README.md

# DM nuScenes — release `1007`

Driving data from the DM test vehicle (an Ouster LiDAR, 14 RGB cameras and 2 thermal cameras, GNSS/INS) in the
[nuScenes](https://www.nuscenes.org/) `v1.0-trainval` format: load it with the `nuscenes-devkit` as is.

**637 scenes** of 20 s (3.54 h) from **105 recordings** · 25,480 key-frame samples ·
6,081,808 sensor frames · 1557 GB to download in 245 sensor tars + 1 table tar
(1658 GB unpacked).
No 3D box annotations (`sample_annotation` is empty).

This release holds the recordings delivered so far (amsa, chuncheon, gangbyeonbungno, gangnam, gapyeong, geondae, godeok, gosokdoro, namyangju, seongsu, wangsimni, yanggu); the tables list exactly the scenes
whose files are in it. More recordings are added by later releases.

## Download and use

1. Log in if the dataset is gated or private: `hf auth login`.
2. Download this release and put it together (`assemble.py` checks every tar's sha256 and extracts it):

```bash
pip install -U huggingface_hub
hf download YewonSong/DataMachine --repo-type dataset --revision 1007 --local-dir dm_tars
python dm_tars/assemble.py --tars dm_tars --out dm_nuscenes
```

```python
from nuscenes.nuscenes import NuScenes
from nuscenes.can_bus.can_bus_api import NuScenesCanBus
nusc = NuScenes(version="v1.0-trainval", dataroot="dm_nuscenes")
can = NuScenesCanBus(dataroot="dm_nuscenes")      # pose, ms_imu, meta per scene
```

**Some recordings only**: download the tables and the recordings you want, and let `assemble.py` skip the rest
(the tables still list every scene of the release; the files of the others are just absent):

```bash
hf download YewonSong/DataMachine --repo-type dataset --revision 1007 --local-dir dm_tars \
    --include "manifest.json" --include "assemble.py" --include "meta/*" --include "sensors/rec_20260929_162450/*"
python dm_tars/assemble.py --tars dm_tars --out dm_nuscenes --allow-missing
```

**Updating**: Coming from `1003`: run the two commands above in the same directories — only the tars new in `1007` are downloaded and extracted. Nothing already extracted is changed;
the tables are replaced. Add `--delete-tars` to `assemble.py` to remove each tar after extracting it (then
`hf download` fetches it again next time).

## Releases and versioning

Each release is a branch of this repository (`--revision <name>`), a complete dataset on its own; a release
is never changed after it is published. Later releases only **add** data:

- `sensors/<recording>/<recording>.partNN.tar.gz` — the sensor files (`samples/`, `sweeps/`) of a group of whole
  scenes of one recording, at most 10 GB unpacked (gzip: the LiDAR files shrink by about a third, the images not).
  Once published, a tar never changes and is carried into every later release (stored once).
- `meta/DM_meta.tar.gz` — the tables (`v1.0-trainval/`) of the scenes released so far, `can_bus/`, `maps/` and the
  per-recording `*.import.json` (how each recording was converted; the driver's and passenger's names are removed).
  The only file that changes between releases.
- `manifest.json` — every tar with its recording, scene tokens, files, bytes and sha256, and the release history.
- Scene tokens never change. Scene names (`scene-0001`, …) are the nuScenes train split names in the order the
  recordings were converted, so they are not contiguous inside one release; the names of released scenes do not
  change. All scenes are in the `train` split.

| release | date | locations added | recordings added | scenes added | scenes in total | parser commit |
|---|---|---|---|---|---|---|
| `1002` | 2026-10-03 | amsa | 4 | 80 | 80 | `56ad0fe` (+local changes) |
| `1003` | 2026-10-06 | gangbyeonbungno, godeok | 13 | 121 | 201 | `56ad0fe` (+local changes) |
| `1007` | 2026-10-08 | chuncheon, gangbyeonbungno, gangnam, gapyeong, geondae, gosokdoro, namyangju, seongsu, wangsimni, yanggu | 88 | 436 | 637 | `56ad0fe` (+local changes) |

