Update README.md

README.md

@@ -10,23 +10,69 @@ tags:
 - drone-imagery
 pretty_name: PiLoT Dataset[CVPR 2026 Highlight]
 size_categories:
+- 100G<n<1T
 - n>1T
 ---
 
 # Dataset Card for PiLoT Dataset
 > [!NOTE]
-> **Total Size:** Approximately **6.5 TB**.  
-> **Status:** ⏳ **Uploading...** (Baidu Netdisk links are fully updated; Google Drive is continuously updating. Some links may become available shortly.)
+> We provide **two releases** of the PiLoT dataset:
+>
+> | Release | Resolution | Size | Access |
+> | :--- | :--- | :--- | :--- |
+> | **Training Pack** | 512×512 (compressed) | ~**343 GB** | ✅ [Hugging Face](https://huggingface.co/datasets/choyaa/PiLoT-data) — `Train/` + `Validation/` |
+> | **Full Dataset** | **1600×1200** (original) | ~**6.5 TB** | 🔴 Baidu Netdisk / 🔵 Google Drive — see [table below](#full-resolution-release-16001200) |
 
 ### Trajectory Card
 
 * **Ref-Query Pairs**: Each sub-dataset includes a **Reference** (clear weather) and a **Query** (with weather effects) trajectory following the exact same path.
 * **Data Modalities**: Sequential frames are provided as `*_0.png` for RGB and `*_1.png` for Metric Depth.
-* **Data Access**: 
-    * **Images**: Download from the cloud drive links in the README.
-    * **Poses & Cameras**: Download directly from this repository.
 * **🙋❗Note**: Please download the reprojection code from this repo and run the **demo** first to verify the projection alignment and coordinate system.
 
+## Download — 512×512 Training Pack 
+
+### Option 1: `huggingface-cli` 
+
+```bash
+pip install -U huggingface_hub
+
+# Log in once (needed if the dataset is gated later)
+huggingface-cli login
+
+# Download everything (~343 GB)
+huggingface-cli download choyaa/PiLoT-data --repo-type dataset --local-dir ./PiLoT-data
+
+# Or download only one split
+huggingface-cli download choyaa/PiLoT-data Train --repo-type dataset --local-dir ./PiLoT-data
+huggingface-cli download choyaa/PiLoT-data Validation --repo-type dataset --local-dir ./PiLoT-data
+```
+
+### Option 2: Python
+
+```python
+from huggingface_hub import snapshot_download
+
+snapshot_download(
+    repo_id="choyaa/PiLoT-data",
+    repo_type="dataset",
+    local_dir="./PiLoT-data",
+    allow_patterns=["Train/*"],  # or ["Validation/*"] or omit for all
+)
+```
+
+### Extract a trajectory
+
+```bash
+unzip PiLoT-data/Train/England_seq1@200@30_50.zip -d PiLoT-data/Train/
+```
+
+## Full-Resolution Release (1600×1200)
+
+In addition to the Hugging Face training pack, we provide the **original 1600×1200** full-resolution dataset (~**6.5 TB** total) via cloud drives. Download each trajectory individually from the links below.
+
+* **Images**: Download from the 🔴 Baidu Netdisk / 🔵 Google Drive links in the table.
+* **Poses & Cameras**: Download directly from this repository.
