diff --git a/.gitattributes b/.gitattributes index fb3271b987d9e366d43e47d5d4648d9a04a8f26e..810fda290539f4a1229ac7ebf4e997e3294f4ca2 100644 --- a/.gitattributes +++ b/.gitattributes @@ -65,3 +65,12 @@ maps/oak_161206/full/splats.ply filter=lfs diff=lfs merge=lfs -text maps/oak_161206/splats.spz filter=lfs diff=lfs merge=lfs -text maps/oak_161206/splats_lite.spz filter=lfs diff=lfs merge=lfs -text maps/oak_161834/full/splats.ply filter=lfs diff=lfs merge=lfs -text +maps/oak_161834/splats.spz filter=lfs diff=lfs merge=lfs -text +maps/oak_161834/splats_lite.spz filter=lfs diff=lfs merge=lfs -text +maps/oak_164002/full/splats.ply filter=lfs diff=lfs merge=lfs -text +maps/oak_164002/splats.spz filter=lfs diff=lfs merge=lfs -text +maps/oak_164002/splats_lite.spz filter=lfs diff=lfs merge=lfs -text +maps/oak_164424/full/splats.ply filter=lfs diff=lfs merge=lfs -text +maps/oak_164424/splats.spz filter=lfs diff=lfs merge=lfs -text +maps/oak_164424/splats_lite.spz filter=lfs diff=lfs merge=lfs -text +maps/rosario_01/full/splats.ply filter=lfs diff=lfs merge=lfs -text diff --git a/maps/oak_161834/keyframes.json b/maps/oak_161834/keyframes.json new file mode 100644 index 0000000000000000000000000000000000000000..496fe18ad1bb82858e31459aa858a3a112197953 --- /dev/null +++ b/maps/oak_161834/keyframes.json @@ -0,0 +1 @@ +{"row":"oak_161834","n":80,"image_size":[320,200],"K":[[236.3888,0.0,164.4994],[0.0,236.3888,94.8158],[0.0,0.0,1.0]],"camera":"rectified left camera (the splat's own camera model), downscaled x0.5000","pose":"T_map_cam: 4x4 camera-to-map (OpenCV camera axes), xclean P1's LIVE pose of the keyframe (published at that frame, never revised)","channels":"grey (single channel JPEG)","selection":"evenly spaced over the route's 1873 keyframes","files_relative_to":"","three_js_pose":"camera.matrixWorld = world.matrixWorld * T_map_cam * diag(1,-1,-1,1); vertical fov = 2 atan(h/2 / fy); principal point (cx, cy) via PerspectiveCamera.setViewOffset (see notes/SPARK_NOTES.md, 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P1's odometry frame w = splats.ply / pointcloud.ply frame (T_world_cam0_rectified; OpenCV axes of the rectified left camera; w = the first body frame, not gravity-aligned)"},"alignment":null,"rounding":"positions 1 mm, t 0.1 ms, quaternions 1e-5 (x, y, z, w), err 0.1 mm","source":{"file":"trajectories.json","sha1":"e42b6aec9ef4bfeee4d4407f37c8c85e83d710c7"},"qualitative":true,"note":"no ground truth exists for this recording; ours only","gravity":{"up_map":[-0.07683119985070502,-0.9723780588216534,-0.22040389618093004],"source":"accelerometer mean over the first 1.0 s (n 197, |a| 9.741 m/s^2, sd 0.423), rectified camera via R1 R_body_cam0^T, into w by the first pose; 13.51 deg from the first camera -y (P1 did not admit the IMU; CHANGES X-12)"},"ours":{"system":"xclean P1 (frozen engine p13f4b, final board median run; live stream LIVE-MAP)","draw":"board_oak_161834","file":"trajectory_kf.csv","level":"keyframes (P1's own keyframes; their LIVE poses, published at that frame, never revised)","n":1873,"ate_se3_full_run_m":null,"n_assoc":null,"sim3_scale":null},"err":null,"t0_t1":"t0/t1 = the run on the replay clock: earliest / latest keyframe time of ours and ORB-SLAM3 (GT may extend beyond); written at 0.1 ms, rounded OUTWARD (t0 down, t1 up) so [t0, t1] contains every raw time","spans_s":{"ours":[0.0,199.5349]},"segment_raw_s":[0.0,199.534899]}} \ No newline at end of file diff --git a/maps/oak_164002/ATTRIBUTION.json b/maps/oak_164002/ATTRIBUTION.json new file mode 100644 index 0000000000000000000000000000000000000000..73931eb91fdc6cbb87e5eb7f8a2bf9032ad98d73 --- /dev/null +++ b/maps/oak_164002/ATTRIBUTION.json @@ -0,0 +1,9 @@ +{ + "map": "oak_164002", + "source": "Recorded by Necessity Robotics with its own OAK-D-Lite camera.", + "source_licence": "own