diff --git a/scans/black_pulley_holder/converted/.dataset_manifest.lock b/scans/black_pulley_holder/converted/.dataset_manifest.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/scans/black_pulley_holder/converted/README.md b/scans/black_pulley_holder/converted/README.md new file mode 100644 index 0000000000000000000000000000000000000000..90e61b81100ad0780fa5b4c30f6abc8ae17c313a --- /dev/null +++ b/scans/black_pulley_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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mode 100644 index 0000000000000000000000000000000000000000..f1046e42241a07104b9d10de8a44c681e7556c70 --- /dev/null +++ b/scans/black_pulley_holder/recon/black_pulley_holder_v1/sparse/0/frames.txt @@ -0,0 +1,635 @@ +# 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: 632 +1 1 0.9173237383988484 0.020019615095631715 -0.39763209564373325 -0.0022562126133974856 0.10199186487235255 -0.91824894900210918 1.9598014621485214 1 CAMERA 1 1 +2 1 0.94346347699663735 -0.0026939124640539959 -0.33126200992908572 0.01161426651984703 0.47948385059463328 -0.81131693193218457 1.9345896566993899 1 CAMERA 1 2 +3 1 0.94289100436126583 -0.0027574729163022458 -0.33288721066283877 0.011621325863871013 0.47316849831440339 -0.81182872499001035 1.9359007516272428 1 CAMERA 1 3 +4 1 0.94564698711821349 -0.001292093643485305 -0.32513821797181647 0.0059367888941331643 0.20103401707339494 -0.82712165368035684 1.9731112874862402 1 CAMERA 1 4 +5 1 0.94289019510926853 -0.0027564026339241612 -0.33288939929365907 0.011624545119355798 0.47272732302683212 -0.81185932870744537 1.9357508047676446 1 CAMERA 1 5 +6 1 0.9299302739752201 0.030689039184376578 -0.36340766705226557 0.047145900627111798 0.3555698159710694 -0.87526403249793339 1.9578767761484734 1 CAMERA 1 6 +7 1 0.976726218814296 8.0985048824654804e-06 -0.21437752372458149 0.0069405141638752728 0.3734682559388155 -0.82751917691216081 1.9516954458086833 1 CAMERA 1 7 +8 1 0.93876214535209701 -0.0014576698322247123 -0.34450153927949506 0.0064960824076701947 0.23610288957962891 -0.82760521159559564 2.0033551884206084 1 CAMERA 1 8 +9 1 0.97848569401664209 -7.8305224865092983e-06 -0.2061988063502489 0.0069136678533179294 0.35609466819622082 -0.82807299317135807 1.9441544803884423 1 CAMERA 1 9 +10 1 0.96454331121370951 -0.0010866327144410499 -0.26365422610431544 0.011894077499811679 0.70195639155793776 -0.81757920077968571 1.8934274346911402 1 CAMERA 1 10 +11 1 0.96057386726772409 -0.0018529309721577708 -0.27776444754946839 0.011887970671231769 0.65275384023199412 -0.8145690994788598 1.9056261291476297 1 CAMERA 1 11 +12 1 0.97251998225004932 -0.00024208542924101858 -0.23270912311414169 0.0071616714847919424 0.40581287490953249 -0.82483501546034843 1.9630107103377132 1 CAMERA 1 12 +13 1 0.98061522243658805 0.00055521788656390388 -0.19568151283573762 0.01011052882180846 0.63933427863112746 -0.82412485065339458 1.9116878950392193 1 CAMERA 1 13 +14 1 0.98441873991400342 0.00028863989814335161 -0.17569574850080283 0.0071179457624786233 0.28222714070174337 -0.82859009517371773 1.9067306484614566 1 CAMERA 1 14 +15 1 0.97980578261843843 0.00017110177560256213 -0.19982558773385992 0.0070946147512893935 0.30526877457137491 -0.82908624312909884 1.9336537546250137 