Dataset

The dataset subcommand is used to import data from the Stray Scanner app to be used with the rest of the Stray toolkit.

Available commands

stray dataset import

Imports data from the Stray Scanner app into the scene format

Options

namedefaultchoicesdescription
<scenes>Paths to the raw scenes. The rgb.mp4 file needs to be present at minimum for scenes to be used in camera calibration, the depth directory also needs to exist for scenes to be integrated)
--out, -oDirectory where to save the imported scenes
--every1Skip frames
--width1920Width of the imported images. Make sure to match the camera_intrinsics.json width in case --intrinsics is passed
--height1440Height of the imported images. Make sure to match the camera_intrinsics.json height in case --intrinsics is passed
--intrinsicsNonePath to a custom camera_intrinsics.json (for example, generated by the calibration command) to include in the imported scene instead of parameters found in the camera_matrix.csv (if present)
--help, -hShow help

stray dataset show

  • Displays the dataset optionally with labels of different types

Options

namedefaultchoicesdescription
<scenes>Paths to the Stray scene(s) to show
--bboxFalse(flag)Render 2D bounding boxes based on the annotations.json file
--segmentationFalse(flag)Render segmentation masks on the images (masks can be created with stray dataset bake
--bbox-from-maskFalse(flag)Determine the 2D bounding box from segmentation mask (masks can be created with stray dataset bake
--saveFalse(flag)Save the shown images to scene/labeled_examples
--rate, -r30Frame rate
--help, -hShow help

stray dataset bake

  • Bake different assets (such as segmentation masks) into the dataset

Options

namedefaultchoicesdescription
<scenes>Paths to the Scenes into which assets should be baked
--segmentationFalse(flag)Bake segmentation masks to the scene. The masks are saved as pickles into scene/segmentation/instance_i folders based on the number of bounding boxes in the scene
--help, -hShow help

Help

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