## Contents

| location | dates | recordings | scenes | time | GB |
|---|---|---|---|---|---|
| amsa | 2026-09-29 | 4 | 80 | 27 min | 202 |
| chuncheon | 2026-10-01 | 4 | 10 | 3 min | 14 |
| gangbyeonbungno | 2026-09-29, 2026-10-03 | 7 | 7 | 2 min | 13 |
| gangnam | 2026-10-02 | 9 | 154 | 51 min | 413 |
| gapyeong | 2026-10-01 | 2 | 3 | 1 min | 6 |
| geondae | 2026-10-01 | 15 | 80 | 27 min | 208 |
| godeok | 2026-09-29 | 7 | 115 | 38 min | 300 |
| gosokdoro | 2026-10-03 | 3 | 4 | 1 min | 4 |
| namyangju | 2026-10-03 | 34 | 64 | 21 min | 143 |
| seongsu | 2026-10-01 | 9 | 58 | 19 min | 143 |
| wangsimni | 2026-10-01 | 4 | 26 | 9 min | 69 |
| yanggu | 2026-10-03 | 7 | 36 | 12 min | 42 |

| channel | sensor | data | rate | frames |
|---|---|---|---|---|
| `CAM_FRONT_1` | camera | 1920×1200 JPG | 29 Hz | 373,280 |
| `CAM_FRONT_2` | camera | 1920×1200 JPG | 29 Hz | 373,278 |
| `CAM_FRONT_3` | camera | 1920×1200 JPG | 29 Hz | 373,280 |
| `CAM_FRONT_4` | camera | 1920×1200 JPG | 29 Hz | 373,280 |
| `CAM_FRONT_5` | camera | 1920×1200 JPG | 29 Hz | 373,280 |
| `CAM_FRONT_6` | camera | 1920×1200 JPG | 29 Hz | 373,280 |
| `CAM_FRONT_7` | camera | 1920×1200 JPG | 29 Hz | 373,280 |
| `CAM_FRONT_8` | camera | 1920×1200 JPG | 29 Hz | 373,280 |
| `CAM_FRONT_9` | camera | 1920×1200 JPG | 29 Hz | 373,280 |
| `CAM_REAR_LEFT` | camera | 1920×1200 JPG | 29 Hz | 373,280 |
| `CAM_REAR_RIGHT` | camera | 1920×1200 JPG | 29 Hz | 373,280 |
| `CAM_SIDE_LEFT` | camera | 1920×1200 JPG | 29 Hz | 373,280 |
| `CAM_SIDE_RIGHT` | camera | 1920×1200 JPG | 29 Hz | 373,280 |
| `CAM_THERMAL_LEFT` | thermal camera | 640×480 PNG | 29 Hz | 365,341 |
| `CAM_THERMAL_RIGHT` | thermal camera | 640×480 PNG | 29 Hz | 365,697 |
| `CAM_TOP` | camera | 1920×1200 JPG | 29 Hz | 373,280 |
| `LIDAR_TOP` | lidar | point cloud (.pcd.bin) | 10 Hz | 124,852 |

Key frames (`samples/`) are 2 Hz, synchronised across the sensors as in nuScenes; every other frame is a sweep
(`sweeps/`). LiDAR files hold five float32 per point (x, y, z, intensity, ring), as in nuScenes. The camera images
are stored as recorded (not rectified): `calibrated_sensor` holds `camera_intrinsic` and, for the cameras,
`distortion_model` and `camera_distortion` (lens model and coefficients), plus the extrinsics, one set per recording.

## Coordinate frames and the quality of the pose

`ego_pose` is in the global frame of the recording's **location**, as in nuScenes: metres, x east, y north, z up,
on the tangent plane at that location's origin (height 0 on the WGS84 ellipsoid). `log.json` names it in the extra
key `global_frame` (`enu@37.550000,127.140000,0.000`) and `location` (`korea-amsa`, `korea-godeok`, ...). Each
location has its own origin: positions of different locations are not in one plane.

**The pose is poor.** It comes from the vehicle's GNSS/INS (`/gps/fix`, `/imu/data`, `/gps/vel`; 100 Hz), and the
receiver often has no GNSS solution (the pose is then the INS coasting), so absolute positions can drift or jump
and the speed can be off. Per-scene figures are in `<recording>.import.json` (`pos_type`, `gnss_solution_by_scene`,
`position_sigma_m_median`). Use the poses for what they are good for (ego orientation, short-term motion), not
as ground truth; the IMU (`can_bus/<scene>_ms_imu.json`) and the LiDAR are more reliable than the position.