1 CAMERA 1 15 +16 1 0.98266625297711352 0.00017020464333203475 -0.18524498499443903 0.0071625292117502093 0.29720570695343035 -0.82864359225676498 1.9176452691742538 1 CAMERA 1 16 +17 1 0.98991764627277234 0.00091136869718321184 -0.14139573397050206 0.0083348317208823165 0.26110787660889884 -0.82635436863003675 1.8726368430268463 1 CAMERA 1 17 +18 1 0.9870677106833029 0.00046094066790281754 -0.16012510409502834 0.0075546739625622439 0.26134735331472059 -0.82768164272968381 1.8914526762229356 1 CAMERA 1 18 +19 1 0.987379048218051 0.00039155983620949123 -0.15818420310361744 0.0077601359127226254 0.2644053005222054 -0.82777779872696955 1.8925872770206402 1 CAMERA 1 19 +20 1 0.98992074320235279 0.00096453298111383887 -0.141381268881898 0.0082054045100936144 0.26097406138842694 -0.82686978663750099 1.8722844192379777 1 CAMERA 1 20 +21 1 0.98608368441368366 0.0004311062876394761 -0.16609360492868186 0.0071899848608076395 0.27655555200309129 -0.82870396373400923 1.8987529290538301 1 CAMERA 1 21 +22 1 0.99187194448909322 0.0010531437213204466 -0.1269549435278306 0.0084486056585019922 0.24284018853956071 -0.82287663642925146 1.8496257018925273 1 CAMERA 1 22 +23 1 0.9982238962542006 0.0011634977902481719 -0.058956697859897489 0.0084739009571765944 0.33309574469896736 -0.82588386350568932 1.8476555164050905 1 CAMERA 1 23 +24 1 0.99647126022040633 0.00093945620089042807 -0.083491407053516126 0.0085632893811961857 0.32665397791256789 -0.82385529079665898 1.8451365728662779 1 CAMERA 1 24 +25 1 0.99186533752304007 0.0012252372311879662 -0.12702593740322796 0.0081278681623506172 0.24186982434291096 -0.8240775419105536 1.8497845156305264 1 CAMERA 1 25 +26 1 0.99598033337323022 0.00096579778837289118 -0.089191497499774605 0.0081926517153417169 0.30502527194124829 -0.82454723369085037 1.8478270816273505 1 CAMERA 1 26 +27 1 0.99846508320167038 0.0014361611267104902 -0.054766743000862907 0.0081252033437367085 0.34609806933715032 -0.82820242816502676 1.8483655778581054 1 CAMERA 1 27 +28 1 0.998217360310234 0.0012571955438588742 -0.059100343166108731 0.0082262064331855393 0.33201313836748375 -0.82676385650470519 1.8482421224670729 1 CAMERA 1 28 +29 1 0.99962691040191709 0.00169525255958281 -0.025669678494362594 0.0091778932807646766 0.26162246211436924 -0.8279807405597408 1.9000949279455492 1 CAMERA 1 29 +30 1 0.99908339156440906 0.0013842941532331283 -0.041800192886075699 0.0091216393560608153 0.28886369049958971 -0.82768012944747205 1.8930602304264406 1 CAMERA 1 30 +31 1 0.99908453747380721 0.001364782389421001 -0.041747423673111503 0.0092399657161718832 0.28928682977664466 -0.8274818883916325 1.8925895370625487 1 CAMERA 1 31 +32 1 0.99962683609742353 0.0016983040135819165 -0.025665009427798261 0.0091984568490248927 0.26158603324222546 -0.82813867383003481 1.9003708496633169 1 CAMERA 1 32 +33 1 0.99962753975071195 0.0016417661494254067 -0.025660824216590127 0.0091437670779011687 0.26155379595109285 -0.82788982114469878 1.9006071542005563 1 CAMERA 1 33 +34 1 0.99962958640547706 0.0017145782435708955 -0.025636876239914997 0.0089722227413717905 0.26136771963618649 -0.82827105210147145 1.9004666464027216 1 CAMERA 1 34 +35 1 0.99995731361609408 0.0021967617302303902 0.00025848499915852324 0.0089709736980052995 