diff --git a/scans/metal_chain/converted/.dataset_manifest.lock b/scans/metal_chain/converted/.dataset_manifest.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/scans/metal_chain/converted/README.md b/scans/metal_chain/converted/README.md new file mode 100644 index 0000000000000000000000000000000000000000..90e61b81100ad0780fa5b4c30f6abc8ae17c313a --- /dev/null +++ b/scans/metal_chain/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..a9054c769020d27edf0d6ff6b2165d1d6361ec72 --- /dev/null +++ b/scans/metal_chain/recon/metal_chain_v1/images/004601.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0cb16d719fa21ccc6982c08a9d3ecc5cf746cedb99e0cfec5c5233d483948b41 +size 4148240 diff --git a/scans/metal_chain/recon/metal_chain_v1/sparse/0/cameras.txt b/scans/metal_chain/recon/metal_chain_v1/sparse/0/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..5f0abf117c0e55be076b2798826e6195e886bc88 --- /dev/null +++ b/scans/metal_chain/recon/metal_chain_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 1461.604248046875 1461.604248046875 1172.29296875 609.0234375 diff --git a/scans/metal_chain/recon/metal_chain_v1/sparse/0/frames.txt b/scans/metal_chain/recon/metal_chain_v1/sparse/0/frames.txt new file mode 100644 index 0000000000000000000000000000000000000000..f8e22e0eaee569c756233ea7ffd165a4cc5db54e --- /dev/null +++ b/scans/metal_chain/recon/metal_chain_v1/sparse/0/frames.txt @@ -0,0 +1,512 @@ +# 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: 509 +1 1 0.99925582232436816 0.0080789854643727975 -0.036155776504498874 -0.010737381900353823 1.5503432280307448 -1.4944027651861573 3.9659583872375066 1 CAMERA 1 1 +2 1 0.99909854657584551 0.0081261490543646578 -0.04028367773204642 -0.010643553915868806 1.5271329697693641 -1.494083456374742 3.9767951987931367 1 CAMERA 1 2 +3 1 0.9991035151767016 0.0080014643242034798 -0.040346047164317798 -0.010016936080541716 1.5285420944240697 -1.4910307078634362 3.9775967660231455 1 CAMERA 1 3 +4 1 0.99969906942101416 0.0080976094740366419 -0.020533529965795234 -0.010703899602860768 1.5185194269638498 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3.864528647543755 1 CAMERA 1 10 +11 1 0.99990776712137075 0.0082096271444984242 -0.0011207090231736879 -0.010761193418412156 1.3415723768399996 -1.4910723773620271 3.8683803653777753 1 CAMERA 1 11 +12 1 0.99936387496828316 0.0082195434334513002 -0.032961828304608212 -0.010853680893630428 1.5197035448283194 -1.4922313462664114 3.9496122902647315 1 CAMERA 1 12 +13 1 0.9987242010800752 0.0082442073801676109 0.048857420010661332 -0.0097445231561276071 1.2596467904413973 -1.4883311269155315 3.8510791370416366 1 CAMERA 1 13 +14 1 0.9944658666763766 0.0077048293652407169 0.10426983121304748 -0.010299413520113059 1.4726810020528738 -1.4849024098589378 3.7233706686399759 1 CAMERA 1 14 +15 1 0.9974317860769889 0.0080823945326152762 0.070466820279878689 -0.0099465703401044239 1.34068109996395 -1.4864828008673645 3.808876750357955 1 CAMERA 1 15 +16 1 0.9917386324770805 0.0072682716362464364 0.1276666820577102 -0.010142749739973339 1.5166185795942801 -1.4854594553201537 3.6532768304569125 1 CAMERA 1 16 +17 1 0.99139787169540605 0.0073162005237448601 0.1302836753666281 -0.010143822784281711 1.4963736877432516 -1.4846994546564889 3.6601903454559337 1 CAMERA 1 17 +18 1 0.98561846636700079 0.0070422597186897695 0.16853568639571542 -0.010117694675218043 1.4215821211199287 -1.4826356277076578 3.6299765067530254 1 CAMERA 1 18 +19 1 0.98439282590523958 0.0068861377605644479 0.17556094906690134 -0.010084571174233954 1.4229247168323413 -1.481302877361222 3.6169156471355421 1 CAMERA 1 19 +20 1 0.98866361785243073 0.0073474842601162337 0.14961852900951195 -0.010225506687698562 1.4353110099923196 -1.4825339783882583 3.6708265429098268 1 CAMERA 1 20 +21 1 0.97850727941315729 0.0064667722956976851 0.2058605056833975 -0.010155648246807683 1.5199165851817467 -1.4792728536903355 3.5439713346544326 1 CAMERA 1 21 +22 1 0.98096771690555107 0.0064693758941162215 0.19380613602609295 -0.0099833462970517588 1.4507930965122933 -1.4789055465739314 3.5713157592877063 1 CAMERA 1 22 +23 1 0.98159075189472589 0.0066228473265608758 0.19061268376267729 -0.010126128422331926 1.466188504191871 -1.480526930792337 3.5821495077978724 1 CAMERA 1 23 +24 1 0.98921836318821854 0.0072661001728491778 0.14591319168440178 -0.010177141640510144 1.4473188373955512 -1.4834393466792153 3.6677268494836959 1 CAMERA 1 24 +25 1 0.96326283923994083 0.0056912154541870217 0.26832618635086442 -0.0096628321139927732 1.6643964584360629 -1.4774560546144371 3.3810032496821458 1 CAMERA 1 25 +26 1 0.97237277499590991 0.0061265702340573209 0.23314159483823976 -0.0099321870805447951 1.6463099982027825 -1.478464337816451 3.4663593088208473 1 CAMERA 1 26 +27 1 0.96408463743618467 0.0057132835341432639 0.26535403226256427 -0.0097676922963834383 1.6846388735290305 -1.4773014857718718 3.3876999879731731 1 CAMERA 1 27 +28 1 0.96123254250560131 0.0056412922100316162 0.27551420313695713 -0.0095968182345037515 1.6524380391451883 -1.4773905665582663 3.3561778860691205 1 CAMERA 1 28 +29 1 0.95756831612079396 0.0058263948200459777 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-0.02364182060110365 0.96580905023097319 0.21471623302473553 0.64554485305784304 2.1320478512694452 -0.35246591749237621 1 CAMERA 1 518 diff --git a/scans/metal_chain/recon/metal_chain_v1/sparse/0/rigs.txt b/scans/metal_chain/recon/metal_chain_v1/sparse/0/rigs.txt new file mode 100644 index 0000000000000000000000000000000000000000..4d359770a6ab76c1e7cb95c8ee09923085a311f5 --- /dev/null +++ b/scans/metal_chain/recon/metal_chain_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