Polish dataset card with Foxglove preview

DATA_LICENSE.md

@@ -0,0 +1,19 @@
+# Dataset License
+
+The dataset files are licensed under the Creative Commons Attribution-NonCommercial 4.0 International License (CC BY-NC 4.0).
+
+This applies to:
+
+- raw ROSBag files hosted on Hugging Face;
+- metadata indexes and YAML metadata files;
+- calibration files;
+- quality reports;
+- dataset preview images, GIFs, and other media assets.
+
+You may share and adapt the dataset for non-commercial purposes if you provide appropriate attribution. Commercial use is not permitted under this dataset license.
+
+Full license text:
+
+https://creativecommons.org/licenses/by-nc/4.0/
+
+Source code and documentation tooling in this repository are licensed separately under the MIT License. See `LICENSE`.

README.md

@@ -1,6 +1,6 @@
 ---
 pretty_name: Odometry ROSBag Dataset
-license: other
+license: cc-by-nc-4.0
 task_categories:
   - robotics
 tags:
@@ -22,29 +22,56 @@ configs:
     data_files: metadata/topics.parquet
 ---
 
+<p align="center">
+  <img src="docs/assets/readme/odometry_dataset_hero.png" alt="Odometry ROSBag Dataset overview" width="100%">
+</p>
+
 # Odometry ROSBag Dataset
 
-Raw ROS1 rosbag data for odometry and multi-sensor robotics experiments. The `.bag` files are the source of truth; the Parquet files are lightweight indexes for browsing, filtering, and planning downloads on Hugging Face.
+A multi-sensor ROS1 dataset for odometry research, ToF sensing, inertial analysis, and reproducible Foxglove visualization.
+
+<p align="center">
+  <a href="https://github.com/Ly041021/odom_dataset"><b>GitHub Repository</b></a> ·
+  <a href="#foxglove-visualization-sample"><b>Foxglove Sample</b></a> ·
+  <a href="#use-this-dataset"><b>Download Guide</b></a> ·
+  <a href="#sensor-coverage"><b>Sensor Coverage</b></a> ·
+  <a href="#citation"><b>Citation</b></a>
+</p>
+
+Raw ROSBag files are the primary data source. Lightweight Parquet and YAML indexes provide session-level and topic-level summaries so users can inspect the dataset before downloading large bags. Code, import scripts, validation scripts, tests, and extended documentation are maintained in the GitHub repository: https://github.com/Ly041021/odom_dataset
 
-Code, import scripts, validation scripts, and tests live in the GitHub repository: https://github.com/Ly041021/odom_dataset
+<p align="center">
+  <img src="docs/assets/readme/dataset_workflow_overview.png" alt="Dataset workflow overview" width="92%">
+</p>
+
+## Highlights
+
+| Capability | Included assets |
+| --- | --- |
+| Multi-modal robotic sensing | ToF, flight-controller IMU, LiDAR IMU, MID360 LiDAR, RealSense RGB/depth/infrared camera, odometry, and TF streams |
+| Raw-data preservation | Original ROS1 `bag.bag` files are retained as the source of truth |
+| Lightweight discovery | Parquet/YAML indexes summarize sessions, topics, duration, coverage, and quality before raw-data download |
+| Reproducible visualization | A Foxglove sample bag and a conversion script are provided for compact inspection workflows |
+| Sensor documentation | Hardware identities, ToF operating mode, calibration status, and quality reports are available in structured files |
 
 ## Quick Facts
 
 | Item | Value |
 | --- | --- |
 | Sessions | 52 |
-| Total duration | 12125.257 sec (202.09 min) |
+| Total duration | 12,125.257 sec (202.09 min) |
 | Raw ROSBag size | 301.20 GiB |
 | Session index rows | 52 |
 | Topic index rows | 663 |
 | Sessions with all indexed sensor groups | 26/52 |
 | Raw format | ROS1 `bag.bag` files |
 | Timestamp unit | nanoseconds (`ns`) |
+| Ready-to-open Foxglove sample | `examples/foxglove/visual_demo.bag` |
 