data", + "map_licence": "CC-BY-4.0", + "credit": "3-D map by Necessity Robotics (xclean).", + "limitations": "Camera poses come from our live SLAM run (the median of three board runs), not from ground truth. The map's pose check found: 4 place(s) driven or flown twice cannot be checked (no ground truth exists). Some surfaces may look doubled or soft.", + "engine": "xclean (frozen engine p13f4b), final board median run; poses are the live SLAM output, not ground truth" +} \ No newline at end of file diff --git a/maps/oak_164002/film/film.jpg b/maps/oak_164002/film/film.jpg new file mode 100644 index 0000000000000000000000000000000000000000..ca19b7c04722cef217f2d229d91ec81e2ddc4c97 --- /dev/null +++ b/maps/oak_164002/film/film.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c349d5aa8eb5741871b2fa0ec028942b61dc586fb1b93bcb64333b44c98f0652 +size 102085 diff --git a/maps/oak_164002/film/film.json b/maps/oak_164002/film/film.json new file mode 100644 index 0000000000000000000000000000000000000000..aaa4193af79ef88a035b88a90f21708747d8d586 --- /dev/null +++ b/maps/oak_164002/film/film.json @@ -0,0 +1 @@ +{"mp4":"film/film.mp4","webm":"film/film.webm","webm_codec":"av1 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revised)","n":1117,"ate_se3_full_run_m":null,"n_assoc":null,"sim3_scale":null},"err":null,"t0_t1":"t0/t1 = the run on the replay clock: earliest / latest keyframe time of ours and ORB-SLAM3 (GT may extend beyond); written at 0.1 ms, rounded OUTWARD (t0 down, t1 up) so [t0, t1] contains every raw time","spans_s":{"ours":[0.0,116.648]},"segment_raw_s":[0.0,116.647997]}} \ No newline at end of file diff --git a/maps/oak_164424/ATTRIBUTION.json b/maps/oak_164424/ATTRIBUTION.json new file mode 100644 index 0000000000000000000000000000000000000000..1cb1bc933cff8b818521632f317b9375b67718a2 --- /dev/null +++ b/maps/oak_164424/ATTRIBUTION.json @@ -0,0 +1,9 @@ +{ + "map": "oak_164424", + "source": "Recorded by Necessity Robotics with its own OAK-D-Lite camera.", + "source_licence": "own data", + "map_licence": "CC-BY-4.0", + "credit": "3-D map by Necessity Robotics (xclean).", + "limitations": "Camera poses come from our live SLAM run (the median of three board runs), not from ground truth. The map's pose check found: V0.5. Some surfaces may look doubled or soft.", + "engine": "xclean (frozen engine p13f4b), final board median run; poses are the live SLAM output, not ground truth" +} \ No newline at end of file diff --git a/maps/oak_164424/film/film.jpg b/maps/oak_164424/film/film.jpg new file mode 100644 index 0000000000000000000000000000000000000000..d4e24bdddb0dcfa3a80deb4e5d63d89f38f97d02 --- /dev/null +++ b/maps/oak_164424/film/film.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d0643a558557e6cea795cdad63e56963cddff475813ffc6bd81136ac18a64b3 +size 114271 diff --git a/maps/oak_164424/film/film.json b/maps/oak_164424/film/film.json new file mode 100644 index 0000000000000000000000000000000000000000..48c12268c79e196fc941ef12023fe7a070e0c8ef --- /dev/null +++ b/maps/oak_164424/film/film.json @@ -0,0 +1 @@ +{"mp4":"film/film.mp4","webm":"film/film.webm","webm_codec":"av1 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P1's odometry frame w = splats.ply / pointcloud.ply frame (T_world_cam0_rectified; OpenCV axes of the rectified left camera; w = the first body frame, not gravity-aligned)"},"alignment":null,"rounding":"positions 1 mm, t 0.1 ms, quaternions 1e-5 (x, y, z, w), err 0.1 mm","source":{"file":"trajectories.json","sha1":"9110c3161be04190fe4d051725d747af9c534d4d"},"qualitative":true,"note":"no ground truth exists for this recording; ours only","gravity":{"up_map":[-0.006382637848811711,-0.9948150136413945,-0.10150049540649186],"source":"accelerometer mean over the first 1.0 s (n 193, |a| 9.737 m/s^2, sd 0.149), rectified