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Datasets:
AdamHines
/
Gardens-Point-Event

Modalities:
Image
Tags:
event-camera
localization
visual-place-recognition
robotics
License:
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The dataset generation failed because of a cast error
Error code:   DatasetGenerationCastError
Exception:    DatasetGenerationCastError
Message:      An error occurred while generating the dataset

All the data files must have the same columns, but at some point there are 5 new columns ({'x', 'time_ns', 'time_laptop_ns', 'z', 'y'}) and 7 missing columns ({'n_window_events', 'host_epoch_ns', 'n_recorded', 'cam_t_last_us', 'host_mono_ns', 'cam_t_first_us', 'n_overflows'}).

This happened while the csv dataset builder was generating data using

hf://datasets/AdamHines/Gardens-Point-Event/left/derived/accelerometer.csv (at revision c147ea8c9a95e9b501b98b6b383f270eddd7154b), ['hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/left/camera_sync.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/left/derived/accelerometer.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/left/derived/accelerometeruncalibrated.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/left/derived/frames.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/left/derived/gps_interp.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/left/derived/gyroscope.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/left/derived/gyroscopeuncalibrated.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/left/derived/location.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/left/derived/orientation.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/left/frames.zip', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/right/camera_sync.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/right/derived/accelerometer.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/right/derived/accelerometeruncalibrated.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/right/derived/frames.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/right/derived/gps_interp.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/right/derived/gyroscope.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/right/derived/gyroscopeuncalibrated.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/right/derived/location.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/right/derived/orientation.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/right/frames.zip']

Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1848, in _prepare_split_single
                  writer.write_table(table)
                  ~~~~~~~~~~~~~~~~~~^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 765, in write_table
                  self._write_table(pa_table, writer_batch_size=writer_batch_size)
                  ~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 773, in _write_table
                  pa_table = table_cast(pa_table, self._schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2378, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2306, in cast_table_to_schema
                  raise CastError(
                  ...<3 lines>...
                  )
              datasets.table.CastError: Couldn't cast
              time_ns: int64
              time_laptop_ns: int64
              z: double
              y: double
              x: double
              -- schema metadata --
              pandas: '{"index_columns": [{"kind": "range", "name": null, "start": 0, "' + 826
              to
              {'host_epoch_ns': Value('int64'), 'host_mono_ns': Value('int64'), 'cam_t_first_us': Value('int64'), 'cam_t_last_us': Value('int64'), 'n_window_events': Value('int64'), 'n_recorded': Value('int64'), 'n_overflows': Value('int64')}
              because column names don't match
              
              During handling of the above exception, another exception occurred:
              
              Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1369, in compute_config_parquet_and_info_response
                  parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
                                                                        ~~~~~~~~~~~~~~~~~~~~~~~~~^
                      builder, max_dataset_size_bytes=max_dataset_size_bytes
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  )
                  ^
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 948, in stream_convert_to_parquet
                  builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
                  ~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1694, in _prepare_split
                  for job_id, done, content in self._prepare_split_single(
                                               ~~~~~~~~~~~~~~~~~~~~~~~~~~^
                      gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  ):
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1850, in _prepare_split_single
                  raise DatasetGenerationCastError.from_cast_error(
                  ...<4 lines>...
                  )
              datasets.exceptions.DatasetGenerationCastError: An error occurred while generating the dataset
              
              All the data files must have the same columns, but at some point there are 5 new columns ({'x', 'time_ns', 'time_laptop_ns', 'z', 'y'}) and 7 missing columns ({'n_window_events', 'host_epoch_ns', 'n_recorded', 'cam_t_last_us', 'host_mono_ns', 'cam_t_first_us', 'n_overflows'}).
              
