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Monado SLAM Dataset as Rerun recordings
Every recording of the Monado SLAM Dataset
(Valve Index, HP Reverb G2, Samsung Odyssey+; 64 recordings, 316 minutes) converted to Rerun .rrd
files by the dataforge package of rerun-io/examples-monorepo.
Made for slam-rs, which
replays these files from a local Rerun catalog.
Layout
Three layers per recording, sharing one recording id, plus the viewer blueprints:
base/<recording_id>.rrd per-camera AV1 video, gyro and accel at 1 kHz, magnetometer (G2, Odyssey+), rig calibration
gt/<recording_id>.rrd Lighthouse ground-truth poses at 1 kHz on the rig node, trajectory line
sensor_metadata/<recording_id>.rrd IMU noise densities, bias random walks, applied time shift
blueprints/msd-<device>.rbl default viewer layout per headset; msd-<device>-table.rbl for the table view
<recording_id> is msd-<device>__<collection>__<sequence>, for example
msd-index__MIO_others__MIO10_short_2_panorama. Devices: index (33 recordings, 2 cameras),
g2 (15, 4 cameras), odyssey (16, 2 cameras). Entity paths follow the exoego:v2 rig schema
(/world/rig_00/cam_NN/pinhole/video, /world/rig_00/imu_00/{gyro,accel}); the timeline is
video_time in nanoseconds since the capture start.
Use
Register the three directories as datasets msd-index, msd-g2, msd-odyssey on a local
rerun server; the slam-rs README shows the commands. A single recording can also be replayed
straight from the file pair (base + gt) without a catalog.
Conversion: the upstream PNG frames were encoded to AV1 upright per the factory calibration, IMU
and ground truth were kept at native rate, and the ground-truth world-up axis was measured rather
than assumed. Details in packages/dataforge/docs/msd.md of the monorepo.
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