx .............................. Metadata pursuant to ION GNSS SDR Metadata Standard (see https://sdr.ion.org/) │   │   └── ntlab.bin ............................... Raw IF data from the NTLAB front-end │   ├── radiolynx │   │   ├── bitpacking.pdf .......................... RadioLynx front-end configuration and IF data bitpacking documentation │   │   └── radiolynx.bin ........................... Raw IF data from the RadioLynx front-end │   └── ublox │   └── ublox.ubx ............................... NMEA output from u-blox M8T receiver ├── 2019May09-rover │   ├── asterx4 │   │   ├── asterx4_rtk.log ......................... Unaided RTK output from the Septentrio AsteRx4 │   │   ├── asterx4.sbf ............................. (see 2019May09-reference) │   │   ├── asterx4_standalone.kml .................. KML trajectory for route visualization │   │   ├── SEPT1290.19B ............................ (see 2019May09-reference) │   │   ├── SEPT1290.19G ............................ (see 2019May09-reference) │   │   ├── SEPT1290.19H ............................ (see 2019May09-reference) │   │   ├── SEPT1290.19N ............................ (see 2019May09-reference) │   │   ├── SEPT1290.19O ............................ (see 2019May09-reference) │   │   └── SEPT1291.19O ............................ (see 2019May09-reference) │   ├── atlans │   │   ├── ground_truth.log ........................ ATLANS-C post-processed trajectory of IMU frame origin │   │   └── imu.log ................................. Raw acceleration and angular rate measurements from the ATLANS-C │   ├── bosch │   │   └── bosch_imu.log ........................... Raw acceleration and angular rate measurements from the Bosch BMX055 │   ├── camera │   │   ├── images.h5 ............................... Stereo camera images in HDF5 format │   │   ├── read_hdf5.m ............................. Example MATLAB script to read camera images and their attributes │   │   └── read_hdf5.py ............................ Example Python script to read camera images and their attributes │   ├── lord │   │   └── lord_imu.log ............................ Raw acceleration and angular rate measurements from the LORD MicroStrain │   ├── ntlab │   │   ├── antennaPcv.yml .......................... Phase center calibration data for the GNSS antenna │   │   ├── bitpacking.pdf .......................... (see 2019May09-reference) │   │   ├── ntlab.sdrx .............................. (see 2019May09-reference) │   │   └── ntlab.bin ............................... (see 2019May09-reference) │   ├── radiolynx │   │   ├── antennaPcv.yml .......................... Phase center calibration data for the GNSS antennas │   │   ├── bitpacking.pdf .......................... (see 2019May09-reference) │   │   └── radiolynx.bin ........................... (see 2019May09-reference) │   └── ublox │   └── ublox.ubx ............................... (see 2019May09-reference) │ ├── 2019May12-reference │ ⋮ ............................................... (see 2019May09-reference) ├── 2019May12-rover │ ⋮ ............................................... (see 2019May09-rover) │ ├── camera-calibration-mono │   └── camera │   ├── aprilgrid.yaml .......................... Calibration pattern parameters (see https://github.com/ethz-asl/kalibr) │   └── images.h5 ............................... Stereo camera images in HDF5 format ├── camera-calibration-stereo │   └── camera │   ├── checkerboard.yaml ....................... Calibration pattern parameters │   └── images.h5 ............................... Stereo camera images in HDF5 format │ └── extrinsics └── extrinsic_calibration.pdf ................... CAD drawing with mechanical design and dimensions of the Sensorium