0.26663571319475976 -0.82704060600173523 1.8996372015720377 1 CAMERA 1 35 +36 1 0.99954697217443444 0.0028201683524142693 0.028555434618281542 0.0090820824233976607 0.27656205257503486 -0.82745262467384761 1.9032046065516413 1 CAMERA 1 36 +37 1 0.99995618941134068 0.0020385979333716795 0.00041519229163056452 0.0091263898545902427 0.2674728049194523 -0.82644123074864795 1.9001630262925133 1 CAMERA 1 37 +38 1 0.99660120669647534 0.0034012905414789979 0.081729624522161634 0.0097331654279696235 0.28472657198285434 -0.82760879597472925 1.900986165786789 1 CAMERA 1 38 +39 1 0.9995516928684739 0.0029664305145291822 0.028423190107517173 0.008929492588183199 0.27601630372313463 -0.82816699477329581 1.9022369263061338 1 CAMERA 1 39 +40 1 0.99793687506477213 0.0031392828204322397 0.063447706743381682 0.0093019781948144326 0.2471806295293589 -0.82857707346508747 1.9010337954412624 1 CAMERA 1 40 +41 1 0.99882591871678805 0.0030015526715710342 0.047571977693804203 0.00864185856308489 0.26176611300031261 -0.82740128879812069 1.9039238701606169 1 CAMERA 1 41 +42 1 0.99764184847838522 0.0034402987969427744 0.067898638362445779 0.0094170811478003751 0.2319825137401719 -0.82753896288607509 1.9050340705750386 1 CAMERA 1 42 +43 1 0.99292947847306789 0.0042467010574053846 0.11820632817538228 0.010014004624736868 0.33659028656584961 -0.82742606538434915 1.9025821703892918 1 CAMERA 1 43 +44 1 0.99625743251309562 0.0030710121478074999 0.085806974972300887 0.0099428412893797658 0.30069034817462154 -0.82618931407392415 1.8992631107293183 1 CAMERA 1 44 +45 1 0.99660221361799539 0.003646154607762817 0.081719948085194657 0.0096220295801346285 0.28447887768361346 -0.82861275199577011 1.9005733906679507 1 CAMERA 1 45 +46 1 0.99884092221238807 0.0030079286071423936 0.047233112017113797 0.0087634244778678275 0.25957772185585332 -0.82732036448552659 1.906317721864788 1 CAMERA 1 46 +47 1 0.99291761386373711 0.0039403050350122742 0.11830695579221628 0.010126711536940674 0.33700291987724845 -0.82644172058664556 1.9032009005458066 1 CAMERA 1 47 +48 1 0.98848768236934959 0.0045056359212522143 0.15090086446999332 0.010036441163376311 0.34166840673715587 -0.82748896096273483 1.8934196566210317 1 CAMERA 1 48 +49 1 0.98463824816484657 0.004687049353531824 0.17427752541221633 0.009638254790879295 0.36134172881120513 -0.82709274056478566 1.8766736070365972 1 CAMERA 1 49 +50 1 0.98843428536274236 0.0046554100564994202 0.15125193473369353 0.0099419774675562466 0.34256506604130132 -0.82833382447073745 1.8929347161472683 1 CAMERA 1 50 +51 1 0.98448873523205904 0.0047078440882767462 0.17511511977986158 0.0097191167142901685 0.35425925079968917 -0.82659462547268048 1.8806505651698622 1 CAMERA 1 51 +52 1 0.98446618541146635 0.004604163023476375 0.17521694429239207 0.010205581663299598 0.35556027667048967 -0.82629689781087345 1.8812295564741441 1 CAMERA 1 52 +53 1 0.98448157074000775 0.0047848164657244494 0.17514736457704608 0.0098256341470590678 0.35433333078125495 -0.82690308098475418 1.8810098906378494 1 CAMERA 1 53 +54 1 0.9806775577704302 0.004743714578771146 0.19532269138164618 0.0099030848148421759 0.2960307346679954 -0.82562758404165382 1.880242859792201 1 CAMERA 1 54 +55 1 0.97662374252629924 0.0049366502592509609 