## Recordings

| recording | location | date | scenes | tars | GB | first release |
|---|---|---|---|---|---|---|
| rec_20260929_144612 | godeok | 2026-09-29 | 23 | 7 | 54.9 | `1003` |
| rec_20260929_150138 | godeok | 2026-09-29 | 14 | 5 | 36.0 | `1003` |
| rec_20260929_151129 | godeok | 2026-09-29 | 21 | 7 | 54.7 | `1003` |
| rec_20260929_152855-카메라2죽음 | godeok | 2026-09-29 | 7 | 3 | 19.1 | `1003` |
| rec_20260929_154234 | godeok | 2026-09-29 | 25 | 8 | 68.4 | `1003` |
| rec_20260929_155714 | godeok | 2026-09-29 | 14 | 5 | 38.3 | `1003` |
| rec_20260929_160819 | godeok | 2026-09-29 | 11 | 4 | 28.7 | `1003` |
| rec_20260929_162450 | amsa | 2026-09-29 | 25 | 9 | 64.8 | `1002` |
| rec_20260929_163610 | amsa | 2026-09-29 | 19 | 6 | 45.4 | `1002` |
| rec_20260929_164535 | amsa | 2026-09-29 | 16 | 6 | 40.4 | `1002` |
| rec_20260929_165424 | amsa | 2026-09-29 | 20 | 7 | 51.9 | `1002` |
| clip_20260929_171328 | gangbyeonbungno | 2026-09-29 | 1 | 1 | 1.7 | `1003` |
| clip_20260929_171941 | gangbyeonbungno | 2026-09-29 | 1 | 1 | 2.1 | `1003` |
| clip_20260929_172040 | gangbyeonbungno | 2026-09-29 | 1 | 1 | 2.0 | `1003` |
| clip_20260929_172123 | gangbyeonbungno | 2026-09-29 | 1 | 1 | 1.9 | `1003` |
| clip_20260929_172245 | gangbyeonbungno | 2026-09-29 | 1 | 1 | 1.9 | `1003` |
| clip_20260929_172502 | gangbyeonbungno | 2026-09-29 | 1 | 1 | 2.0 | `1003` |
| rec_20261001_193910 | seongsu | 2026-10-01 | 10 | 4 | 27.2 | `1007` |
| rec_20261001_194603 | seongsu | 2026-10-01 | 14 | 5 | 37.0 | `1007` |
| rec_20261001_195123 | seongsu | 2026-10-01 | 3 | 1 | 7.0 | `1007` |
| rec_20261001_195257 | seongsu | 2026-10-01 | 2 | 1 | 4.3 | `1007` |
| rec_20261001_195915 | geondae | 2026-10-01 | 2 | 1 | 5.1 | `1007` |
| rec_20261001_200100 | geondae | 2026-10-01 | 12 | 4 | 34.4 | `1007` |
| rec_20261001_200556 | geondae | 2026-10-01 | 12 | 4 | 34.5 | `1007` |
| rec_20261001_201052 | geondae | 2026-10-01 | 2 | 1 | 4.8 | `1007` |
| rec_20261001_201333 | geondae | 2026-10-01 | 10 | 3 | 21.9 | `1007` |
| rec_20261001_202047 | geondae | 2026-10-01 | 1 | 1 | 2.4 | `1007` |
| rec_20261001_202153 | geondae | 2026-10-01 | 7 | 3 | 18.7 | `1007` |
| rec_20261001_202525 | geondae | 2026-10-01 | 1 | 1 | 2.1 | `1007` |
| rec_20261001_202626 | geondae | 2026-10-01 | 4 | 2 | 10.8 | `1007` |
| rec_20261001_202817 | geondae | 2026-10-01 | 4 | 1 | 9.2 | `1007` |
| rec_20261001_203119 | geondae | 2026-10-01 | 1 | 1 | 2.4 | `1007` |
| rec_20261001_203252 | geondae | 2026-10-01 | 11 | 4 | 31.9 | `1007` |
| rec_20261001_203908 | geondae | 2026-10-01 | 2 | 1 | 5.1 | `1007` |
| rec_20261001_203959 | geondae | 2026-10-01 | 7 | 2 | 14.1 | `1007` |
| rec_20261001_204300 | geondae | 2026-10-01 | 4 | 2 | 10.8 | `1007` |
| rec_20261001_204850 | seongsu | 2026-10-01 | 3 | 1 | 6.3 | `1007` |
| rec_20261001_205137 | seongsu | 2026-10-01 | 13 | 4 | 30.8 | `1007` |
