QuintaReiFMD - ROS1 bag dataset acquired with AgRob V16 in a portuguese forest

QuintaRei Forest Multimodal Dataset (QuintaReiFMD)

These ROS bags were acquired using AgRob V16 (from Laboratory of Robotics and IoT for Smart Precision Agriculture and Forestry, from INESC TEC) in a Portuguese Forest. The data that they hold are from:

Velodyne LiDAR

OAK-D camera

ZED stereo camera

FLIR M232 thermal camera

The data are stored in the following main topics:

### Velodyne
/agrobv18/velodyne_packets [velodyne_msgs/VelodyneScan]
/agrobv18/velodyne_points [sensor_msgs/PointCloud2]

### OAK-D
/rgb_left_depth_publisher/color/camera_info [sensor_msgs/CameraInfo]
/rgb_left_depth_publisher/color/image/compressed [sensor_msgs/CompressedImage]
/rgb_left_depth_publisher/left/camera_info [sensor_msgs/CameraInfo]
/rgb_left_depth_publisher/right/camera_info [sensor_msgs/CameraInfo]
/rgb_left_depth_publisher/stereo/camera_info [sensor_msgs/CameraInfo]
/rgb_left_depth_publisher/stereo/depth [sensor_msgs/Image]

### FLIR
/rtsp2/camera_info [sensor_msgs/CameraInfo]
/rtsp2/image_raw/compressed [sensor_msgs/CompressedImage]

### ZED
/zed_nano/zed_node/depth/camera_info [sensor_msgs/CameraInfo]
/zed_nano/zed_node/depth/depth_registered/compressedDepth [sensor_msgs/CompressedImage]
/zed_nano/zed_node/left/camera_info [sensor_msgs/CameraInfo]
/zed_nano/zed_node/left/image_rect_color/compressed [sensor_msgs/CompressedImage]
/zed_nano/zed_node/right/camera_info [sensor_msgs/CameraInfo]
/zed_nano/zed_node/right/image_rect_color/compressed [sensor_msgs/CompressedImage]