diff --git a/scans/task_board/converted/.dataset_manifest.lock b/scans/task_board/converted/.dataset_manifest.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/scans/task_board/converted/README.md b/scans/task_board/converted/README.md new file mode 100644 index 0000000000000000000000000000000000000000..90e61b81100ad0780fa5b4c30f6abc8ae17c313a --- /dev/null +++ b/scans/task_board/converted/README.md @@ -0,0 +1,26 @@ +# Converted Robotics Dataset + +This dataset stores authoritative timestamps and metadata in Parquet tables and +stores frame payloads in video containers. Video presentation timestamps are not +used for synchronization; use `tables/frames.parquet` and `video_frame_idx`. + +Core loading rule: + +```text +decoded video frame k == frames.parquet row where video_frame_idx == k +``` + +Useful files: + +- `dataset_manifest.parquet`: converted sessions in this dataset root +- `sessions//metadata/streams.parquet`: stream IDs and modalities +- `sessions//metadata/videos.parquet`: stream-to-video mapping +- `sessions//tables/frames.parquet`: authoritative timestamps, + frame indices, clock domains, and hashes +- `sessions//tables/robot_states.parquet`: robot states, if present +- `sessions//metadata/calibration.json`: calibration and transform + conventions +- `sessions//metadata/validation_report.json`: validation status + +Downstream reading requires Python, NumPy, PyArrow, and PyAV/FFmpeg-compatible +decoders. 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0000000000000000000000000000000000000000..615ec0f1702e4d3ec32fd95415d28f3d2b177e5f --- /dev/null +++ b/scans/task_board/recon/task_board_v1/images/007632.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb9263eea89b300b7879edcd0f6cb7a53be55b9db019faa84b629a757394f2ea +size 4098264 diff --git a/scans/task_board/recon/task_board_v1/sparse/0/cameras.txt b/scans/task_board/recon/task_board_v1/sparse/0/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..db2fb5a226ec03687f5cbc7d07a218da5149d5a2 --- /dev/null +++ b/scans/task_board/recon/task_board_v1/sparse/0/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +1 PINHOLE 2208 1242 1464.9495849609375 1464.9495849609375 1172.28369140625 608.93994140625 diff --git a/scans/task_board/recon/task_board_v1/sparse/0/frames.txt b/scans/task_board/recon/task_board_v1/sparse/0/frames.txt new file mode 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0.99512084457714411 0.0034256614084937236 0.09543622248084789 0.024793083119530174 0.46398505503428367 -1.5512955761551213 2.3817301813925318 1 CAMERA 1 12 +13 1 0.99581406461264976 0.002656812651185083 0.086999485049157291 0.027899456398850289 0.48600481909733706 -1.5489670961435409 2.402251286240829 1 CAMERA 1 13 +14 1 0.99065916192484749 0.0043754558057943101 0.13523662319716251 0.016921466457702108 0.46398700415400973 -1.5478920081251679 2.3789998588519659 1 CAMERA 1 14 +15 1 0.99511743696834498 0.0033893882396850406 0.095445672675293927 0.024898238019453782 0.47785007125956774 -1.5516445203576383 2.3850685711224893 1 CAMERA 1 15 +16 1 0.99133340676942627 0.0044274484559186514 0.1299089806916463 0.019029741426276135 0.49658217159352624 -1.5485546731474553 2.375113839958555 1 CAMERA 1 16 +17 1 0.99036564637741598 0.0046423900130720154 0.13743155069370655 0.016337183488375005 0.40996285678399186 -1.5467756022800268 2.3972568853823626 1 CAMERA 1 17 +18 1 0.99039245824204103 0.0043460419062474661 0.13694295955720839 0.018722083344253279 0.36426486773962141 -1.5466419129202662 2.4120235191853334 1 CAMERA 1 18 +19 1 0.99010837907806915 0.0039864813106716187 0.13836180467244366 0.022924150015712762 0.31823391193093936 -1.5471698128459752 2.4223574916632344 1 CAMERA 1 19 +20 1 0.99056408280665553 0.003951741378635216 0.13467040440451528 0.025120982684002386 0.11736919017492942 -1.5475206156216101 2.4294820129641965 1 CAMERA 1 20 +21 1 0.99178280210987524 