Datasets:
File size: 2,606 Bytes
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"source_topic_suffix": "aligned_depth_to_color/image_raw/compressedDepth",
"source_format": "16UC1; compressedDepth",
"units": "millimeters",
"packing": "R=depth_mm>>8, G=depth_mm&0xFF, B=0",
"decode": "depth_mm = (rgb[...,0].astype('uint16') << 8) | rgb[...,1]",
"decode_from_lerobot": "LeRobotDataset returns these keys as float32 CHW in [0,1]; recover the bytes with rgb = (t.permute(1,2,0).numpy()*255).round().astype('uint8') before unpacking. See depth_from_lerobot_frame() in convert_aibot2_rosbags_depth.py.",
"invalid_value": 0,
"max_representable_mm": 65535,
"storage_dtype": "image",
"storage_note": "Stored as lossless PNG. Do NOT re-encode these keys as video: lossy compression destroys the byte packing.",
"resize_interpolation": "nearest",
"keys": [
"observation.images.camera_front_depth",
"observation.images.camera_left_depth",
"observation.images.camera_right_depth"
],
"viz": {
"purpose": "Human-viewable preview of the matching packed depth key.",
"lossy": true,
"do_not_train_on": true,
"derived_from": "the '<camera>_depth' key in the same dataset",
"colormap": "OpenCV TURBO (falls back to JET), applied to depth clipped to range_mm",
"invalid_pixels": "depth_mm == 0 renders black. Dropout within fill_holes_radius_px of real data is filled from the nearest valid pixel, and valid islands smaller than min_island_px are discarded as noise -- both in the preview only. The packed key keeps every zero and every sample.",
"storage_dtype": "image",
"range_note": "One window per depth camera, constant across the whole dataset, so a given colour means the same distance in every frame. Near end = blue, far = red.",
"keys": [
"observation.images.camera_front_depth_viz",
"observation.images.camera_left_depth_viz",
"observation.images.camera_right_depth_viz"
],
"range_mm": {
"observation.images.camera_front_depth_viz": {
"min_mm": 214.0,
"max_mm": 1224.0
},
"observation.images.camera_left_depth_viz": {
"min_mm": 81.0,
"max_mm": 2381.0
},
"observation.images.camera_right_depth_viz": {
"min_mm": 91.0,
"max_mm": 1494.0
}
},
"scale": "log",
"fill_holes_radius_px": 4,
"min_island_px": 256,
"median_smooth_px": 3,
"temporal_fill_frames": 5,
"stream_keys": [
"observation.images.camera_front_depth_stream",
"observation.images.camera_left_depth_stream",
"observation.images.camera_right_depth_stream"
],
"stream_storage_dtype": "video"
}
} |