diff --git a/scans/blue_cylinder_holder/converted/.dataset_manifest.lock b/scans/blue_cylinder_holder/converted/.dataset_manifest.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/scans/blue_cylinder_holder/converted/README.md b/scans/blue_cylinder_holder/converted/README.md new file mode 100644 index 0000000000000000000000000000000000000000..90e61b81100ad0780fa5b4c30f6abc8ae17c313a --- /dev/null +++ b/scans/blue_cylinder_holder/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..6e69cb1a6a081f13daa8e0a8fefe2e5904be55d3 --- /dev/null +++ b/scans/blue_cylinder_holder/recon/blue_cylinder_holder_v1/images/007987.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:466dec3f0c0f44aba20920d187cca32f9abbcd684df4008d8cd6b34c7fd87474 +size 4201117 diff --git a/scans/blue_cylinder_holder/recon/blue_cylinder_holder_v1/images/008007.png b/scans/blue_cylinder_holder/recon/blue_cylinder_holder_v1/images/008007.png new file mode 100644 index 0000000000000000000000000000000000000000..5203a257971aa3a58224e2adfb2867f468490590 --- /dev/null +++ b/scans/blue_cylinder_holder/recon/blue_cylinder_holder_v1/images/008007.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb60256edaf9df86a70ae862064a5b7a1cf7895dbf3b2be0c9bf9ccfe39d1686 +size 4230407 diff --git a/scans/blue_cylinder_holder/recon/blue_cylinder_holder_v1/images/008135.png b/scans/blue_cylinder_holder/recon/blue_cylinder_holder_v1/images/008135.png new file mode 100644 index 0000000000000000000000000000000000000000..6aee7c0d25a9b70d24a66e710314e965380e5be6 --- /dev/null +++ b/scans/blue_cylinder_holder/recon/blue_cylinder_holder_v1/images/008135.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ab15739ac7523ca4755d6787b6a5966056d23442e0db2865c277d61f5ec0607 +size 4278138 diff --git a/scans/blue_cylinder_holder/recon/blue_cylinder_holder_v1/sparse/0/cameras.txt b/scans/blue_cylinder_holder/recon/blue_cylinder_holder_v1/sparse/0/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..550fb07a44ebc38a1adb94068f89f1a4a1b79400 --- /dev/null +++ b/scans/blue_cylinder_holder/recon/blue_cylinder_holder_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 1462.35107421875 1462.35107421875 1172.291748046875 609.0115966796875 diff --git a/scans/blue_cylinder_holder/recon/blue_cylinder_holder_v1/sparse/0/frames.txt b/scans/blue_cylinder_holder/recon/blue_cylinder_holder_v1/sparse/0/frames.txt new file mode 100644 index 0000000000000000000000000000000000000000..8af976188df8a5c4210a3db25d70eecd6acd57ab --- /dev/null +++ b/scans/blue_cylinder_holder/recon/blue_cylinder_holder_v1/sparse/0/frames.txt @@ -0,0 +1,905 @@ +# Frame list with one line of data per frame: +# FRAME_ID, RIG_ID, RIG_FROM_WORLD[QW, QX, QY, QZ, TX, TY, TZ], NUM_DATA_IDS, DATA_IDS[] as (SENSOR_TYPE, SENSOR_ID, DATA_ID) +# Number of frames: 902 +1 1 0.99966562455948549 -0.00051745965907538363 0.025246458143982839 -0.0055666561578129967 0.24197223035835244 -2.0133149607685459 3.7035858637194159 1 CAMERA 1 1 +2 1 0.99966149036876395 -0.00043814157575439687 0.025094016378568323 -0.0068558768697717445 0.23592184978320041 -2.0142649534533295 3.7034584790086096 1 CAMERA 1 2 +3 1 0.999639780976457 