commaai/comma2k19

@misc{1812.05752,
Author = {Harald Schafer and Eder Santana and Andrew Haden and Riccardo Biasini},
Title = {A Commute in Data: The comma2k19 Dataset},
Year = {2018},
Eprint = {arXiv:1812.05752},
}

Dataset_chunk_n
|
+-- route_id (dongle_id|start_time)
    |
    +-- segment_number
        |
        +-- preview.png (first frame video)
        +-- raw_log.bz2 (raw capnp log, can be read with openpilot-tools: logreader)
        +-- video.hevc (video file, can be read with openpilot-tools: framereader)
        +-- processed_log/ (processed logs as numpy arrays, see format for details)
        +-- global_pos/ (global poses of camera as numpy arrays, see format for details)

processed_log
|
+--IMU ([forward, right, down])
|  |
|  +--acceleration: (m^2/s)
|  +--gyro_uncalibrated (rad/s)
|  +--gyro_bias: android gyro bias estimate (rad/s)
|  +--gyro: with android bias correction (rad/s)
|  +--magnetic_uncalibrated: (T)
|  +--magnetic: with android calibration(T)
|
+--CAN data:
|  |
|  +--car_speed (m/s)
|  +--steering_angle (deg)
|  +--wheel_speeds: [front_left, front_right, rear_left, rear_right] (m/s)
|  +--radar: [forward distance (m),
|  |          left distance (m),
|  |          relative speed (m/s),
|  |          nan,
|  |          nan,
|  |          address,
|  |          new_track (bool)]
|  +--raw CAN: This not stored as a value array but as three seperate arrays [src, address, data]
|
+--GNSS
   |
   +--live_gnss_qcom: [latitude (deg),
   |                   longitude (deg),
   |                   speed (m/s),
   |                   utc_timestamp (s),
   |                   altitude (m),
   |                   bearing (deg)]
   +--live_gnss_ublox: [latitude (deg),
   |                    longitude (deg),
   |                    speed (m/s),
   |                    utc_timestamp (s),
   |                    altitude (m),
   |                    bearing (deg)]
   |
   +--raw_gnss_qcom: every row represents a measurement
   |                 of 1 satellite at 1 epoch can easily
   |                 be manipulated with laika.
   |                 [prn (nmea_id, see laika),
   |                  week of gps_time of reception (gps_week),
   |                  time pf week of gps_time of reception (s),
   |                  nan,
   |                  pseudorange (m),
   |                  pseudorange_std (m),
   |                  pseudorange_rate (m/s),
   |                  pseudorange_rate_std (m/s)]
   +--raw_gnss_ublox: every row represents a measurement
                      of 1 satellite at 1 epoch can easily
                      be manipulated with laika.
                      [prn (nmea_id, see laika),
                       week of gps_time of reception (gps_week),
                       time pf week of gps_time of reception (s),
                       GLONASS channel number (-7..6) nan if not GLONASS,
                       pseudorange (m),
                       pseudorange_std (m),
                       pseudorange_rate (m/s),
                       pseudorange_rate_std (m/s)]

The poses of the camera and timestamps of every frame of the video are stored
as follows:
  frame_times: timestamps of video frames in boot time (s)
  frame_gps_times: timestamps of video frames in gps_time: ([gps week (weeks), time-of-week (s)])
  frame_positions: global positions in ECEF of camera(m)
  frame_velocities: global velocity in ECEF of camera (m/s)
  frame_orientations: global orientations as quaternion needed to
                      rotate from ECEF  frame to local camera frame
                      defined as [forward, right, down] (hamilton quaternion!!!!)