Release v2: validated splits, namespaces and metadata

DATASET_CARD.md

@@ -0,0 +1,15 @@
+# Rubber Tree 3D LiDAR Dataset
+
+Bộ dữ liệu gồm 7,517 frame mô phỏng Gazebo từ hai bố trí: S5K/hàng cong (5,545 frame) và hàng thẳng (1,972 frame). LiDAR mô phỏng dùng cấu hình tương đương VLP-16.
+
+## Cấu trúc và nhãn
+
+Point cloud lưu dạng float32 `N×4`; nhãn dùng `Tree h w l x y z yaw`. Manifest có dạng `frame_id;data_type`, với `rubber_tree_s5k` và `rubber_tree_straight`; tên `jrdb` legacy đã được loại bỏ vì đây không phải dữ liệu JRDB.
+
+## Split và kiểm tra
+
+Test membership lịch sử được giữ nguyên; validation được tách xác định từ train bằng seed 42. Release được kiểm tra trùng ID, trùng nội dung point cloud SHA-256, file thiếu/mồ côi và record sai schema. Xem `metadata/integrity_report.json` và `metadata/dataset_stats.json`.
+
+## Mức độ đa dạng và giới hạn
+
+Dữ liệu thể hiện hai bố trí không gian, nhiều vị trí/góc nhìn robot, khoảng cách và che khuất theo đường nhìn phát sinh tự nhiên trong cảnh. Tuy nhiên, dataset không có nhãn ground-truth về mức che khuất và source hiện có không chứng minh randomization có kiểm soát về chiều cao, đường kính, loại cây, hình học tán lá hay địa hình. Vì vậy số điểm quan sát và khoảng cách chỉ là proxy mô tả mật độ quan sát, không được diễn giải thành ground-truth occlusion. Dataset chỉ từ mô phỏng và chưa chứng minh khả năng khái quát simulation-to-real.

LICENSE_OR_TERMS.md

@@ -0,0 +1,3 @@
+# License / Terms
+
+**Tác giả cần xác nhận giấy phép trước khi phát hành công khai.** File này không cấp giấy phép sử dụng dữ liệu.

README.md

@@ -0,0 +1,3 @@
+# Rubber Tree LiDAR Dataset
+
+Xem `DATASET_CARD.md` về schema, split và giới hạn; chạy `sha256sum -c metadata/checksums.sha256` để kiểm tra file.

metadata/dataset_stats.json

@@ -0,0 +1,21 @@
+{
+  "frames": 7517,
+  "frames_by_source": {
+    "rubber_tree_s5k": 5545,
+    "rubber_tree_straight": 1972
+  },
+  "boxes": 126926,
+  "empty_label_frames": 0,
+  "point_count": {
+    "min": 17889,
+    "median": 23267.0,
+    "mean": 23081.819342822935,
+    "max": 25555
+  },
+  "object_distance_m": {
+    "min": 1.6304601396545806,
+    "median": 7.83785671906608,
+    "mean": 7.510094380122812,
+    "max": 15.619154558371685
+  }
+}

metadata/integrity_report.json

@@ -0,0 +1,10 @@
+{
+  "status": "clean",
+  "source_issues": [],
+  "duplicate_exclusions": [],
+  "split_counts": {
+    "train": 5411,
+    "val": 602,
+    "test": 1504
+  }
+}

metadata/label_schema.json

@@ -0,0 +1,7 @@
+{
+  "format": "class h w l x y z yaw",
+  "class": {
+    "Tree": 0
+  },
+  "pointcloud": "float32 Nx4"
+}

metadata/loader_config.json

@@ -0,0 +1,38 @@
+{
+  "num_classes": 1,
+  "out_size_factor": 4,
+  "rubber_tree_s5k": {
+    "location": "./rubber_tree_s5k",
+    "objects": {
+      "Tree": 0
+    },
+    "geometry": {
+      "x_min": -12.0,
+      "x_max": 12.0,
+      "y_min": -12.0,
+      "y_max": 12.0,
+      "z_min": -1.5,
+      "z_max": 1.5,
+      "x_res": 0.05,
+      "y_res": 0.05,
+      "z_res": 0.1
+    }
+  },
+  "rubber_tree_straight": {
+    "location": "./rubber_tree_straight",
+    "objects": {
+      "Tree": 0
+    },
+    "geometry": {
+      "x_min": -12.0,
+      "x_max": 12.0,
+      "y_min": -12.0,
+      "y_max": 12.0,
+      "z_min": -1.5,
+      "z_max": 1.5,
+      "x_res": 0.05,
+      "y_res": 0.05,
+      "z_res": 0.1
+    }
+  }
+}

rubber_tree_s5k/label/0000.txt

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rubber_tree_s5k/label/0001.txt

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rubber_tree_s5k/label/0002.txt

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rubber_tree_s5k/label/0003.txt

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rubber_tree_s5k/label/0004.txt

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rubber_tree_s5k/label/0005.txt

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rubber_tree_s5k/label/0006.txt

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rubber_tree_s5k/label/0007.txt

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rubber_tree_s5k/label/0008.txt

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rubber_tree_s5k/label/0009.txt

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rubber_tree_s5k/label/0010.txt

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rubber_tree_s5k/label/0011.txt

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rubber_tree_s5k/label/0012.txt

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rubber_tree_s5k/label/0013.txt

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rubber_tree_s5k/label/0014.txt

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rubber_tree_s5k/label/0015.txt

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rubber_tree_s5k/label/0016.txt

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rubber_tree_s5k/label/0017.txt

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rubber_tree_s5k/label/0018.txt

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rubber_tree_s5k/label/0019.txt

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rubber_tree_s5k/label/0020.txt

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rubber_tree_s5k/label/0021.txt

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rubber_tree_s5k/label/0022.txt

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rubber_tree_s5k/label/0023.txt

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rubber_tree_s5k/label/0024.txt

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rubber_tree_s5k/label/0025.txt

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rubber_tree_s5k/label/0026.txt

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rubber_tree_s5k/label/0027.txt

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rubber_tree_s5k/label/0028.txt

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rubber_tree_s5k/label/0029.txt

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rubber_tree_s5k/label/0030.txt

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rubber_tree_s5k/label/0031.txt

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rubber_tree_s5k/label/0032.txt

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rubber_tree_s5k/label/0033.txt

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rubber_tree_s5k/label/0034.txt

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rubber_tree_s5k/label/0035.txt

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rubber_tree_s5k/label/0036.txt

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rubber_tree_s5k/label/0037.txt

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rubber_tree_s5k/label/0038.txt

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rubber_tree_s5k/label/0039.txt

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rubber_tree_s5k/label/0040.txt

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rubber_tree_s5k/label/0041.txt

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