+
 | Trajectory Name | Location (City, Country) | Lat / Lng | Height | Pitch Range | 🔴 Baidu Netdisk | 🔵 Google Drive |
 | :--- | :--- | :--- | :--- | :--- | :--- | :--- |
 | England_seq1@200@30_50 | Oxford, UK | 51.7345 / -1.2715 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/19jVWKwyiqMw-7yYbaD3AEA?pwd=saww) | [Link](https://drive.google.com/file/d/1PXPqSHqLoU99Rhqx4lQiZWZYB_YOityj/view?usp=sharing) |
@@ -41,16 +87,16 @@ size_categories:
 | Finnish_seq2@300@0_30 | Helsinki, Finland | 60.1913 / 24.9066 | 300m | [0, 30] | [Link](https://pan.baidu.com/s/1--wbT73iNDVztB7YeI7BuQ?pwd=saww) | [Link](https://drive.google.com/file/d/1gKO7tXev8WoqiF9ta2iX_zTIeeGW3Fk9/view?usp=drive_link) |
 | Finnish_seq4@200@0_30 | Espoo, Finland | 60.2041 / 24.7858 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1mbc0GnYhZXqxCk75FxD7Ng?pwd=saww) | [Link](https://drive.google.com/file/d/1-od5oY6Nvc_ZBlyTZ-mdn06rlsMailpY/view?usp=drive_link) |
 | Finnish_seq5@500@30_50 | Turku, Finland | 60.4387 / 22.2074 | 500m | [30, 50] | [Link](https://pan.baidu.com/s/1d9epUzL28l5_X7v0i2MI-g?pwd=saww) | [Link](https://drive.google.com/file/d/1zj7KDOwWRH8n6B8umvf0GFiVgBKETR6T/view?usp=drive_link) |
-| Finnish_seq6@300@30_50 | Turku, Finland | 60.4617 / 22.2642 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/179qDRdQ73QV4-iDpjhQezA?pwd=saww) | [Link]() |
-| Finnish_seq8@300@30_50 | Tampere, Finland | 61.5100 / 23.7607 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1Pmr4jV2KLZ3BP5NksZqd1g?pwd=saww) | [Link]() |
-| Finnish_seq10@200@30_50 | Vantaa, Finland | 60.3131 / 25.0673 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1wZ7WDTl48ndmCwHKJERHQg?pwd=saww) | [Link]() |
-| France_seq1@200@30_50 | Paris, France | 48.8460 / 2.3116 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1sy3iacebl6F2FfGSqzaSlA?pwd=saww) | [Link]() |
+| Finnish_seq6@300@30_50 | Turku, Finland | 60.4617 / 22.2642 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/179qDRdQ73QV4-iDpjhQezA?pwd=saww) | Link |
+| Finnish_seq8@300@30_50 | Tampere, Finland | 61.5100 / 23.7607 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1Pmr4jV2KLZ3BP5NksZqd1g?pwd=saww) | Link |
+| Finnish_seq10@200@30_50 | Vantaa, Finland | 60.3131 / 25.0673 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1wZ7WDTl48ndmCwHKJERHQg?pwd=saww) | Link |
+| France_seq1@200@30_50 | Paris, France | 48.8460 / 2.3116 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1sy3iacebl6F2FfGSqzaSlA?pwd=saww) | Link |
 | France_seq2@300@0_30 | Paris, France | 48.8724 / 2.2739 | 300m | [0, 30] | [Link](https://pan.baidu.com/s/1SLFhUP1ug5VRAeKQ0H8mCQ?pwd=saww) | [Link](https://drive.google.com/file/d/1_sSR5DEbmh37qy8uJsK7HcbfY6-CALd-/view?usp=drive_link) |
 | France_seq4@200@0_30 | Roissy-en-France, France | 49.0151 / 2.5308 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1b8iRJfVItq81VsJGt4JQrQ?pwd=saww) | [Link](https://drive.google.com/file/d/1uXNSIh9Ezo4rbTwNrbN0icG5t3Y8TpPS/view?usp=drive_link) |
 | France_seq5@500@30_50 | Paris, France | 48.8805 / 2.3694 | 500m | [30, 50] | [Link](https://pan.baidu.com/s/1n0iZ_eCC1zOyqi_KoM3CnA?pwd=saww) | [Link](https://drive.google.com/file/d/1zj7KDOwWRH8n6B8umvf0GFiVgBKETR6T/view?usp=drive_link) |
 | France_seq8@300@30_50 | Metz, France | 49.1235 / 6.1455 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1HMJJhJ-DieiW2hyE6eYH2w?pwd=saww) | [Link](https://drive.google.com/file/d/1d8yPrzGGij7PmBAZJJ3G3R3GRJ8AUv27/view?usp=drive_link) |