| rec_20261001_210116 | seongsu | 2026-10-01 | 5 | 2 | 11.6 | `1007` |
| rec_20261001_210622 | seongsu | 2026-10-01 | 5 | 2 | 12.3 | `1007` |
| rec_20261001_211024 | seongsu | 2026-10-01 | 3 | 1 | 6.7 | `1007` |
| rec_20261001_211509 | wangsimni | 2026-10-01 | 2 | 1 | 4.1 | `1007` |
| rec_20261001_211716 | wangsimni | 2026-10-01 | 3 | 1 | 8.6 | `1007` |
| rec_20261001_211842 | wangsimni | 2026-10-01 | 13 | 5 | 34.1 | `1007` |
| rec_20261001_212356 | wangsimni | 2026-10-01 | 8 | 3 | 21.7 | `1007` |
| rec_20261002_063935 | chuncheon | 2026-10-01 | 3 | 1 | 3.8 | `1007` |
| rec_20261002_065008 | chuncheon | 2026-10-01 | 2 | 1 | 2.7 | `1007` |
| rec_20261002_070000 | chuncheon | 2026-10-01 | 1 | 1 | 1.4 | `1007` |
| rec_20261002_070515 | chuncheon | 2026-10-01 | 4 | 1 | 5.9 | `1007` |
| rec_20261002_075439 | gapyeong | 2026-10-01 | 1 | 1 | 1.8 | `1007` |
| rec_20261002_080046 | gapyeong | 2026-10-01 | 2 | 1 | 4.2 | `1007` |
| rec_20261002_122400 | gangnam | 2026-10-02 | 31 | 11 | 79.3 | `1007` |
| rec_20261002_124459 | gangnam | 2026-10-02 | 7 | 3 | 18.1 | `1007` |
| rec_20261002_130230 | gangnam | 2026-10-02 | 29 | 9 | 75.6 | `1007` |
| rec_20261002_131637 | gangnam | 2026-10-02 | 7 | 3 | 20.4 | `1007` |
| rec_20261002_132644 | gangnam | 2026-10-02 | 32 | 11 | 91.0 | `1007` |
| rec_20261002_134111 | gangnam | 2026-10-02 | 10 | 4 | 28.6 | `1007` |
| rec_20261002_134922 | gangnam | 2026-10-02 | 10 | 4 | 25.2 | `1007` |
| rec_20261002_144625 | gangnam | 2026-10-02 | 3 | 1 | 7.5 | `1007` |
| rec_20261002_144911 | gangnam | 2026-10-02 | 25 | 9 | 67.0 | `1007` |
| clip_20261003_155736 | namyangju | 2026-10-03 | 1 | 1 | 2.3 | `1007` |
| clip_20261003_155916 | namyangju | 2026-10-03 | 1 | 1 | 2.4 | `1007` |
| rec_20261003_160515 | namyangju | 2026-10-03 | 3 | 1 | 6.6 | `1007` |
| rec_20261003_161221 | namyangju | 2026-10-03 | 1 | 1 | 2.2 | `1007` |
| rec_20261003_161922 | namyangju | 2026-10-03 | 1 | 1 | 2.2 | `1007` |
| rec_20261003_162600 | namyangju | 2026-10-03 | 2 | 1 | 4.4 | `1007` |
| clip_20261003_162808 | namyangju | 2026-10-03 | 1 | 1 | 2.3 | `1007` |
| clip_20261003_163137 | namyangju | 2026-10-03 | 1 | 1 | 2.4 | `1007` |
| rec_20261003_164207 | namyangju | 2026-10-03 | 4 | 1 | 9.0 | `1007` |
| rec_20261003_164412 | namyangju | 2026-10-03 | 4 | 2 | 9.8 | `1007` |
| rec_20261003_164612 | namyangju | 2026-10-03 | 1 | 1 | 2.4 | `1007` |
| rec_20261003_164748 | namyangju | 2026-10-03 | 1 | 1 | 2.7 | `1007` |
| rec_20261003_164852 | namyangju | 2026-10-03 | 1 | 1 | 2.5 | `1007` |
| rec_20261003_165057 | namyangju | 2026-10-03 | 2 | 1 | 4.7 | `1007` |
| rec_20261003_165205 | namyangju | 2026-10-03 | 1 | 1 | 2.4 | `1007` |
| rec_20261003_165423 | namyangju | 2026-10-03 | 1 | 1 | 2.3 | `1007` |
| rec_20261003_165623 | namyangju | 2026-10-03 | 2 | 1 | 4.9 | `1007` |
| rec_20261003_165830 | namyangju | 2026-10-03 | 2 | 1 | 5.1 | `1007` |
