| # Metadata Schema |
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| All timestamps use nanoseconds (`ns`). The first version stores indexes only. Raw ROSBag files remain the source of truth. |
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| ## `metadata/sessions.parquet` |
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| | Column | Type | Description | |
| | --- | --- | --- | |
| | `session_id` | `string` | Session directory name. | |
| | `bag_path` | `string` | Relative path to `bag.bag`. | |
| | `sha256_path` | `string` | Relative path to `bag.bag.sha256`. | |
| | `metadata_path` | `string` | Relative path to `metadata.yaml`. | |
| | `bag_size_bytes` | `int64` | Raw ROSBag file size in bytes. | |
| | `duration_sec` | `float64` | Bag duration in seconds. | |
| | `start_time_ns` | `int64` | Earliest message timestamp. | |
| | `end_time_ns` | `int64` | Latest message timestamp. | |
| | `num_messages` | `int64` | Total message count. | |
| | `has_lidar` | `bool` | Session contains lidar data. | |
| | `has_rgb` | `bool` | Session contains RGB camera data. | |
| | `has_depth` | `bool` | Session contains depth camera data. | |
| | `has_infra` | `bool` | Session contains infrared camera data. | |
| | `has_tof` | `bool` | Session contains ToF data. | |
| | `has_imu` | `bool` | Session contains IMU data. | |
| | `has_odom` | `bool` | Session contains odometry data. | |
| | `has_tf` | `bool` | Session contains TF data. | |
| | `calibration_id` | `string` | Calibration directory ID. | |
| | `quality_status` | `string` | One of `unchecked`, `good`, `usable`, `bad`. | |
| | `source_filename` | `string` | Original bag filename. | |
| | `import_mode` | `string` | Import mode: `hardlink`, `copy`, `symlink`, or `move`. | |
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| ## `metadata/topics.parquet` |
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| | Column | Type | Description | |
| | --- | --- | --- | |
| | `session_id` | `string` | Session directory name. | |
| | `bag_path` | `string` | Relative path to `bag.bag`. | |
| | `topic` | `string` | ROS topic name. | |
| | `msg_type` | `string` | ROS message type. | |
| | `count` | `int64` | Message count for this topic. | |
| | `hz_mean` | `float64` | Mean frequency estimated from timestamps. | |
| | `timestamp_min_ns` | `int64` | Earliest topic timestamp. | |
| | `timestamp_max_ns` | `int64` | Latest topic timestamp. | |
| | `category` | `string` | Topic category. | |
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| ## `metadata/tof_sensor.yaml` |
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| Machine-readable metadata for the ToF sensor used by `/nlink_tofsensem_cascade`. |
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| Key facts: |
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| | Field | Description | |
| | --- | --- | |
| | `model` | Nooploop TOFSense-M. | |
| | `collection_configuration` | Six-node UART query cascade in 8x8 mode. | |
| | `message_layout` | ROS message and per-node/per-pixel fields. | |
| | `distance_status_codes` | Meaning of `dis_status` values. | |
| | `specifications` | Range, FOV, refresh rate, laser class, power, and interface limits. | |
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| See `metadata/tof_sensor.md` for the human-readable version. |
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