 | France_seq9@500@0_30 | Bordeaux, France | 44.8501 / -0.5819 | 500m | [0, 30] | [Link](https://pan.baidu.com/s/1IGJSISvLdE67Ki_H6AgxKw?pwd=saww) | [Link](https://drive.google.com/file/d/16YbYniSu8S5Nat_-JD25g9W-_1Epmu_v/view?usp=drive_link) |
-| France_seq10@200@30_50 | Marseille, France | 43.3191 / 5.3817 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1SZV-FA7tmJoZVmj4378KWg?pwd=saww) | [Link]() |
+| France_seq10@200@30_50 | Marseille, France | 43.3191 / 5.3817 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1SZV-FA7tmJoZVmj4378KWg?pwd=saww) | Link |
 | German_seq1@200@30_50 | Munich, Germany | 48.1544 / 11.5428 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1RYiH9O8BShRK4Eq4j4E4Cg?pwd=saww) | [Link](https://drive.google.com/file/d/1Ky6DzvJRZgJnh0SeYqY9aENvyCPfj3h4/view?usp=drive_link) |
 | German_seq2@300@0_30 | Aachen, Germany | 50.7750 / 6.0724 | 300m | [0, 30] | [Link](https://pan.baidu.com/s/16fcx2puvrBzj79iZpj1qzA?pwd=saww) | [Link](https://drive.google.com/file/d/13o8oyEPLZJRtlM3ONRzlKB6FaztoDauu/view?usp=drive_link) |
 | German_seq4@200@0_30 | Munich, Germany | 48.1877 / 11.5741 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/19jG3ewUJCd5K__TtFZatjQ?pwd=saww) | [Link](https://drive.google.com/file/d/1-IsncKnye7NkpNZJ4YET-UvpsxKPAI8V/view?usp=drive_link) |
@@ -61,9 +107,9 @@ size_categories:
 | Italy_seq1@200@30_50 | Milan, Italy | 45.4467 / 9.2271 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/13owGTjQO_AOKqOK2_uHNxg?pwd=saww) | [Link](https://drive.google.com/file/d/1kshG4ZPxLKolaH1qXBvC2Nk-SwxJtbBP/view?usp=drive_link) |
 | Italy_seq2@300@0_30 | Milan, Italy | 45.4910 / 9.1526 | 300m | [0, 30] | [Link](https://pan.baidu.com/s/1cUQ2MYBdq_oPcAfmRs4V3A?pwd=saww) | [Link](https://drive.google.com/file/d/1DPx-2wkB5mrA5PdAK4IMhPoBzsDFoq_I/view?usp=drive_link) |
 | Italy_seq3@500@30_50 | Rome, Italy | 41.9260 / 12.4894 | 500m | [30, 50] | [Link](https://pan.baidu.com/s/1y4AOpqhW6hiWLDR53KWlPw?pwd=saww) | [Link](https://drive.google.com/file/d/137aIWwE8wOsBvsT32_g7VgDqBxVxqcE3/view?usp=drive_link) |
-| Italy_seq4@200@0_30 | Rome, Italy | 41.9161 / 12.4628 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1nxxvTXs825JbcLHrDVYhVQ?pwd=saww) | [Link]() |
-| Italy_seq5@500@30_50 | Bologna, Italy | 44.4906 / 11.3297 | 500m | [30, 50] | [Link](https://pan.baidu.com/s/1ReylkyERz1YhJDqavRGDMA?pwd=saww) | [Link]() |
-| Italy_seq6@300@30_50 | Bologna, Italy | 44.4776 / 11.3755 | 300m | [30, 50] | [Link]( https://pan.baidu.com/s/1iuPmhCGKnmXEYDZSYfbgew?pwd=saww) | [Link](https://drive.google.com/file/d/1INzZnY8PRhpkQsVzK9rR4M85z8aOs9ak/view?usp=drive_link) |
+| Italy_seq4@200@0_30 | Rome, Italy | 41.9161 / 12.4628 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1nxxvTXs825JbcLHrDVYhVQ?pwd=saww) | Link |
+| Italy_seq5@500@30_50 | Bologna, Italy | 44.4906 / 11.3297 | 500m | [30, 50] | [Link](https://pan.baidu.com/s/1ReylkyERz1YhJDqavRGDMA?pwd=saww) | Link |
+| Italy_seq6@300@30_50 | Bologna, Italy | 44.4776 / 11.3755 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1iuPmhCGKnmXEYDZSYfbgew?pwd=saww) | [Link](https://drive.google.com/file/d/1INzZnY8PRhpkQsVzK9rR4M85z8aOs9ak/view?usp=drive_link) |
 | Italy_seq8@300@30_50 | Florence, Italy | 43.8488 / 11.1064 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/15WY_9og92Ekzqv4OWRNguQ?pwd=saww) | [Link](https://drive.google.com/file/d/11P9VyUfx8oYmAS586574d8JVBMI9Ur2C/view?usp=drive_link) |
