Datasets:
xclean 3-D maps: 8 licence-safe maps (own OAK-D-Lite routes + Rosario CC BY 4.0) (part 4)
Browse files- .gitattributes +2 -0
- README.md +43 -0
- SHA256SUMS +777 -0
- maps/rosario_04/keyframes.json +1 -0
- maps/rosario_04/keyframes/kf002072.jpg +3 -0
- maps/rosario_04/keyframes/kf002094.jpg +3 -0
- maps/rosario_04/keyframes/kf002128.jpg +3 -0
- maps/rosario_04/keyframes/kf002184.jpg +3 -0
- maps/rosario_04/keyframes/kf002222.jpg +3 -0
- maps/rosario_04/keyframes/kf002256.jpg +3 -0
- maps/rosario_04/keyframes/kf002290.jpg +3 -0
- maps/rosario_04/keyframes/kf002321.jpg +3 -0
- maps/rosario_04/keyframes/kf002349.jpg +3 -0
- maps/rosario_04/keyframes/kf002374.jpg +3 -0
- maps/rosario_04/keyframes/kf002399.jpg +3 -0
- maps/rosario_04/keyframes/kf002425.jpg +3 -0
- maps/rosario_04/keyframes/kf002444.jpg +3 -0
- maps/rosario_04/keyframes/kf002476.jpg +3 -0
- maps/rosario_04/keyframes/kf002504.jpg +3 -0
- maps/rosario_04/keyframes/kf002528.jpg +3 -0
- maps/rosario_04/manifest.json +102 -0
- maps/rosario_04/points.bin +3 -0
- maps/rosario_04/points.json +1 -0
- maps/rosario_04/preview.jpg +3 -0
- maps/rosario_04/splats.spz +3 -0
- maps/rosario_04/splats_lite.json +1 -0
- maps/rosario_04/splats_lite.spz +3 -0
- maps/rosario_04/thumb.jpg +3 -0
- maps/rosario_04/traj.json +0 -0
.gitattributes
CHANGED
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@@ -80,3 +80,5 @@ maps/rosario_03/full/splats.ply filter=lfs diff=lfs merge=lfs -text
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maps/rosario_03/splats.spz filter=lfs diff=lfs merge=lfs -text
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maps/rosario_03/splats_lite.spz filter=lfs diff=lfs merge=lfs -text
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maps/rosario_04/full/splats.ply filter=lfs diff=lfs merge=lfs -text
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maps/rosario_03/splats.spz filter=lfs diff=lfs merge=lfs -text
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maps/rosario_03/splats_lite.spz filter=lfs diff=lfs merge=lfs -text
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maps/rosario_04/full/splats.ply filter=lfs diff=lfs merge=lfs -text
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maps/rosario_04/splats.spz filter=lfs diff=lfs merge=lfs -text
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maps/rosario_04/splats_lite.spz filter=lfs diff=lfs merge=lfs -text
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README.md
ADDED
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@@ -0,0 +1,43 @@
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| 1 |
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---
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license: cc-by-4.0
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pretty_name: xclean 3-D maps
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tags:
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- slam
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- gaussian-splatting
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- 3d-reconstruction
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- visual-inertial-odometry
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---
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# xclean 3-D maps
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3-D Gaussian-splat maps reconstructed by **Necessity Robotics** with **xclean**, a real-time stereo visual-inertial SLAM
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system. They are the map files behind the 3-D viewer on https://necessityrobotics.github.io. Every map uses xclean's own live camera poses,
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from the median of three runs on the final board, not ground truth. Each map's `ATTRIBUTION.json` states its limitations
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as they are.
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| map | source data | source licence |
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|---|---|---|
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| oak_161834 | Recorded by Necessity Robotics with its own OAK-D-Lite camera. | own data |
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| oak_160543 | Recorded by Necessity Robotics with its own OAK-D-Lite camera. | own data |
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| oak_164002 | Recorded by Necessity Robotics with its own OAK-D-Lite camera. | own data |
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| oak_164424 | Recorded by Necessity Robotics with its own OAK-D-Lite camera. | own data |
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| oak_161206 | Recorded by Necessity Robotics with its own OAK-D-Lite camera. | own data |
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| rosario_01 | The Rosario Dataset (CIFASIS-CONICET), https://robot.cifasis-conicet.gov.ar/ | CC BY 4.0 |
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| rosario_03 | The Rosario Dataset (CIFASIS-CONICET), https://robot.cifasis-conicet.gov.ar/ | CC BY 4.0 |
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| rosario_04 | The Rosario Dataset (CIFASIS-CONICET), https://robot.cifasis-conicet.gov.ar/ | CC BY 4.0 |
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## Licence and credit
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- The maps are released under **CC BY 4.0**.