0.0038097546082033729 0.12537488364432414 0.02516938140045271 0.14097533431798945 -1.5484475459252096 2.4285756627539317 1 CAMERA 1 21 +22 1 0.9910479806586987 0.0038975216893378643 0.13101541661660965 0.025370651662364841 0.13941439398176803 -1.548739930076614 2.4289350789843258 1 CAMERA 1 22 +23 1 0.99200134936796247 0.0036780250900970489 0.12360281550649709 0.025340461370015183 0.19731595542723465 -1.5477607151494301 2.4291710332359169 1 CAMERA 1 23 +24 1 0.99069648601299065 0.003834707867679549 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CAMERA 1 812 +813 1 0.86141635800387528 0.45117188834063526 0.17902960933536771 0.14951315766751186 0.032665366574514611 -0.25771916228159436 2.58370645003248 1 CAMERA 1 813 +814 1 0.88294218243488254 0.44948183049337276 0.093629954018144612 0.098043960772775399 0.20098846256154265 -0.14669263603726526 2.4464879417451444 1 CAMERA 1 814 +815 1 0.88146095913403544 0.45410451651155392 0.090436747606810822 0.09293470981617287 0.22264561858125881 -0.15400459062991093 2.4088644846088649 1 CAMERA 1 815 +816 1 0.858722156306442 0.49673046505365087 0.061865368848086993 0.10967123366356533 0.51529003753741975 -0.095038303469398927 2.676238203696387 1 CAMERA 1 816 +817 1 0.8777740445498049 0.46197743851560208 0.087895181245789669 0.091454962309379592 0.27606626441967491 -0.13448307705871987 2.4233562014452685 1 CAMERA 1 817 +818 1 0.87544778032667225 0.46798508744013806 0.074847337033119535 0.094757680394781801 0.35960977253050985 -0.15785300891323104 2.4928781402735103 1 CAMERA 1 818 +819 1 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0.53358195697202127 0.55449892113657018 -0.65555474508991007 1.1520024506338891 3.3000696829419347 1 CAMERA 1 851 +852 1 0.43336055314046695 0.41287061675437076 0.54681110266375366 0.58543496889603708 -0.80818265232143816 0.24069975318767997 3.4629320513759132 1 CAMERA 1 852 +853 1 0.4351952394333205 0.39378338552016223 0.55058819130021586 0.59362647554132153 -0.87470058526015126 0.78916854924538238 3.3902109694543112 1 CAMERA 1 853 +854 1 0.44458422459086983 0.41938049660334997 0.55195324882772567 0.5672851817403497 -0.6239990682461205 -0.1596610928362788 3.3464735823668148 1 CAMERA 1 854 +855 1 0.44036866666362529 0.3983024198230905 0.54521637463523898 0.59175140440355367 -0.96442916413954471 0.52773305109581792 3.3896764233410823 1 CAMERA 1 855 +856 1 0.41900426528178097 0.42371495793373287 0.54288560798307506 0.59175694059616812 -0.64585612932688219 -0.18122163645191725 3.3765067292980508 1 CAMERA 1 856 +857 1 0.44643201679713601 0.40993663205840469 0.555850138221889 0.5689297284496222 -0.60812135008311186 -0.24060518882940565 3.3848766540355157 1 CAMERA 1 857 +858 1 0.41662973808532705 0.39949474815511038 0.56014271035568131 0.59419167915313986 -0.44294629658671009 -0.61967945723382623 3.4727439418316615 1 CAMERA 1 858 +859 1 0.41250429649514647 0.41158976036358957 0.53262064659660135 0.61379908875454159 -0.33495117767436988 -1.0179767237543276 3.3855779446143961 1 CAMERA 1 859 +860 1 0.99147645092224923 -0.00076807329295683964 0.12618839969755233 0.032409028245356214 -2.06068963652673 -1.5465041719697796 1.9169917514683492 1 CAMERA 1 860 +862 1 0.99496720503725378 0.00067913585592948591 0.095905428606427548 0.029016347782967349 -2.1769044641743478 -1.5368353640767733 1.7894456827729235 1 CAMERA 1 862 diff --git a/scans/task_board/recon/task_board_v1/sparse/0/rigs.txt b/scans/task_board/recon/task_board_v1/sparse/0/rigs.txt new file mode 100644 index 0000000000000000000000000000000000000000..4d359770a6ab76c1e7cb95c8ee09923085a311f5 --- /dev/null +++ b/scans/task_board/recon/task_board_v1/sparse/0/rigs.txt @@ -0,0 +1,4 @@ +# Rig calib list with one line of data per calib: +# RIG_ID, NUM_SENSORS, REF_SENSOR_TYPE, REF_SENSOR_ID, SENSORS[] as (SENSOR_TYPE, SENSOR_ID, HAS_POSE, [QW, QX, QY, QZ, TX, TY, TZ]) +# Number of rigs: 1 +1 1 CAMERA 1