diff --git a/scans/blue_cylinder/converted/.dataset_manifest.lock b/scans/blue_cylinder/converted/.dataset_manifest.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/scans/blue_cylinder/converted/README.md b/scans/blue_cylinder/converted/README.md new file mode 100644 index 0000000000000000000000000000000000000000..90e61b81100ad0780fa5b4c30f6abc8ae17c313a --- /dev/null +++ b/scans/blue_cylinder/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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a/scans/blue_cylinder/recon/blue_cylinder_v1/sparse/0/cameras.txt b/scans/blue_cylinder/recon/blue_cylinder_v1/sparse/0/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..220047746b98dd7f11a3462c1ea49a4249d59791 --- /dev/null +++ b/scans/blue_cylinder/recon/blue_cylinder_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 1462.361572265625 1462.361572265625 1172.2916259765625 609.01123046875 diff --git a/scans/blue_cylinder/recon/blue_cylinder_v1/sparse/0/frames.txt b/scans/blue_cylinder/recon/blue_cylinder_v1/sparse/0/frames.txt new file mode 100644 index 0000000000000000000000000000000000000000..afc6a1977a49b1f43bd8c53d1ec700a29dddad43 --- /dev/null +++ b/scans/blue_cylinder/recon/blue_cylinder_v1/sparse/0/frames.txt @@ -0,0 +1,618 @@ +# 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: 615 +1 1 0.99729181743148498 0.032832605696672831 0.063634378911544928 0.016784418605196125 1.012350276220888 -2.041717142332037 3.5807242367238787 1 CAMERA 1 1 +2 1 0.99314682073271976 0.033753177005728843 0.11080794297327248 0.015547195391547506 1.0277671671601532 -2.0381725308862402 3.5004216626264411 1 CAMERA 1 2 +3 1 0.99357838037186197 0.033818104260297174 0.10684787767591927 0.015552135480996741 1.0495557625077703 -2.0402859713669339 3.5052691137253857 1 CAMERA 1 3 +4 1 0.99664935833487855 0.033304679187400245 0.07295890314710371 0.016057812007579955 1.030815990307244 -2.0443500539852528 3.562292116611733 1 CAMERA 1 4 +5 1 0.99729009264627855 0.032914480660766215 0.063624495963287897 0.016763996713992948 1.0121481190903883 -2.0423551697962785 3.58029218682716 1 CAMERA 1 5 +6 1 0.99493781020666283 0.033596607681278132 0.093411885606942954 0.015628224494053763 1.0547651908379843 -2.0427553208839964 3.5288004770689381 1 CAMERA 1 6 +7 1 0.99076480405055711 0.034191021273206175 0.13039838891800531 0.014571797642873936 0.96235393405909908 -2.037011083032843 3.4836364197322451 1 CAMERA 1 7 +8 1 0.98562771261902116 0.034855644364401445 0.16483963238806745 0.01228787074743146 0.86817604581357566 -2.0294867960677667 3.4542421371063545 1 CAMERA 1 8 +9 1 0.98022704287657392 0.035831362737741408 0.19421216070816255 0.012356961231242346 0.87254845941426695 -2.0282729531539294 3.4308638421819424 1 CAMERA 1 9 +10 1 0.98890542919599922 0.034498072135638359 0.14382814321531737 0.013762279783340232 0.9181865472729388 -2.0335450825233212 3.4666345439585111 1 CAMERA 1 10 +11 1 0.991304060662071 0.034074799597774041 0.12621649713030475 0.014985432907208152 0.97561128540616349 -2.0369789067364006 3.4870857662347312 1 CAMERA 1 11 +12 1 0.98241719060269028 0.035427696649798612 0.18289280954802442 0.012311057389082246 0.8916521744424305 -2.0319882520266748 3.4425200559656934 1 CAMERA 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0000000000000000000000000000000000000000..4d359770a6ab76c1e7cb95c8ee09923085a311f5 --- /dev/null +++ b/scans/blue_cylinder/recon/blue_cylinder_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 diff --git a/scans/blue_cylinder/recon/blue_cylinder_v1/stereo/calibration.json b/scans/blue_cylinder/recon/blue_cylinder_v1/stereo/calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..d3384d2808b0f2eb6da398232311c6362f820875 --- /dev/null +++ b/scans/blue_cylinder/recon/blue_cylinder_v1/stereo/calibration.json @@ -0,0 +1,13 @@ +{ + "fx": 1462.361572265625, + "fy": 1462.361572265625, + "cx": 1172.2916259765625, + "cy": 609.01123046875, + "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/blue_cylinder/converted/sessions/session_20261029_165810_867787", + "frames": 632 +} \ No newline at end of file