camera via R1 R_body_cam0^T, into w by the first pose; 5.89 deg from the first camera -y (P1 did not admit the IMU; CHANGES X-12)"},"ours":{"system":"xclean P1 (frozen engine p13f4b, final board median run; live stream LIVE-ODOM)","draw":"board_oak_20260327_164424","file":"trajectory_kf.csv","level":"keyframes (P1's own keyframes; their LIVE poses, published at that frame, never revised)","n":1148,"ate_se3_full_run_m":null,"n_assoc":null,"sim3_scale":null},"err":null,"t0_t1":"t0/t1 = the run on the replay clock: earliest / latest keyframe time of ours and ORB-SLAM3 (GT may extend beyond); written at 0.1 ms, rounded OUTWARD (t0 down, t1 up) so [t0, t1] contains every raw time","spans_s":{"ours":[0.0,135.7116]},"segment_raw_s":[0.0,135.711633]}} \ No newline at end of file diff --git a/maps/rosario_01/ATTRIBUTION.json b/maps/rosario_01/ATTRIBUTION.json new file mode 100644 index 0000000000000000000000000000000000000000..3f5591c7961336d798481dfc1e9a4fd9955ad81e --- /dev/null +++ b/maps/rosario_01/ATTRIBUTION.json @@ -0,0 +1,9 @@ +{ + "map": "rosario_01", + "source": "The Rosario Dataset (CIFASIS-CONICET), https://robot.cifasis-conicet.gov.ar/", + "source_licence": "CC BY 4.0 (\"All data in the Rosario Dataset is licensed under a Creative Commons 4.0 Attribution License (CC BY 4.0)\", official page checked 2026-10-30)", + "map_licence": "CC-BY-4.0", + "credit": "Source images: The Rosario Dataset, CIFASIS-CONICET, CC BY 4.0 (Pire et al., IJRR 2019). Changes: 3-D Gaussian-splat map reconstructed by Necessity Robotics (xclean) from the images and xclean's own live camera poses.", + "limitations": "Camera poses come from our live SLAM run (the median of three board runs), not from ground truth. The map's pose check found: at 3 place(s) the route passes twice, the two passes differ from the ground truth by up to 1.7 degrees in heading; passes are up to 3.73 m apart sideways. Some surfaces may look doubled or soft.", + "engine": "xclean (frozen engine p13f4b), final board median run; poses are the live SLAM output, not ground truth" +} \ No newline at end of file diff --git a/maps/rosario_01/film/film.jpg b/maps/rosario_01/film/film.jpg new file mode 100644 index 0000000000000000000000000000000000000000..2d2c8a000190d2ad0554b035c800d88d683b4867 --- /dev/null +++ b/maps/rosario_01/film/film.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ad33769a40ba5d209394d3710090ba114fd3f377884b692b1ce78790e32e9b8 +size 109639 diff --git a/maps/rosario_01/film/film.json b/maps/rosario_01/film/film.json new file mode 100644 index 0000000000000000000000000000000000000000..cf31088daea2a7d6e3290d583ee24cdb1321b41a --- /dev/null +++ b/maps/rosario_01/film/film.json @@ -0,0 +1 @@ +{"mp4":"film/film.mp4","webm":"film/film.webm","webm_codec":"av1 (libsvtav1)","poster":"film/film.jpg","poster_webp":"film/film.webp","width":1280,"height":716,"fps":30,"duration":12.0,"speed_factor":2.0,"platform":"ground robot","stretch":{"t0":330.0,"t1":354.0,"path_m":27.99,"mean_speed_mps":1.166,"n_kf":108},"photo_psnr_db":24.808,"photo_psnr_label":"mean render-vs-photo PSNR of the keyframes in the stretch (every_kf.json, training resolution): a quality indicator only","smoothing":{"rot_sigma_s":0.3,"pos_sigma_s":0.1},"label":"frozen engine p13f4b, final board median run","backdrop":{"type":"gradient","horizon_grey":0.8,"zenith_grey":0.62,"ramp":"linear in sin(elevation)","below_horizon_fade_deg":4.0,"clear_rgb":[0.01568627450980392,0.023529411764705882,0.0392156862745098],"rule":"X-32: a plain neutral brightness-by-elevation gradient behind the splats; NOT fitted to the scene; class-D provisional constants","disclosure":"sky not reconstructed; plain backdrop"},"renderer":"builder gsplat renderer (antialiased) from the exported splats.ply over 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