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Woods — RoboCloth-rig captures of wood samples
One zip per wood sample. Download a zip and unzip it; <name>/README.md inside describes that sample: format, frame
table, observations and alignment with the physical piece.
| file | wood | sample id | frames | points | size |
|---|---|---|---|---|---|
bubinga.zip |
Bubinga | 1 | 498 | 45,397 | 3.3 GB |
ash_white_qtr_cut.zip |
Ash white qtr.cut | 2 | 500 | 151,594 | 4.1 GB |
beech_qtr_cut.zip |
Beech qtr. cut | 3 | 499 | 27,619 | 3.6 GB |
maple_quarter_cut.zip |
Maple quarter cut | 4 | 501 | 79,359 | 3.6 GB |
maple_ambrosia.zip |
Maple ambrosia | 5 | 499 | 36,059 | 3.1 GB |
oak_red_qtr_cut.zip |
Oak, red qtr, cut | 6 | 499 | 103,960 | 3.5 GB |
oak_red_flat_cut.zip |
Oak, red flat cut | 7 | 501 | 69,496 | 3.5 GB |
cherry_figured_qtr_cut_8.zip |
Cherry figured qtr.cut | 8 | 497 | 82,809 | 3.6 GB |
cherry_figured_qtr_cut_9.zip |
Cherry figured qtr cut | 9 | 499 | 93,175 | 3.6 GB |
walnut_qtr_cut.zip |
Walnut qtr cut | 10 | 498 | 35,690 | 3.4 GB |
pearwood_qtr_cut.zip |
Pearwood qtr cut | 11 | 500 | 2,374 | 3.1 GB |
walnut_flat_cut.zip |
Walnut flat cut | 12 | 499 | 50,349 | 3.5 GB |
teak_qtr_cut.zip |
Teak qtr. cut | 13 | 501 | 51,443 | 3.4 GB |
maple_qtr_cut_curly_figured.zip |
Maple qtr. cut curly/figured | 14 | 499 | 126,976 | 3.8 GB |
ebony_macassar_qtr_cut.zip |
Ebony macassar qtr cut | 15 | 499 | 8,225 | 2.7 GB |
zebra_qtr_cut.zip |
Zebra qtr cut | 16 | 501 | 50,442 | 3.4 GB |
Common to all samples
<name>/<name>/has the same per-material layout as the RoboCloth release (hdr/,scan_log.json,rotated_camera.json,observations_structured.npz, …); read it with the RoboCloth instructions.hdr/= 16-bit linear HDR frames, masked to the sample. All frames are at 8000 µs: usecamera_factor3(=linear_factor2× 8000 / 20000), not RoboCloth's id 1.- Frames: a RoboCloth trajectory (random camera / light), then high-reflection (mirror) positions at turntable 0° and 90°, then top-down views (turntable 0°); the exact frame numbers are in each sample's README.
observations_sample.npz:rgbs(frames × points × 3, uint16, linear RGB). RGB = 0 means no usable value — skip that (frame, point): not visible, frame excluded, or saturated (any channel ≥ 65000; removed).xyz_local_mm: point positions in the sample frame (origin = min corner of the points, rig axes, mm); rowi= vertexiofpoints_sample_local_mm.ply.topdown_local_frame.pngshows the sample frame's origin and axes on the piece; for CT, align the CT top surface topoints_sample_local_mm.plyby point-cloud shape matching (ICP).
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