Datasets:
Public wording: heading check, median run, no internal tool/run names
Browse files- maps/oak_160543/ATTRIBUTION.json +1 -1
- maps/oak_160543/film/film.json +1 -1
- maps/oak_160543/keyframes.json +1 -1
- maps/oak_160543/manifest.json +6 -6
- maps/oak_160543/splats_lite.json +1 -1
- maps/oak_160543/traj.json +0 -0
- maps/oak_161206/ATTRIBUTION.json +1 -1
- maps/oak_161206/film/film.json +1 -1
- maps/oak_161206/keyframes.json +1 -1
- maps/oak_161206/manifest.json +6 -6
- maps/oak_161206/splats_lite.json +1 -1
- maps/oak_161206/traj.json +0 -0
- maps/oak_161834/film/film.json +1 -1
maps/oak_160543/ATTRIBUTION.json
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"source_licence": "own data",
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"map_licence": "CC-BY-4.0",
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"credit": "3-D map by Necessity Robotics (xclean).",
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"limitations": "Camera poses come from xclean's live output in a real-time (paced) replay (the median of three board runs), not from ground truth. The map's pose check found: 3 place(s) visited twice cannot be checked (no ground truth exists). Some surfaces may look doubled or soft.",
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"engine": "xclean, final-board engine; camera poses are xclean's live output in a real-time (paced) replay of the recording (the median run of the three final-board runs), not ground truth"
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}
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"source_licence": "own data",
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"map_licence": "CC-BY-4.0",
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"credit": "3-D map by Necessity Robotics (xclean).",
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"limitations": "Camera poses come from xclean's live output in a real-time (paced) replay (the median run of the three final-board runs), not from ground truth. The map's pose check found: 3 place(s) visited twice cannot be checked (no ground truth exists). Some surfaces may look doubled or soft.",
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"engine": "xclean, final-board engine; camera poses are xclean's live output in a real-time (paced) replay of the recording (the median run of the three final-board runs), not ground truth"
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}
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maps/oak_160543/film/film.json
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{"mp4":"film/film.mp4","webm":"film/film.webm","webm_codec":"av1 (libsvtav1)","poster":"film/film.jpg","poster_webp":"film/film.webp","width":1280,"height":800,"fps":30,"duration":12.0,"speed_factor":1.0,"
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{"mp4":"film/film.mp4","webm":"film/film.webm","webm_codec":"av1 (libsvtav1)","poster":"film/film.jpg","poster_webp":"film/film.webp","width":1280,"height":800,"fps":30,"duration":12.0,"speed_factor":1.0,"stretch":{"t0":2.5,"t1":14.5,"path_m":5.99,"mean_speed_mps":0.495,"n_kf":76},"photo_psnr_db":21.122,"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],"disclosure":"sky not reconstructed; plain backdrop"},"mp4_type":"video/mp4; codecs=\"avc1.640028\"","webm_type":"video/webm; codecs=\"av01.0.08M.08\"","bytes":3964906,"webm_bytes":2050459,"poster_bytes":195118,"sha1":"ed812322f5ca66de075a9017ae05aac1491fd4e6","webm_sha1":"40e6f82bf230175e99ef1d2ed3499b2fadf394a0"}
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maps/oak_160543/keyframes.json
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{"row":"oak_160543","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's LIVE pose of the keyframe (published at that frame, never revised)","channels":"grey (single channel JPEG)","selection":"evenly spaced over the route's 2632 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, Lab results)","held_out_rule":"held_out_of_map = never trained on by the splat map (every 10th segment 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maps/oak_160543/manifest.json
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{"row":"oak_160543","built":"2026-10-30T21:31:31","source":{"file":"splats.ply","sha1":"d50e57bd45d67911365388cd5191540de347b9c2","bytes":281487865,"n_splats":2706608,"n_visible":2706608},"criterion":{"score":"footprint","n_target":676652,"min_alpha":0.00392156862745098,"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":676652,"fraction_of_source":0.25,"fraction_of_visible":0.25,"bytes":12323225,"sha1":"02ec61d367a648d3fb2fdace9632a9310c0a1d20","fractional_bits":16,"position_step_m":1.52587890625e-05,"encode_s":3.8,"verify":{"max_position_error_m":7.62939453125e-06,"max_alpha_error":0.001960777352274512,"count_ok":true},"kept_alpha_x_volume_min":4.9561637078614576e-05,"kept_volume_m3_p50":1.4491388642032734e-05,"bytes_per_splat":18.21},"seconds":5.44}
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maps/oak_160543/traj.json
