README.md

metadata

language:
  - en
license: mit
license_link: LICENSE
pretty_name: omnicvproject
tags:
  - 3d
  - timeseries
task_categories:
  - robotics
  - depth-estimation
dataset_info:
  features:
    - name: metadata
      dtype: string
    - name: left
      dtype: image
    - name: right
      dtype: image
    - name: depth
      dtype: image
  splits:
    - name: train
      num_bytes: 901589471
      num_examples: 100
  download_size: 900986407
  dataset_size: 901589471
configs:
  - config_name: default
    data_files:
      - split: train
        path: data/train-*

Omni Instrument CV Project Dataset

The Omni Instrument CV Project is a compact robotics dataset combining:

• Raw ROS 2 MCAP bag (stereo, depth, TF, odom)
• Ground truth mesh (STL)
• Distilled synchronized dataset (100 samples)

---

Contents

1. Raw Data

Contains a stripped ROS 2 MCAP recording:

• /zed/zedxm/left/color/rect/image
• /zed/zedxm/right/color/rect/image
• /zed/zedxm/depth/depth_registered
• /zed/zedxm/odom
• /tf, /tf_static
• Associated CameraInfo

2. Meshes

Includes:

• omni_mesh.stl — ground-truth geometry for TSDF + reconstruction metrics.

3. HuggingFace Sample

Load a sample and decode its metadata:

from datasets import load_dataset
import json

ds = load_dataset("OmniInstrument/CV_project")

sample = ds[0]

meta = json.loads(sample["metadata"])

timestamp = meta["timestamp"]
position  = meta["position"]        # [x, y, z]
orientation = meta["orientation"]   # [qx, qy, qz, qw]

print("Timestamp:", timestamp)
print("Position:", position)
print("Orientation:", orientation)

License

This software and dataset are released under the MIT License.