Data Specification

This document describes the data format recorded by the Stray Scanner iOS app. Note, that it is slightly different from the dataset format. Stray Scanner datasets can be converted using the import command.

The collected datasets are each contained in a folder, named after a random hash, for example 71de12f9. A dataset folder has the following directory structure:

camera_matrix.csv
odometry.csv
imu.csv
depth/
  - 000000.png
  - 000001.png
  - ...
confidence/
  - 000000.png
  - 000001.png
  - ...
rgb.mp4

rgb.mp4 is an HEVC encoded video, which contains the recorded data from the iPhone's camera.

The depth/ directory contains the depth maps. One .png file per rgb frame. Each of these is a 16 bit grayscale png image. They have a height of 192 elements and width of 256 elements. The values are the measured depth in millimeters, for that pixel position. In OpenCV, these can be read with cv2.imread(depth_frame_path, -1).

The confidence/ directory contains confidence maps corresponding to each depth map. They are grayscale png files encoding 192 x 256 element matrices. The values are either 0, 1 or 2. A higher value means a higher confidence.

The camera_matrix.csv is a 3 x 3 matrix containing the camera intrinsic parameters.

The odometry.csv file contains the camera positions for each frame. The first line is a header. The meaning of the fields are:

The imu.csv file contains timestamps, linear acceleration readings and angular rotation readings. The first line is a header. The meaning of the fields are: