Data Recorder

The following data can currently be recorded through the Viewer.

A - in the Viewer Field column indicates that the data is always saved with every recording. Topbot, Disparity, and Left Rectified are enabled by default in the Viewer.

Viewer Field	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.
Topbot	topbot	Contains the raw colored left and right images stacked vertically; saved in TIFF format.
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.
Depth	depth	Stores the depth image in TIFF format.
Color Depth Map	depth-colormap	Stores the color blended depth map in TIFF format.
Grid Detect Data	tracked-objects	Contains YAML files with ID, bounding box, velocity and occupancy cells for objects in the scene. This is available only with Grid Detect enabled.
BEV Image	obstacle-bev-colored	Stores the BEV view in TIFF format.
Grid Detect Image	obstacle-detector	Stores the visualization of the Grid Detect Data in TIFF format. This is available only with Grid Detect enabled.
Occupancy Map	occupancy-map & occupancy-data	Stores the binary occupancy map and metadata in TIFF format. This is available only with Grid Detect enabled.