 | Italy_seq9@500@0_30 | Venice, Italy | 45.4405 / 12.3005 | 500m | [0, 30] | [Link](https://pan.baidu.com/s/1PMFRhUoysrc29zbotISA8A?pwd=saww) | [Link](https://drive.google.com/file/d/10be-zliPgkLQBnPyCkFcSlrn4ewu9-Pg/view?usp=drive_link) |
 | Netherland_seq1@500@0_30 | Amsterdam, Netherlands | 52.3492 / 4.8506 | 500m | [0, 30] | [Link](https://pan.baidu.com/s/1jgCc7b-a7i0NVGSDQJfs0g?pwd=saww) | [Link](https://drive.google.com/file/d/1p5z-erD52PKo520Ggl-oacCtUy4DmtXK/view?usp=drive_link) |
@@ -78,9 +124,9 @@ size_categories:
 | spain_seq3@300@30_50 | Valencia, Spain | 39.4519 / -0.3441 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1AJMY1waESd5W70ghCM_asg?pwd=saww) | [Link](https://drive.google.com/file/d/1hE5kjaQBcHyJpR75Ss61S-lyaHqwTW5B/view?usp=drive_link) |
 | spain_seq4@500@30_50 | Valencia, Spain | 39.4604 / -0.3035 | 500m | [30, 50] | [Link](https://pan.baidu.com/s/1EBqWETGORdl-yggYGn1bqQ?pwd=saww) | [Link](https://drive.google.com/file/d/1MDEdVvEU4OpkLevv8vx6qp01TrhbL9eq/view?usp=drive_link) |
 | spain_seq5@200@30_50 | Madrid, Spain | 40.5479 / -3.7035 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1v-SJ1JNmJLV104r7-NrqwQ?pwd=saww) | [Link](https://drive.google.com/file/d/1e3x5yvL2p7-yKo1dXltgWEtUJlUbqj8r/view?usp=drive_link) |
-| spain_seq6@200@0_30 | Madrid, Spain | 40.4163 / -3.7145 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1NL2ARVyTC6QDVdbcQEz9ZQ?pwd=saww) | [Link]() |
-| spain_seq8@500@0_30 | San Sebastián, Spain | 43.3251 / -1.9178 | 500m | [0, 30] | [Link](https://pan.baidu.com/s/1wPMR831gq0zO8XZ6-TnBTg?pwd=saww) | [Link]() |
-| spain_seq9@300@30_50 | Seville, Spain | 37.3611 / -6.0668 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1F6Ls3fdxWC4y2BTLJLsbeA?pwd=saww) | [Link]() |
+| spain_seq6@200@0_30 | Madrid, Spain | 40.4163 / -3.7145 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1NL2ARVyTC6QDVdbcQEz9ZQ?pwd=saww) | Link |
+| spain_seq8@500@0_30 | San Sebastián, Spain | 43.3251 / -1.9178 | 500m | [0, 30] | [Link](https://pan.baidu.com/s/1wPMR831gq0zO8XZ6-TnBTg?pwd=saww) | Link |
+| spain_seq9@300@30_50 | Seville, Spain | 37.3611 / -6.0668 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1F6Ls3fdxWC4y2BTLJLsbeA?pwd=saww) | Link |
 | Switzerland_seq1@500@30_50 | Lausanne, Switzerland | 46.5368 / 6.5305 | 500m | [30, 50] | [Link](https://pan.baidu.com/s/1FTD8nHESFCWBg1dRfa7CeA?pwd=saww) | [Link](https://drive.google.com/file/d/16OgzixNIPj4P4s5VQK5AxP352PUh1YWp/view?usp=drive_link) |
 | Switzerland_seq2@200@0_30 | Basel, Switzerland | 47.6281 / 7.5723 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1nCJUub9rJxN1fIUFArFnzQ?pwd=saww) | [Link](https://drive.google.com/file/d/1uHe5NaTVRYFrLkFwyIsV-nD8JPN2-y9D/view?usp=drive_link) |
 | Switzerland_seq3@300@30_50 | Zurich, Switzerland | 47.3749 / 8.5493 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1Iyj32MZYebq1GRDcVDEEQA?pwd=saww) | [Link](https://drive.google.com/file/d/1kSApdJ-Bm2GkCg0ePLoKbPo6NJmscNLj/view?usp=drive_link) |
@@ -106,13 +152,13 @@ size_categories:
 | Switzerland_seq26@300@30_50 | Bern, Switzerland | 46.9410 / 7.3823 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/164DkmBe5fv1fCMa9jBZM6w?pwd=saww) | [Link](https://drive.google.com/file/d/12Jlk9yx41PaphbktAEV4XSC8QxufbJw7/view?usp=drive_link) |