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maps/oak_161206/ATTRIBUTION.json
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@@ -4,6 +4,6 @@
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| 4 |
"source_licence": "own data",
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| 5 |
"map_licence": "CC-BY-4.0",
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| 6 |
"credit": "3-D map by Necessity Robotics (xclean).",
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| 7 |
-
"limitations": "Camera poses come from xclean's live output in a real-time (paced) replay (the median of three board runs), not from ground truth. The map's pose check found: 3 place(s) visited twice cannot be checked (no ground truth exists). Some surfaces may look doubled or soft.",
|
| 8 |
"engine": "xclean, final-board engine; camera poses are xclean's live output in a real-time (paced) replay of the recording (the median run of the three final-board runs), not ground truth"
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| 9 |
}
|
|
|
|
| 4 |
"source_licence": "own data",
|
| 5 |
"map_licence": "CC-BY-4.0",
|
| 6 |
"credit": "3-D map by Necessity Robotics (xclean).",
|
| 7 |
+
"limitations": "Camera poses come from xclean's live output in a real-time (paced) replay (the median run of the three final-board runs), not from ground truth. The map's pose check found: 3 place(s) visited twice cannot be checked (no ground truth exists). Some surfaces may look doubled or soft.",
|
| 8 |
"engine": "xclean, final-board engine; camera poses are xclean's live output in a real-time (paced) replay of the recording (the median run of the three final-board runs), not ground truth"
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| 9 |
}
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maps/oak_161206/film/film.json
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@@ -1 +1 @@
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| 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":800,"fps":30,"duration":12.0,"speed_factor":1.0,"
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| 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":800,"fps":30,"duration":12.0,"speed_factor":1.0,"stretch":{"t0":116.5,"t1":128.5,"path_m":9.84,"mean_speed_mps":0.819,"n_kf":86},"photo_psnr_db":22.477,"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],"disclosure":"sky not reconstructed; plain backdrop"},"mp4_type":"video/mp4; codecs=\"avc1.640028\"","webm_type":"video/webm; codecs=\"av01.0.08M.08\"","bytes":4192780,"webm_bytes":2405364,"poster_bytes":179322,"sha1":"de3870cf0cee1b5670297e2453359a022299fc77","webm_sha1":"86cd328012a7aafc57a4509df7c8b48f13df4efe"}
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maps/oak_161206/keyframes.json
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@@ -1 +1 @@
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| 1 |
-
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maps/oak_161206/manifest.json
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maps/oak_161206/splats_lite.json
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{"row":"oak_161206","built":"2026-10-31T00:47:51","source":{"file":"splats.ply","sha1":"184b0274c63d8a7d9903ceabdc889b5634568682","bytes":216108681,"n_splats":2077962,"n_visible":2077962},"criterion":{"score":"footprint","n_target":600000,"min_alpha":0.00392156862745098,"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":0.2887,"fraction_of_visible":0.2887,"bytes":10963139,"sha1":"ecc2ac8a75c7e7383ab4839a634c9ff1bc8e534d","fractional_bits":16,"position_step_m":1.52587890625e-05,"encode_s":3.42,"verify":{"max_position_error_m":7.62939453125e-06,"max_alpha_error":0.0019607821626421718,"count_ok":true},"kept_alpha_x_volume_min":5.6918120003081365e-05,"kept_volume_m3_p50":9.751859639367182e-06,"bytes_per_splat":18.27},"seconds":4.45}
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maps/oak_161206/traj.json
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maps/oak_161834/film/film.json
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{"mp4":"film/film.mp4","webm":"film/film.webm","webm_codec":"av1 (libsvtav1)","poster":"film/film.jpg","poster_webp":"film/film.webp","width":1280,"height":800,"fps":30,"duration":12.0,"speed_factor":1.0,"
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{"mp4":"film/film.mp4","webm":"film/film.webm","webm_codec":"av1 (libsvtav1)","poster":"film/film.jpg","poster_webp":"film/film.webp","width":1280,"height":800,"fps":30,"duration":12.0,"speed_factor":1.0,"stretch":{"t0":152.0,"t1":164.0,"path_m":70.61,"mean_speed_mps":5.898,"n_kf":118},"photo_psnr_db":22.374,"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],"disclosure":"sky not reconstructed; plain backdrop"},"mp4_type":"video/mp4; codecs=\"avc1.640028\"","webm_type":"video/webm; codecs=\"av01.0.08M.08\"","bytes":3478381,"webm_bytes":1412467,"poster_bytes":72757,"sha1":"76522b4ee06c9857fae83e141702fc38afe69671","webm_sha1":"072ca11ee719b9428f56ed1c7167fd8459e1edfa"}
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