 
 ## Use This Dataset
 
-Read only the lightweight indexes first. Do not clone the whole repository unless you really want the raw bags.
+Download the lightweight indexes first. Avoid cloning the full dataset unless you need all raw ROSBag files.
 
 ```python
 from huggingface_hub import snapshot_download
@@ -53,6 +80,7 @@ snapshot_download(
     repo_id="ly041021/odom_dataset",
     repo_type="dataset",
     allow_patterns=["metadata/**", "quality/**", "calibration/**", "dataset.yaml"],
+    local_dir="odom_dataset_index",
 )
 ```
 
@@ -73,10 +101,46 @@ from huggingface_hub import snapshot_download
 snapshot_download(
     repo_id="ly041021/odom_dataset",
     repo_type="dataset",
-    allow_patterns=["raw/sessions/2026-04-29_192020_autocircle_xy_pro_run037/**"],
+    allow_patterns=["raw/sessions/2026-05-20_030414_odom_run029/**"],
+    local_dir="odom_dataset_raw",
 )
 ```
 
+Download the ready-to-open Foxglove sample:
+
+```python
+from huggingface_hub import hf_hub_download
+
+hf_hub_download(
+    repo_id="ly041021/odom_dataset",
+    repo_type="dataset",
+    filename="examples/foxglove/visual_demo.bag",
+    local_dir="odom_dataset_visualization",
+)
+```
+
+## Foxglove Visualization Sample
+
+The dataset includes a ready-to-open Foxglove visualization sample at `examples/foxglove/visual_demo.bag`. It exposes synchronized RGB, LiDAR, ToF, IMU, and odometry views without requiring users to process a raw bag first.
+
+<p align="center">
+  <img src="docs/assets/readme/foxglove_all_modalities.gif" alt="Foxglove multi-modal visualization" width="96%">
+</p>
+
+| RGB / Depth | LiDAR |
+| --- | --- |
+| <img src="docs/assets/readme/foxglove_rgb_depth.gif" alt="Foxglove RGB and depth visualization" width="100%"> | <img src="docs/assets/readme/foxglove_lidar.gif" alt="Foxglove LiDAR point cloud visualization" width="100%"> |
+
+| IMU Plot | Odometry Path |
+| --- | --- |
+| <img src="docs/assets/readme/foxglove_imu_plot.gif" alt="Foxglove MAVROS IMU plot visualization" width="100%"> | <img src="docs/assets/readme/foxglove_odometry_path.gif" alt="Foxglove odometry path visualization" width="100%"> |
+
+| ToF Overview |
+| --- |
+| <img src="docs/assets/readme/foxglove_tof.gif" alt="Foxglove TOFSense-M overview visualization" width="100%"> |
+
+Recommended 3D panel setup: `Fixed frame = odom`, `Display frame = odom`.
+
 ## Data Layout
 