 | Switzerland_seq27@200@0_30 | Bern, Switzerland | 46.9316 / 7.4421 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1h615MvTP4xUw7gljqDgHUQ?pwd=saww) | [Link](https://drive.google.com/file/d/1eFaqfQ42K3EoDa9QhhWsNp9OeVniSWkK/view?usp=drive_link) |
 | Switzerland_seq28@300@30_50 | St. Gallen, Switzerland | 47.4465 / 9.4201 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1ComXhllUOaJ0WZ9gpFkwxg?pwd=saww) | [Link](https://drive.google.com/file/d/18VsSKkmse9TJdwDc66z1X3Pu9TYWi75m/view?usp=drive_link) |
-| Switzerland_seq29@500@0_30 | Winterthur, Switzerland | 47.4770 / 8.7008 | 500m | [0, 30] | [Link]( https://pan.baidu.com/s/1iV6ehBMHwbm8aGofGEgABg?pwd=saww) | [Link](https://drive.google.com/file/d/1VRpKOWdUDl8zGLFd4S2efeI5sF51SCIh/view?usp=drive_link) |
+| Switzerland_seq29@500@0_30 | Winterthur, Switzerland | 47.4770 / 8.7008 | 500m | [0, 30] | [Link](https://pan.baidu.com/s/1iV6ehBMHwbm8aGofGEgABg?pwd=saww) | [Link](https://drive.google.com/file/d/1VRpKOWdUDl8zGLFd4S2efeI5sF51SCIh/view?usp=drive_link) |
 | Switzerland_seq30@200@30_50 | Winterthur, Switzerland | 47.5307 / 8.7592 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1pGND9cLyqLgKcS7W5LKZbw?pwd=saww) | [Link](https://drive.google.com/file/d/1XXiZxISsRiPN9ha-qIDURiK2a3YA83Fy/view?usp=drive_link) |
 | Switzerland_seq31@200@30_50 | Winterthur, Switzerland | 47.4933 / 8.7005 | 200m | [30, 50] | [Link](https://pan.baidu.com/s/1_GuBBmArXBIeez0AS_fxqw?pwd=saww) | [Link](https://drive.google.com/file/d/1L4OXezq7hiAejJo07In1X8ZPwpZ2CXV5/view?usp=drive_link) |
 | Switzerland_seq32@300@0_30 | Winterthur, Switzerland | 47.5323 / 8.6611 | 300m | [0, 30] | [Link](https://pan.baidu.com/s/1ZjaPRFXaXRyRbxe_dSiZSA?pwd=saww) | [Link](https://drive.google.com/file/d/1YCw2hQvbDFwXOAyZJXHnwJCMHnfU3lS7/view?usp=drive_link) |
 | Switzerland_seq33@500@0_30 | Fribourg, Switzerland | 46.8333 / 7.1405 | 500m | [0, 30] | [Link](https://pan.baidu.com/s/1dBvwdvDeosGzAxbtgajsrQ?pwd=saww) | [Link](https://1drv.ms/u/c/456d7446bf87dba3/IQCtyCXmqj_VSYpIvZNUx24uAaYb1ITNVptf-FacXtEFn1c?e=vBw1kP) |
 | Switzerland_seq34@200@0_30 | Fribourg, Switzerland | 46.8096 / 7.1637 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1uhr-EJvASHzqSn3E9wfCBg?pwd=saww) | [Link](https://1drv.ms/u/c/456d7446bf87dba3/IQBXdvfAFJ73Tois7RBWxzdAAd4DdiBbyV8J12GqLSaimwQ?e=c3JKXz) |
-| Switzerland_seq35@500@30_50 | Neuchâtel, Switzerland | 46.9911 / 6.9122 | 500m | [30, 50] | [Link](https://pan.baidu.com/s/1M156xGO3Sm8QSO68Mll-Qw?pwd=saww) | [Link]() |
+| Switzerland_seq35@500@30_50 | Neuchâtel, Switzerland | 46.9911 / 6.9122 | 500m | [30, 50] | [Link](https://pan.baidu.com/s/1M156xGO3Sm8QSO68Mll-Qw?pwd=saww) | Link |
 | Switzerland_seq36@300@30_50 | Biel, Switzerland | 47.1306 / 7.2319 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1V-N71tGDmAuBYQB0urcjtg?pwd=saww) | [Link](https://1drv.ms/u/c/456d7446bf87dba3/IQDKZVxaW4FqRo498TVtYRZcAUA8YNhCLod6HHNx8kjUDXk?e=xHenf0) |
 | Switzerland_seq37@200@0_30 | Biel, Switzerland | 47.1235 / 7.2386 | 200m | [0, 30] | [Link](https://pan.baidu.com/s/1BZ5xhXtRVIgvshlXFIMDug?pwd=saww) | [Link](https://1drv.ms/u/c/456d7446bf87dba3/IQAyjqqTZh1SQ6H6fUR809P7AWN2QP1DSTeRGCiaAvciog8?e=d7C2Ny) |
 | Switzerland_seq38@300@30_50 | Biel, Switzerland | 47.1100 / 7.2220 | 300m | [30, 50] | [Link](https://pan.baidu.com/s/1xtmgiTP4AAqZfYMwkiE6Uw?pwd=saww) | [Link](https://1drv.ms/u/c/456d7446bf87dba3/IQBnpELQqv0lTKSQCpy3CAr8Aepkz62p-4Nzca85OYprEYk?e=Y8rjnV) |