Dataset Viewer
The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code: StreamingRowsError
Exception: ValueError
Message: Invalid string class label multicam-4d-stereo@45c4cca072564029310741c649eda097184e6f9f
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 149, in get_rows_or_raise
return get_rows(
dataset=dataset,
...<4 lines>...
column_names=column_names,
)
File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
return func(*args, **kwargs)
File "/src/services/worker/src/worker/utils.py", line 129, in get_rows
rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
File "/src/services/worker/src/worker/utils.py", line 489, in safe_iter
yield from ds.decode(False) if ds.features else ds
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2818, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2368, in __iter__
example = _apply_feature_types_on_example(
example, self.features, token_per_repo_id=self.token_per_repo_id
)
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2285, in _apply_feature_types_on_example
encoded_example = features.encode_example(example)
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 2162, in encode_example
return encode_nested_example(self, example)
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1446, in encode_nested_example
{k: encode_nested_example(schema[k], obj.get(k), level=level + 1) for k in schema}
~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1469, in encode_nested_example
return schema.encode_example(obj) if obj is not None else None
~~~~~~~~~~~~~~~~~~~~~^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1144, in encode_example
example_data = self.str2int(example_data)
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1081, in str2int
output = [self._strval2int(value) for value in values]
~~~~~~~~~~~~~~~~^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1102, in _strval2int
raise ValueError(f"Invalid string class label {value}")
ValueError: Invalid string class label multicam-4d-stereo@45c4cca072564029310741c649eda097184e6f9fNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
MultiCam 4D Stereo Dataset
同步 8 目立体相机 4D 采集数据。8 台 DECXIN/Nori 并排立体模组由单个 ESP32 门控触发器并联驱动,跨相机同步 ~0.4µs(亚微秒)。每台相机自带用屏幕 ChArUco 标定出的双目内参。
相机
每台相机有唯一动物名(对应物理标签):Cat Pig Cow Fish Tiger Sheep Dog Mouse。
文件(每个 zip = 一段截取)
| 文件 | 会话 | 帧范围 | 每台每目帧数 |
|---|---|---|---|
ui_1784818172_8s到结尾_8台命名带内参.zip |
ui_1784818172 | 8s→结尾 | 353 |
ui_1784817901_4s到7s_8台命名带内参.zip |
ui_1784817901 | 4s→7s | 90 |
ui_1784817901_10s到结尾_8台命名带内参.zip |
ui_1784817901 | 10s→结尾 | 291 |
(帧范围按 30fps 换算;每 zip 解压得到一个 dataset_<session>_<range>/ 顶层目录。)
目录结构
dataset_<session>_<range>/
├── capture_info.json # 元信息(相机/帧范围/同步抖动/含标定清单)
├── README.txt # 用法说明
├── Tiger/
│ ├── left/ 000000.jpg … NNNNNN.jpg
│ ├── right/ 000000.jpg … NNNNNN.jpg
│ └── calibration/
│ ├── foundationstereo_K.txt # 校正后 K + 基线(FoundationStereo 格式)
│ ├── stereo_calibration.npz # K/D/R/T + 极线校正映射 left_map/right_map
│ └── stereo_calibration_summary.json
├── Fish/ … Cat/ … Pig/ … Cow/ … Sheep/ … Dog/ … Mouse/ …
对齐约定
- 同一相机
left/NNNNNN.jpg与right/NNNNNN.jpg= 同一原始帧。 - 不同相机的同名帧 = 同一触发瞬间(亚微秒同步)。
left/right为原始拆分(相机倒装已转正,未极线校正);视差约定x_left - x_right > 0,符合 FoundationStereo。
使用 (FoundationStereo)
送 FoundationStereo 前,对每台的 left/right 用其 calibration/stereo_calibration.npz 里的 left_map/right_map 做 cv2.remap 极线校正,再配 foundationstereo_K.txt:
import numpy as np, cv2
c = np.load("Tiger/calibration/stereo_calibration.npz")
L = cv2.remap(cv2.imread("Tiger/left/000000.jpg"), c["left_map_x"], c["left_map_y"], cv2.INTER_LINEAR)
R = cv2.remap(cv2.imread("Tiger/right/000000.jpg"), c["right_map_x"], c["right_map_y"], cv2.INTER_LINEAR)
# 校正后的 L/R + foundationstereo_K.txt -> FoundationStereo
标定质量
每台屏幕 ChArUco 双目标定:stereo RMS ≈ 0.6px、基线 ≈ 59.5mm(8 台聚集在 59.35–59.83mm,硬件一致)。
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