| rec_20261003_185214 | namyangju | 2026-10-03 | 1 | 1 | 2.4 | `1007` |
| rec_20261003_185348 | namyangju | 2026-10-03 | 3 | 1 | 6.2 | `1007` |
| rec_20261003_185713 | namyangju | 2026-10-03 | 4 | 1 | 7.3 | `1007` |
| clip_20261003_190137 | namyangju | 2026-10-03 | 1 | 1 | 2.4 | `1007` |
| rec_20261003_190352 | namyangju | 2026-10-03 | 1 | 1 | 2.7 | `1007` |
| rec_20261003_190449 | namyangju | 2026-10-03 | 3 | 1 | 8.3 | `1007` |
| rec_20261003_190606 | namyangju | 2026-10-03 | 1 | 1 | 2.5 | `1007` |
| rec_20261003_190744 | namyangju | 2026-10-03 | 1 | 1 | 2.3 | `1007` |
| rec_20261003_191016 | namyangju | 2026-10-03 | 9 | 3 | 19.1 | `1007` |
| rec_20261003_191425 | namyangju | 2026-10-03 | 2 | 1 | 4.2 | `1007` |
| rec_20261003_191521 | namyangju | 2026-10-03 | 1 | 1 | 2.4 | `1007` |
| rec_20261003_191655 | namyangju | 2026-10-03 | 1 | 1 | 2.0 | `1007` |
| rec_20261003_191738 | namyangju | 2026-10-03 | 2 | 1 | 3.6 | `1007` |
| rec_20261003_191919 | namyangju | 2026-10-03 | 1 | 1 | 1.7 | `1007` |
| rec_20261003_192014 | namyangju | 2026-10-03 | 2 | 1 | 3.5 | `1007` |
| rec_20261003_192237 | namyangju | 2026-10-03 | 1 | 1 | 2.0 | `1007` |
| clip_20261003_193542 | gangbyeonbungno | 2026-10-03 | 1 | 1 | 1.8 | `1007` |
| rec_20261004_033655 | gosokdoro | 2026-10-03 | 1 | 1 | 1.2 | `1007` |
| rec_20261004_035019 | gosokdoro | 2026-10-03 | 1 | 1 | 1.1 | `1007` |
| rec_20261004_051712 | gosokdoro | 2026-10-03 | 2 | 1 | 2.1 | `1007` |
| rec_20261004_053533 | yanggu | 2026-10-03 | 7 | 1 | 7.1 | `1007` |
| rec_20261004_055315 | yanggu | 2026-10-03 | 12 | 2 | 14.2 | `1007` |
| rec_20261004_060022 | yanggu | 2026-10-03 | 6 | 1 | 6.4 | `1007` |
| rec_20261004_062938 | yanggu | 2026-10-03 | 2 | 1 | 2.8 | `1007` |
| rec_20261004_064254 | yanggu | 2026-10-03 | 5 | 1 | 6.4 | `1007` |
| rec_20261004_064745 | yanggu | 2026-10-03 | 3 | 1 | 3.8 | `1007` |
| rec_20261004_065138 | yanggu | 2026-10-03 | 1 | 1 | 1.2 | `1007` |

## Maintainers: making the next release

Releases are made with `parser/scripts/hf_release.py` of the DM parser (`IRCV-DM-Ops`; the commit of each release is in
the table above):

```bash
# new recordings: parse them, curate them in the DM Parser app, press 최종 확정, then
python parser/scripts/hf_release.py --branch <new> --from 1007 --location <place> --token-file <hf token file>            # plan
python parser/scripts/hf_release.py --branch <new> --from 1007 --location <place> --token-file <hf token file> --upload   # build + upload
```

It refuses to upload unless the scenes it adds are locked and the dataset passes the checks (table references,
devkit, CAN bus), and unless every tar already published still matches the dataset. Only the new recordings'
tars are built and uploaded (one commit each, resumable); the tables, manifest, this card and `assemble.py`
go last. First release of this series: `1002`.