Datasets:
schema stringclasses 1
value | dataset_id stringclasses 2
values | session_id stringclasses 84
values | episode_index int64 0 83 | frame_index int64 1 387 | timestamp_ros_s float64 2.09M 2.1M | timestamp_unix_s float64 1.79B 1.79B | camera_pose_world listlengths 16 16 ⌀ | left_valid bool 2
classes | left_joints_world_m listlengths 63 63 ⌀ | left_joints_camera_m listlengths 63 63 ⌀ | left_wrist_position_world_m listlengths 3 3 ⌀ | left_wrist_quaternion_world_xyzw listlengths 4 4 ⌀ | left_confidence float64 1 1 ⌀ | left_source stringclasses 3
values | left_processing_steps listlengths 0 2 | right_valid bool 2
classes | right_joints_world_m listlengths 63 63 ⌀ | right_joints_camera_m listlengths 63 63 ⌀ | right_wrist_position_world_m listlengths 3 3 ⌀ | right_wrist_quaternion_world_xyzw listlengths 4 4 ⌀ | right_confidence float64 1 1 ⌀ | right_source stringclasses 4
values | right_processing_steps listlengths 0 2 | rgb_fisheye_path stringclasses 84
values | fisheye_preview_path stringclasses 84
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fastego.canonical_hand_frame/v1 | ego6dof_20260824_part1 | session_020837 | 0 | 1 | 2,095,583.949876 | 1,787,508,518.096 | null | false | null | null | null | null | null | invalid | [] | false | null | null | null | null | null | invalid | [] | videos/session_020837/rgb_fisheye.mp4 | videos/session_020837/fisheye_overlay.mp4 |
fastego.canonical_hand_frame/v1 | ego6dof_20260824_part1 | session_020837 | 0 | 2 | 2,095,583.966543 | 1,787,508,518.114 | null | false | null | null | null | null | null | invalid | [] | false | null | null | null | null | null | invalid | [] | videos/session_020837/rgb_fisheye.mp4 | videos/session_020837/fisheye_overlay.mp4 |
fastego.canonical_hand_frame/v1 | ego6dof_20260824_part1 | session_020837 | 0 | 3 | 2,095,583.983191 | 1,787,508,518.135 | null | false | null | null | null | null | null | invalid | [] | false | null | null | null | null | null | invalid | [] | videos/session_020837/rgb_fisheye.mp4 | videos/session_020837/fisheye_overlay.mp4 |
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fastego.canonical_hand_frame/v1 | ego6dof_20260824_part1 | session_020837 | 0 | 6 | 2,095,584.033158 | 1,787,508,518.189 | [
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fastego.canonical_hand_frame/v1 | ego6dof_20260824_part1 | session_020837 | 0 | 7 | 2,095,584.049809 | 1,787,508,518.208 | [
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fastego.canonical_hand_frame/v1 | ego6dof_20260824_part1 | session_020837 | 0 | 11 | 2,095,584.116444 | 1,787,508,518.28 | [
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End of preview. Expand in Data Studio
FastEgo HaWoR Fisheye 84
该数据包包含 84 条第一视角手部运动 Session，共 31184 帧；其中至少一只手有效的帧为 20371，总体覆盖率为 65.33%。
数据内容
data/train.parquet：逐帧索引，包含左右手有效标记、世界/相机坐标 21 关节、手腕位姿、相机位姿和视频相对路径。sessions/<session_id>/motion.npz：适合 NumPy/机器人流程读取的稠密数组；固定手侧顺序为[left, right]，缺失值为NaN，并由valid指示。sessions/<session_id>/hand_meta.json：数组形状、单位、坐标系、覆盖率及置信度限制。sessions/<session_id>/calibration.json：原始 RGB SEUCM 鱼眼内参及坐标约定。videos/<session_id>/rgb_fisheye.mp4：未经针孔矫正的原始 SEUCM 鱼眼视频。videos/<session_id>/fisheye_overlay.mp4：左侧原始鱼眼，右侧为 refined 世界关节重新投影到原始鱼眼的质检预览。metadata/sessions.jsonl：Session 级索引；metadata/excluded_sessions.jsonl：未进入 84 条的数据及原因。SHA256SUMS：上传或下载后的完整性校验。
处理口径
内部 HaWoR 推理使用 SEUCM 到同尺寸针孔图的矫正输入；本包分发的视频和预览底图均为原始鱼眼。手部结果来自 WiLoR + HaWoR，随后转换到 Session-local SLAM 世界坐标，并依次进行异常点处理、ToF 有界修正、最多 4 帧/100 ms 短缺口插值和骨长约束。该次运行关闭时间平滑；Tracker fusion 因标定未达到可用标准而未执行。
84 条由全部 90 条按 refined 任一手帧覆盖率降序选取，Session ID 用作并列排序键。未选中的 6 条为：session_020129 (48.45%), session_021748 (47.54%), session_020221 (43.05%), session_020213 (42.23%), session_020247 (41.64%), session_020204 (38.60%)。这是一条明确的数据选择规则，不代表低覆盖率数据在物理上无效。
坐标与限制
- 世界坐标：Session-local SLAM world，单位米。
camera_pose_world：T_world_camera。- 相机坐标：OpenCV 约定，
+x向右、+y向下、+z向前。 - 关节：HaWoR/MANO 21-joint 输出顺序。
- 当前
confidence=1.0只是 HaWoR 有效观测标记，不是校准后的 WiLoR 检测概率。 - 当前产物不包含 MANO pose/shape 参数，也不包含真实机器人 Retarget 结果；机器人映射应从
motion.npz的规范化人手运动继续执行。
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