数据格式
艾欧数据平台支持灵活的数据格式,可以自定义数据可视化模板。
这里以艾欧数据采集产品采集的数据格式为例:
人类数据格式
文件结构
f"{date}_{project}_{scene}_{task}_{staff_id}_{timestamp}"
├── align_result.csv # 时间戳对齐表格
├── annotation.json # 标注数据
├── config # 相机和传感器配置
│ ├── calib_data.yml
│ ├── depth_to_rgb.yml
│ ├── mocap_main.yml
│ ├── orbbec_depth.yml
│ ├── orbbec_rgb.yml
│ └── pose_calib.yml
└── data.mcap # 多模态数据
多模态数据
library: mcap go v1.7.0
profile: ros1
messages: 45200
duration: 1m5.625866496s
start: 2025-01-15T18:09:29.628202496+08:00 (1736935769.628202496)
end: 2025-01-15T18:10:35.254068992+08:00 (1736935835.254068992)
compression:
zstd: [764/764 chunks] [6.13 GiB/3.84 GiB (37.39%)] [59.87 MiB/sec]
channels:
(1) /rgbd/color/image_raw/compressed 1970 msgs (30.02 Hz) : sensor_msgs/CompressedImage [ros1msg]
(2) /joint_states 1970 msgs (30.02 Hz) : sensor_msgs/JointState [ros1msg]
(3) /claws_r_hand 1970 msgs (30.02 Hz) : io_msgs/claws_angle [ros1msg]
(4) /global_localization 1970 msgs (30.02 Hz) : geometry_msgs/PoseStamped [ros1msg]
(5) /robot_description 1 msgs : std_msgs/String [ros1msg]
(6) /ee_visualization 1970 msgs (30.02 Hz) : sensor_msgs/CompressedImage [ros1msg]
(7) /rgbd/depth/image_raw 1970 msgs (30.02 Hz) : sensor_msgs/Image [ros1msg]
(8) /colorized_depth 1970 msgs (30.02 Hz) : sensor_msgs/CompressedImage [ros1msg]
(9) /claws_l_hand 1970 msgs (30.02 Hz) : io_msgs/claws_angle [ros1msg]
(10) /claws_touch_data 1970 msgs (30.02 Hz) : io_msgs/squashed_touch [ros1msg]
(11) /touch_visualization 1970 msgs (30.02 Hz) : sensor_msgs/CompressedImage [ros1msg]
(12) /mocap/sensor_data 1970 msgs (30.02 Hz) : io_msgs/squashed_mocap_data [ros1msg]
(13) /mocap/ros_tf 1970 msgs (30.02 Hz) : tf2_msgs/TFMessage [ros1msg]
(14) /left_ee_pose 1970 msgs (30.02 Hz) : geometry_msgs/PoseStamped [ros1msg]
(15) /right_ee_pose 1970 msgs (30.02 Hz) : geometry_msgs/PoseStamped [ros1msg]
(16) /usb_cam_left/mjpeg_raw/compressed 1960 msgs (29.87 Hz) : sensor_msgs/CompressedImage [ros1msg]
(17) /usb_cam_right/mjpeg_raw/compressed 1946 msgs (29.65 Hz) : sensor_msgs/CompressedImage [ros1msg]
(18) /usb_cam_fisheye/mjpeg_raw/compressed 1957 msgs (29.82 Hz) : sensor_msgs/CompressedImage [ros1msg]
(19) /realsense_left_hand/depth/image_rect_raw 1961 msgs (29.88 Hz) : sensor_msgs/Image [ros1msg]
(20) /realsense_left_hand/color/image_raw/compressed 1961 msgs (29.88 Hz) : sensor_msgs/CompressedImage [ros1msg]
(21) /realsense_right_hand/depth/image_rect_raw 1947 msgs (29.67 Hz) : sensor_msgs/Image [ros1msg]
(22) /realsense_right_hand/color/image_raw/compressed 1947 msgs (29.67 Hz) : sensor_msgs/CompressedImage [ros1msg]
(23) /world_left_ee_pose 1970 msgs (30.02 Hz) : geometry_msgs/PoseStamped [ros1msg]
(24) /world_right_ee_pose 1970 msgs (30.02 Hz) : geometry_msgs/PoseStamped [ros1msg]
channels: 24
attachments: 0
metadata: 0
Topic名称 | 数据含义 |
---|---|
/mocap/sensor_data | 基于动作捕捉的关节速度、加速度、角速度、旋转角度和传感器数据 |
/mocap/ros_tf | 基于动作捕捉的所有关节的TF |
/joint_states | 基于动作捕捉的所有关节的JointState |
/right_ee_pose | 主头部相机坐标系下的右夹爪位姿 |
/left_ee_pose | 主头 部相机坐标系下的左夹爪位姿 |
/claws_l_hand | 左夹爪闭合程度 |
/claws_r_hand | 右夹爪闭合程度 |
/claws_touch_data | 夹爪触觉数据(包含两个消息,每个消息的frame_id表示左或右夹爪,data的前四个值有效) |
/realsense_left_hand/color/image_raw/compressed | 左夹爪相机的RGB图像 |
/realsense_left_hand/depth/image_rect_raw | 左夹爪相机的深度图像 |
/realsense_right_hand/color/image_raw/compressed | 右夹爪相机的RGB图像 |
/realsense_right_hand/depth/image_rect_raw | 右夹爪相机的深度图像 |
/rgbd/color/image_raw/compressed | 主头部相机的RGB图像 |
/rgbd/depth/image_raw | 主头部相机的深度图像 |
/colorized_depth | 主头部相机的彩色深度图像 |
/usb_cam_fisheye/mjpeg_raw/compressed | 主头部鱼眼相机的RGB图像 |
/usb_cam_left/mjpeg_raw/compressed | 主头部左单目相机的RGB图像 |
/usb_cam_right/mjpeg_raw/compressed | 主头部右单目相机的RGB图像 |
/ee_visualization | 主头部相机RGB图像中的末端执行器位姿可视化 |
/touch_visualization | 夹爪触觉数据可视化 |
/robot_description | 动作捕捉URDF |
/global_localization | 主头部相机在世界坐标系中的位姿 |
/world_left_ee_pose | 左夹爪在世界坐标系中的位姿 |
/world_right_ee_pose | 右夹爪在世界坐标系中的位姿 |
如果是人穿戴着触觉手套采集的数据,会增加触觉数字信号阵列Topic:
/mocap/touch_data 57 msgs (30.25 Hz): io_msgs/squashed_touc [ros1msg]