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- Maps made from the Rosario Dataset must also credit the source: "The Rosario Dataset, CIFASIS-CONICET, CC BY 4.0
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(Pire et al., IJRR 2019)". The changes: a 3-D map was reconstructed from its images.
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- The OAK maps come from Necessity Robotics' own recordings.
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## Files per map
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- `splats.spz`: the viewer's standard tier.
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- `splats_lite.*`: the phone / quick tier.
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- `full/splats.ply`: full resolution.
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- `points.bin` / `points.json`: the sparse point cloud.
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- `traj.json`: the camera path.
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- `keyframes/`: small keyframe images.
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- `film/`: the fly-through video.
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- `ATTRIBUTION.json` and `manifest.json` describe the map.
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SHA256SUMS
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maps/rosario_04/keyframes.json
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| 1 |
+
{
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| 2 |
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"map": "rosario_04",
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| 3 |
+
"files": {
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| 4 |
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|
| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 18 |
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|
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|
maps/rosario_04/points.bin
ADDED
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@@ -0,0 +1,3 @@
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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size 4642524
|
maps/rosario_04/points.json
ADDED
|
@@ -0,0 +1 @@
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|
|
|
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|
|
| 1 |
+
{"count":515836,"bbox_min":[-0.8560915589332581,-51.60538101196289,1.6678478717803955],"bbox_max":[35.8074836730957,6.879436492919922,141.9600067138672],"quant":"uint16","colour":"rgb8","stride_bytes":6,"layout":"planar, little-endian: positions = count x 3 uint16 (x, y, z interleaved; byte offset 0, 6 bytes per point), then colours = count x (1 for grey8 | 3 for rgb8) uint8 (byte offset colour_offset)","colour_offset":3095016,"colour_bytes_per_point":3,"bytes":4642524,"dequant":"p = bbox_min + q / 65535 * (bbox_max - bbox_min), per axis, map frame (metres)","max_quant_error_m":{"axis":[0.0002797238894234333,0.00044620988606780543,0.0010703567946706016],"euclid":0.0011870707608289896,"euclid_p50":0.0006191011194950963,"bound_half_step_axis":[0.00027972514863835324,0.0004462105554656505,0.0010703605618531075]},"order":"random permutation of the source order (numpy default_rng(0).permutation): any prefix is a uniform subsample","frame":"map frame (OpenCV: x right, y down, z forward of the first rectified left camera)","up":[0.9693448106439232,-0.0015382992390103765,-0.24569955578541008],"colour_note":"data-driven: R, G, B differ; metadata.colour=True","source":{"file":"pointcloud.ply","sha1":"645a94ec36dee32b69bb84bf2bbeecd9d80a55b6","points":515836,"built_from":"32-direction SGM disparity of each keyframe (xclean/stereo/sgm32.py; 0 = invalid, skipped), depth = fB / d, xclean P1 live keyframe poses, map frame; sky / edges / moving pixels excluded"}}
|
maps/rosario_04/preview.jpg
ADDED
|
Git LFS Details
|
maps/rosario_04/splats.spz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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|
| 3 |
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|
maps/rosario_04/splats_lite.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"row":"rosario_04","tool":"build_lite_splats_v4.py (fork of website/tools/build_lite_splats.py)","built":"2026-10-31T02:49:31","source":{"file":"splats.ply","sha1":"f5149edfe7e4d3f84e081217637b4470939f886b","bytes":207999697,"n_splats":1999991,"n_visible":1999991},"criterion":{"score":"footprint","n_target":600000,"min_alpha":0.00392156862745098,"rule":"top-N visible splats (alpha >= 1/255) by alpha x exp(s_mid+s_max) / max(d, 0.5 m)^2, d = distance to the nearest of our keyframe camera centres (opacity x the expected screen footprint in the views that made the map)","skip_rule":"no LITE file when the source has <= 1.3 x N splats (STANDARD is already small)"},"lite":{"url":"splats_lite.spz","format":"Niantic SPZ v3 (gzip), own encoder (build_map_assets.encode_spz_v3)","loader":"Spark 2.3.1 SplatMesh({url, extSplats:true})","n_splats":600000,"fraction_of_source":0.3,"fraction_of_visible":0.3,"bytes":11899735,"sha1":"326c911dbe8ec1d7a5a6d1a4ab77482ce13d5684","fractional_bits":15,"position_step_m":3.0517578125e-05,"encode_s":4.34,"verify":{"max_position_error_m":1.52587890625e-05,"max_alpha_error":0.0019607751333401424,"count_ok":true},"kept_alpha_x_volume_min":3.133404859284562e-05,"kept_volume_m3_p50":3.7792979795725104e-06,"bytes_per_splat":19.83},"seconds":5.4}
|
maps/rosario_04/splats_lite.spz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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|
| 3 |
+
size 11899735
|
maps/rosario_04/thumb.jpg
ADDED
|
Git LFS Details
|
maps/rosario_04/traj.json
ADDED
|
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