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0.00043262057331373361 -0.0023985007434578431 -0.004299484800499128 0.041976997046646855 -2.0190840956832807 3.7080492818766158 1 CAMERA 1 9 +10 1 0.99960917482801948 0.00010519312224214491 0.027650670480627117 -0.0041142382071151029 0.26546131564861608 -2.0175533083625576 3.6996106299810645 1 CAMERA 1 10 +11 1 0.99998024423526877 0.0012856313382384426 -0.0046671180576553532 -0.004009526190230075 0.072254577738372947 -2.0186763987548741 3.6828796634931176 1 CAMERA 1 11 +12 1 0.99955151345568671 0.0015198368277275465 -0.029748769582571791 -0.0030777837458870125 0.077388141334916463 -2.0128881661271385 3.6841465084754441 1 CAMERA 1 12 +13 1 0.99995458004145765 0.0007960931151377845 0.0063892686017296705 -0.0070271855389722748 0.09611228122062826 -2.0224852515468856 3.7051923572729861 1 CAMERA 1 13 +14 1 0.99988722441031175 0.0013828051174500993 -0.014557204302101822 -0.0034225887800138481 0.033836508502065196 -2.0161661165788378 3.6754036338828087 1 CAMERA 1 14 +15 1 0.99986878389000522 0.0010956723141765338 -0.015893611958232818 -0.0029338717461880855 0.12661618617195239 -2.0130519201660579 3.6872376765387838 1 CAMERA 1 15 +16 1 0.99991422163470467 0.0013792634160515937 -0.012608123478420018 -0.0032683677034639393 0.10395395337306057 -2.0158111490637118 3.681097082379408 1 CAMERA 1 16 +17 1 0.9986811132183675 0.0020690616169304833 -0.051183131033534522 -0.0034698966197309273 -0.042073029113623192 -2.0126973729234194 3.6720289841406988 1 CAMERA 1 17 +18 1 0.99507003639413782 0.003215233795702422 -0.099032317131394876 -0.0042290785988561112 -0.20959317258410809 -2.0053576794715364 3.6275922590902692 1 CAMERA 1 18 +19 1 0.99222138108650237 0.002760230960739885 -0.12440518726968515 -0.0035300736864647781 -0.24972382460544848 -2.0188236629834408 3.5947707515328302 1 CAMERA 1 19 +20 1 0.99570197379038061 0.0032044003488164775 -0.092474092004327754 -0.0039816474379150927 -0.21020266231719836 -2.0072389797632946 3.6341777347731772 1 CAMERA 1 20 +21 1 0.9915138491765223 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1.4798889985335979 4.0063522866281582 1 CAMERA 1 900 +901 1 0.77452465750769606 0.46553872941257063 -0.36936966775713137 -0.21668247476550123 -0.063763460200249727 0.99110399395386772 4.0856553860581313 1 CAMERA 1 901 +902 1 0.76963124366247226 0.46600102036122748 -0.37587984552928572 -0.22186739175852682 -0.097721604036401136 0.93916483056064215 4.0898479869120639 1 CAMERA 1 902 +904 1 0.94097792352232468 0.0034171194866869114 -0.33843587686071569 -0.0031667004194064941 -1.5975137935509287 -2.0052645922258461 0.99825852365778345 1 CAMERA 1 904 +905 1 0.94098126276216487 0.0031000350987910341 -0.33842469805269532 -0.0036574117692605343 -1.6011408332162447 -2.0009764311749163 1.0068077623413381 1 CAMERA 1 905 diff --git a/scans/blue_cylinder_holder/recon/blue_cylinder_holder_v1/sparse/0/rigs.txt b/scans/blue_cylinder_holder/recon/blue_cylinder_holder_v1/sparse/0/rigs.txt new file mode 100644 index 0000000000000000000000000000000000000000..4d359770a6ab76c1e7cb95c8ee09923085a311f5 --- /dev/null +++ b/scans/blue_cylinder_holder/recon/blue_cylinder_holder_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