0.21464612592178201 0.010427638510856338 0.26391197681376055 -0.82620232487373557 1.888132623081322 1 CAMERA 1 55 +56 1 0.97606475955140204 0.0051418714143880223 0.21716320772854142 0.010549290462968852 0.24577101363085752 -0.82660858486147804 1.891262993699361 1 CAMERA 1 56 +57 1 0.97252014665579967 0.0057916182516383205 0.23250278286964268 0.010652580179515996 0.29394609991649856 -0.82820349947931793 1.8902500723375959 1 CAMERA 1 57 +58 1 0.97518247618368947 0.0054163616116396328 0.221070743840174 0.010841004985332822 0.26151145290859495 -0.82776730400894027 1.8894902847811599 1 CAMERA 1 58 +59 1 0.9806646234329266 0.0039263137138798795 0.19538492405752797 0.010305913778534475 0.29716381221053512 -0.82248994211143633 1.8810502757614873 1 CAMERA 1 59 +60 1 0.95757250131820759 0.006558790854106435 0.28790538654214104 0.011062340699143716 0.34660106349282377 -0.8295039389033172 1.9102991078100571 1 CAMERA 1 60 +61 1 0.95695844904814387 0.0065302180835918816 0.28994172831382048 0.011030740208464925 0.35543413704412097 -0.82944935826870159 1.9087757640931562 1 CAMERA 1 61 +62 1 0.96801706156055656 0.0058932816777661204 0.25058045402486728 0.010847756423503142 0.30841960759570874 -0.82901650333265187 1.8890553876649474 1 CAMERA 1 62 +63 1 0.95757481467830596 0.0063767236178145937 0.28790792854511016 0.010901209592228287 0.34590377177792997 -0.8287100947212791 1.911131960837597 1 CAMERA 1 63 +64 1 0.94928449885882438 0.0070931837657274765 0.31412575544816101 0.011560135576129851 0.30836618668983684 -0.83023670753304968 1.984280601839822 1 CAMERA 1 64 +65 1 0.94982775393269137 0.0067120786630238422 0.31251895037075095 0.010681363132318057 0.3003608897714885 -0.82772892129440578 1.9854624284708027 1 CAMERA 1 65 +66 1 0.94159853230786816 0.0068254285167515102 0.33650434079084524 0.010509334429458927 0.28630184780455104 -0.82595446309528675 1.9866088635293782 1 CAMERA 1 66 +67 1 0.93219433103427241 0.0074098133429630238 0.36173168472417683 0.010440886954498444 0.29139119896109356 -0.82947311410201563 2.0003743431791934 1 CAMERA 1 67 +68 1 0.94163013363411674 0.0067696036778215427 0.33642652555624658 0.010200823515435307 0.28546636370942291 -0.82563890342126878 1.9862697766479951 1 CAMERA 1 68 +69 1 0.93217266665846743 0.0074883052188119761 0.36178358480736245 0.010520579058494404 0.29179532601861574 -0.8296373710505478 2.0006707127412153 1 CAMERA 1 69 +70 1 0.89540170175631462 0.0083235959308119722 0.44505167324763284 0.010747947811497712 0.44035701688842172 -0.82568390047086593 1.995530175279826 1 CAMERA 1 70 +71 1 0.91415859633747532 0.0080275191774046746 0.40512457202884233 0.011122086881552159 0.35794822795909154 -0.82910761354901785 2.0053016365433627 1 CAMERA 1 71 +72 1 0.9302724501794688 0.0075456984055478054 0.3666501725329081 0.010192244809112246 0.30539733687414833 -0.82858072594890875 2.0022995646862825 1 CAMERA 1 72 +73 1 0.89540908931042384 0.0081949560898428898 0.44504655729600101 0.010438741013173332 0.43985148878771407 -0.82475311347835134 1.9959282869201846 1 CAMERA 1 73 +74 1 0.91419934147696957 0.0080795601342547752 0.40503299913689705 0.011070427330614183 0.35760784207198759 -0.82930229351890716 2.0051806821605092 1 CAMERA 1 74 +75 1 0.88552583872755486 0.008198694110964749 