{
  "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"
  }
}