 ```text
@@ -90,8 +154,8 @@ metadata/tof_sensor.yaml                       # TOFSense-M cascade metadata
 quality/reports/                               # generated quality reports
 calibration/robot_v1_template/                 # calibration files
 docs/foxglove_visualization.md                 # Foxglove visualization guide
-scripts/foxglove_visual.py                    # Foxglove visualization bag builder
-examples/foxglove/visual_demo.bag  # ready-to-open Foxglove example
+scripts/foxglove_visual.py                     # Foxglove visualization bag builder
+examples/foxglove/visual_demo.bag              # ready-to-open Foxglove sample
 ```
 
 ## Sensor Coverage
@@ -132,20 +196,20 @@ examples/foxglove/visual_demo.bag  # ready-to-open Foxglove example
 
 ## Quality Notes
 
-- Sessions missing RGB color topics: 24 (`2026-04-29_192020_autocircle_xy_pro_run037`, `2026-04-29_200023_autocircle_xy_pro_run038`, `2026-04-29_203554_autocircle_xy_pro_run039`, `2026-04-29_204710_autocircle_xy_pro_run040`, `2026-04-29_205511_autocircle_xy_pro_run041`, `2026-04-29_211000_autocircle_xy_pro_run042`, `2026-04-29_212812_autocircle_xy_pro_run043`, `2026-04-29_214138_autocircle_xy_pro_run044`, `2026-05-09_155750_autocircle_xyz_pro_run045`, `2026-05-09_163028_autocircle_xyz_pro_run046`, `2026-05-09_164723_autocircle_xyz_pro_run047`, `2026-05-09_171916_autocircle_xyz_legacy_run048`, `2026-05-09_174224_autocircle_xyz_pro_run049`, `2026-05-09_174950_autocircle_drop_pro_run050`, `2026-05-09_175702_autocircle_drop_pro_run051`, `2026-05-09_180832_autocircle_drop_pro_run052`, `2026-05-09_182640_autocircle_drop_pro_run053`, `2026-05-13_024746_odom_run001`, `2026-05-14_001841_odom_run008`, `2026-05-14_013615_odom_run012`, `2026-05-14_020913_odom_run015`, `2026-05-15_013500_odom_run019`, `2026-05-15_025645_odom_run022`, `2026-05-15_034810_odom_run024`).
-- Sessions missing ToF topic: 2 (`2026-05-13_025750_odom_run003`, `2026-05-13_033144_odom_run006`).
+- Sessions missing RGB color topics: 24/52.
+- Sessions missing ToF topic: 2/52.
 - ToF sensor metadata: six-node Nooploop TOFSense-M cascade, UART query mode, 8x8 pixels per node. See `metadata/tof_sensor.yaml` and `metadata/tof_sensor.md`.
 - ToF validity report: 52,208,469/67,587,392 valid pixels (77.25%).
 - `quality/reports/topic_completeness_and_tof_validity.md` contains the detailed per-session report.
 - `calibration/robot_v1_template/` contains MAVROS IMU, MID360 LiDAR, D430 infrared stereo camera calibration, and the explicit ToF extrinsic status. Use the recorded `/camera/*/camera_info` topics for RealSense color/depth intrinsics. Fixed ToF extrinsic is not available in this dataset version.
 
-## Foxglove Visualization
+## Build Custom Visualization Bags
 
-`scripts/foxglove_visual.py` creates Foxglove-ready visualization bags with compressed TOFSense-M overview images, optional RGB topics, standard `sensor_msgs/PointCloud2` output at `/foxglove/livox/points`, accumulated `nav_msgs/Path` output at `/foxglove/odom/path`, MAVROS IMU topics, and odometry TF. In Foxglove, use `Fixed frame = odom` and `Display frame = odom` for the 3D panel. A ready-to-open example is available at `examples/foxglove/visual_demo.bag`. See `docs/foxglove_visualization.md`.
+`scripts/foxglove_visual.py` creates Foxglove-ready visualization bags with compressed TOFSense-M overview images, optional RGB topics, standard `sensor_msgs/PointCloud2` output at `/foxglove/livox/points`, accumulated `nav_msgs/Path` output at `/foxglove/odom/path`, MAVROS IMU topics, and odometry TF. In Foxglove, use `Fixed frame = odom` and `Display frame = odom` for the 3D panel. See `docs/foxglove_visualization.md` for command-line examples and panel setup.
 
 ## Limitations
 
-- No train/validation/test split is defined in this first version.
+- No fixed train/validation/test split or benchmark protocol is defined in this release.
 - Images, depth frames, infrared frames, lidar point clouds, and odometry streams are not exported as separate training files.
 - Topic scanning and raw bag decoding require a ROS1 environment with the `rosbag` Python package.
 - Raw bags are large. Start from the Parquet indexes, then download only the sessions you need.
@@ -162,7 +226,7 @@ examples/foxglove/visual_demo.bag  # ready-to-open Foxglove example
 
 ## License
 
-This dataset currently uses `license: other` in the Hugging Face metadata. Add a project-specific `LICENSE` file before treating it as a generally reusable public dataset.
+Dataset files are licensed under CC BY-NC 4.0. Commercial use is not permitted under this dataset license. See `DATA_LICENSE.md` for the repository-specific data license note. Source code and documentation tooling in the GitHub repository are licensed separately under MIT.
 
 ---
 

dataset.yaml

@@ -3,6 +3,10 @@ schema_version: 0.1.0
 canonical_raw_format: rosbag1
 timestamp_unit: ns
 
+licenses:
+  code: MIT
+  data: CC-BY-NC-4.0
+
 raw_layout:
   sessions_dir: raw/sessions
   session_bag_name: bag.bag