The folder for each run contains sub-folders (a, b, c,...) with the segments of the run, the contents of which was extracted from one Intel RealSense BAG file.
The subfolder contains three entries: a metadata file in CSV format, a folder with grayscale depth maps in PNG format, and a folder with the RGB images in PNG format.
The IMU, GPS and encoder data corresponding to each image are saved in the CSV file.
For example, the folder structure for Run 2 is as follows:
└── Run-2
    ├── a
    │   ├── metadata.csv
    │   ├── depth_image
    │   └── rgb_image
    ├── b
    │   ├── metadata.csv
    │   ├── depth_image
    │   └── rgb_image
    ├── c
    │   ├── metadata.csv
    │   ├── depth_image
    │   └── rgb_image
    ├── d
    │   ├── metadata.csv
    │   ├── depth_image
    │   └── rgb_image
    └── e
        ├── metadata.csv
        ├── depth_image
        └── rgb_image

The metadata contains IMU, GPS and wheel encoder data, except as noted in the table below,
where double dashes (--) indicate missing meta data.

| Run/Segment | GPS | IMU | Encoder |
|-------------+-----+-----+---------|
| 1a          |     |     |         |
| 1b          |     |     |         |
| 1c          |     |     |         |
|-------------+-----+-----+---------|
| 2a          |     |     | --      |
| 2b          |     |     | --      |
| 2c          |     |     | --      |
| 2d          |     |     | --      |
| 2e          |     |     | --      |
|-------------+-----+-----+---------|
| 3a          | --  |     | --      |
| 3b          |     |     |         |
| 3c          | --  |     | --      |
| 3d          |     |     |         |
| 3e          |     |     |         |
|-------------+-----+-----+---------|
| 4a          |     |     |         |
| 4b          |     |     |         |
| 4c          |     |     |         |
|-------------+-----+-----+---------|
| 5a          | --  |     | --      |
| 5b          |     |     |         |
| 5c          |     |     |         |
| 5d          |     |     |         |
| 5e          | --  |     | --      |
| 5f          |     |     |         |
|-------------+-----+-----+---------|