Data Recorder

The following data can currently be recorded through the Viewer.

Topbot Raw, Disparity, and Left Rectified are enabled by default in the Viewer.

Always saved

These files are written automatically with every recording.

File/Folder	Description
config/master_config.ini	The master configuration file used for configuring Hammerhead. See Master Configuration for details.
config/intrinsics.ini	Intrinsics file for the left and right cameras. See Intrinsics for details.
config/extrinsics.ini	Extrinsics between the left and right camera. See Extrinsics for details.
config/version.ini	Version of the software.
details	Stores metadata in YAML format. These YAML files provide additional information about the dataset, such as timestamps, reprojection matrix and the disparity/rectified to raw camera rotation matrix.

Source

Pick at most one between Topbot and Topbot Raw. Topbot Raw saves whatever the source delivers before any demosaicing — for Bayer-capable sources that means a single-channel mosaic at ~1/3 the data of the demosaiced Topbot, with full sensor fidelity.

Viewer Field	File/Folder	Description
Topbot	topbot	Vertically stacked RGB left + right image; saved in TIFF format.
Topbot Raw	topbot_raw	Vertically stacked raw left + right image as the source delivers them; saved in TIFF format.

Hammerhead

Point cloud reconstruction offline needs Disparity + Left Rectified.

Viewer Field	File/Folder	Description
Disparity	disparity	Contains disparity maps in unsigned 16-bit format. They are saved as uncompressed TIFF files.
Left Rectified	left-rect	Left rectified images; saved in uncompressed TIFF format.
Confidence	confidence-map	Stores the confidence map in TIFF format.

Grid Detect

Available only with Grid Detect enabled.

Viewer Field	File/Folder	Description
Grid Detect Data	tracked-objects	Contains YAML files with ID, bounding box, velocity and occupancy cells for objects in the scene.
Occupancy Map	occupancy-map & occupancy-data	Stores the binary occupancy map and metadata in TIFF format.