              This happened while the csv dataset builder was generating data using
              
              hf://datasets/AdamHines/Gardens-Point-Event/left/derived/accelerometer.csv (at revision c147ea8c9a95e9b501b98b6b383f270eddd7154b), ['hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/left/camera_sync.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/left/derived/accelerometer.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/left/derived/accelerometeruncalibrated.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/left/derived/frames.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/left/derived/gps_interp.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/left/derived/gyroscope.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/left/derived/gyroscopeuncalibrated.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/left/derived/location.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/left/derived/orientation.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/left/frames.zip', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/right/camera_sync.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/right/derived/accelerometer.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/right/derived/accelerometeruncalibrated.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/right/derived/frames.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/right/derived/gps_interp.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/right/derived/gyroscope.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/right/derived/gyroscopeuncalibrated.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/right/derived/location.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/right/derived/orientation.csv', 'hf://datasets/AdamHines/Gardens-Point-Event@c147ea8c9a95e9b501b98b6b383f270eddd7154b/right/frames.zip']
              
              Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)

Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.

host_epoch_ns
int64
host_mono_ns
int64
cam_t_first_us
int64
cam_t_last_us
int64
n_window_events
int64
n_recorded
int64
n_overflows
int64
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78,669,852
78,719,851
33,311
54,440,659
0
1,787,707,283,412,064,000
4,714,044,386,973
79,719,852
79,769,849
16,134
55,220,473
0
1,787,707,284,461,983,500
4,715,094,306,390
80,769,852
80,819,851
42,261
55,887,662
0
1,787,707,285,516,879,600
4,716,149,202,524
81,819,852
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20,300
56,682,690
0
1,787,707,286,565,854,000
4,717,198,177,010
82,869,852
82,919,850
38,116
57,392,530
0
1,787,707,287,612,635,100
4,718,244,958,490
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58,062,977
0
1,787,707,288,662,949,000
4,719,295,272,304
84,969,852
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17,619
58,668,449
0
1,787,707,289,718,267,400
4,720,350,590,582
86,019,856
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59,359,411
0
1,787,707,290,767,092,700
4,721,399,415,776
87,069,852
87,119,851
26,564
60,119,278
0
1,787,707,291,814,362,600
4,722,446,685,418
88,119,853
88,169,848
16,693
60,763,060
0
1,787,707,292,864,879,900
4,723,497,202,786
89,169,852
89,219,849
40,455
61,451,272
0
1,787,707,293,916,263,700
4,724,548,586,654
90,219,853
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31,917
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1,787,707,294,968,423,700
4,725,600,747,118
91,269,852
91,319,851
38,412
62,644,977
0
1,787,707,296,016,890,000
4,726,649,213,522
92,319,857
92,369,850
36,552
63,451,171
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1,787,707,297,066,283,500
4,727,698,607,833
93,369,853
93,419,851
30,938
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1,787,707,298,121,190,100
4,728,753,513,824
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1,787,707,299,172,193,300
4,729,804,515,842
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4,731,903,670,802
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1,787,707,302,320,812,000
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1,787,707,303,372,368,400
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1,787,707,304,417,620,500
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1,787,707,305,468,302,300
4,736,100,625,778
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1,787,707,306,526,388,200
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End of preview.

Gardens Point Event Dataset for viewpoint variant localization

This repository contains the datasets for the Gardens Point Event Dataset, consisting of two walking traverses of the same route with a severe left and right viewpoint shift.

The dataset was captured with an iniVation DAVIS346 event camera mounted to a handheld gimble with an iPhone 16 recording RGB frames and providing GPS ground truth positioning.

Dataset structure

The dataset has the following structure:

Gardens-Point-Event/
├── left/
|   ├── derived/
|   |   ├── gps_interp.csv
|   |   ├── sync.json
|   ├── camera_sync.csv
|   ├── frames.zip
|   ├── phone.jsonl
|   ├── left.hdf5
|   ├── session.json
|
├── right/
|   ├── derived/
|   |   ├── gps_interp.csv
|   |   ├── sync.json
|   ├── camera_sync.csv
|   ├── frames.zip
|   ├── phone.jsonl
|   ├── right.hdf5
|   ├── session.json

The .hdf5 files contain the raw event stream from the DAVIS346, where the derived/gps_interp.csv contains the interpolated ground truth from the camera sync. frames.zip contains RGB .jpg images from the iPhone camera taken at 1Hz, which can be used for further alignment.

session.json contains metadata about the recordings.
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