0.46439029039723906 0.010882488019914425 0.4621373742087998 -0.82526038826928527 1.9885135260804527 1 CAMERA 1 75 +76 1 0.88914355117434174 0.0081831273417493772 0.45744037296886575 0.010251195544645618 0.46924445227619183 -0.82306454510385119 1.9939698295320638 1 CAMERA 1 76 +77 1 0.87934589806702712 0.008199884762591295 0.47598882115496316 0.010871778975049366 0.47644382503550009 -0.8266204035985727 1.9819557998145765 1 CAMERA 1 77 +78 1 0.87275493827642048 0.0082643812597787657 0.48798191989803236 0.010206055513516075 0.49271884457451193 -0.82486449169336906 1.9767218584987494 1 CAMERA 1 78 +79 1 0.86324201655560517 0.0084561550066132758 0.50462347953551601 0.0098416562114848703 0.52429924262333638 -0.82663502039938286 1.9654332958261462 1 CAMERA 1 79 +80 1 0.85806708873067306 0.0086590476905439983 0.51337287724031155 0.0097046918737512099 0.53098337075659141 -0.82697400389314801 1.9568991184427911 1 CAMERA 1 80 +81 1 0.81580012609092101 0.0096060429981725728 0.57816385197233222 0.010219514688563162 0.59025516081573404 -0.83547888662253855 1.8645838796148286 1 CAMERA 1 81 +82 1 0.85274791277472162 0.0087549941897403661 0.52216018510563733 0.0096482343224078542 0.52869777621467018 -0.82782995800644932 1.9408888174164058 1 CAMERA 1 82 +83 1 0.85036304805583385 0.0088125009809971542 0.52603445669444415 0.0096320661248116488 0.50323569994973316 -0.82830015413730307 1.9329889079232243 1 CAMERA 1 83 +84 1 0.83935089230194015 0.009064331581906589 0.5434442766481663 0.0087313036404445821 0.5054198284641489 -0.82885306694511895 1.9117998941288747 1 CAMERA 1 84 +85 1 0.84071364039409702 0.0090363401391672839 0.54134352517340945 0.008130631280567395 0.52717822315114105 -0.82742647230421384 1.92008665959373 1 CAMERA 1 85 +86 1 0.81946279737143279 0.0094773122755615318 0.57295635230317121 0.010579349302400494 0.60498761542602697 -0.83544382104711479 1.8716548999272089 1 CAMERA 1 86 +87 1 0.80927714726815136 0.0095402363803242345 0.58725348252804288 0.010622149406604688 0.57693395344340215 -0.83703047894295712 1.8541176329484428 1 CAMERA 1 87 +88 1 0.80000120750080395 0.0098661650863506416 0.59982306663809537 0.0106308754397474 0.50752761649209599 -0.83754671177823303 1.824166939501167 1 CAMERA 1 88 +89 1 0.80608762297192804 0.0096765607689063404 0.59162310388318062 0.010545672799008688 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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 diff --git a/scans/black_pulley_holder/recon/black_pulley_holder_v1/stereo/calibration.json b/scans/black_pulley_holder/recon/black_pulley_holder_v1/stereo/calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..ae33031fca0cba26d8432f1a2a154f69aaea651d --- /dev/null +++ b/scans/black_pulley_holder/recon/black_pulley_holder_v1/stereo/calibration.json @@ -0,0 +1,13 @@ +{ + "fx": 1461.951904296875, + "fy": 1461.951904296875, + "cx": 1172.2913818359375, + "cy": 609.0057373046875, + "baseline_m": 0.06304030865430832, + "width": 2208, + "height": 1242, + "left_stream_id": "zed_12933256_left_rgb", + "right_stream_id": "zed_12933256_right_rgb", + "session": "/home/shaunak/reconstruction/scans/black_pulley_holder/converted/sessions/session_20261029_170923_824462", + "frames": 673 +} \ No newline at end of file