File size: 2,621 Bytes
1f89812 de41fc8 1f89812 492381f | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 | # Metadata Schema
All timestamps use nanoseconds (`ns`). The first version stores indexes only. Raw ROSBag files remain the source of truth.
## `metadata/sessions.parquet`
| Column | Type | Description |
| --- | --- | --- |
| `session_id` | `string` | Session directory name. |
| `bag_path` | `string` | Relative path to `bag.bag`. |
| `sha256_path` | `string` | Relative path to `bag.bag.sha256`. |
| `metadata_path` | `string` | Relative path to `metadata.yaml`. |
| `bag_size_bytes` | `int64` | Raw ROSBag file size in bytes. |
| `duration_sec` | `float64` | Bag duration in seconds. |
| `start_time_ns` | `int64` | Earliest message timestamp. |
| `end_time_ns` | `int64` | Latest message timestamp. |
| `num_messages` | `int64` | Total message count. |
| `has_lidar` | `bool` | Session contains lidar data. |
| `has_rgb` | `bool` | Session contains RGB camera data. |
| `has_depth` | `bool` | Session contains depth camera data. |
| `has_infra` | `bool` | Session contains infrared camera data. |
| `has_tof` | `bool` | Session contains ToF data. |
| `has_imu` | `bool` | Session contains IMU data. |
| `has_odom` | `bool` | Session contains odometry data. |
| `has_tf` | `bool` | Session contains TF data. |
| `calibration_id` | `string` | Calibration directory ID. |
| `quality_status` | `string` | One of `unchecked`, `good`, `usable`, `bad`. |
| `source_filename` | `string` | Original bag filename. |
| `import_mode` | `string` | Import mode: `hardlink`, `copy`, `symlink`, or `move`. |
## `metadata/topics.parquet`
| Column | Type | Description |
| --- | --- | --- |
| `session_id` | `string` | Session directory name. |
| `bag_path` | `string` | Relative path to `bag.bag`. |
| `topic` | `string` | ROS topic name. |
| `msg_type` | `string` | ROS message type. |
| `count` | `int64` | Message count for this topic. |
| `hz_mean` | `float64` | Mean frequency estimated from timestamps. |
| `timestamp_min_ns` | `int64` | Earliest topic timestamp. |
| `timestamp_max_ns` | `int64` | Latest topic timestamp. |
| `category` | `string` | Topic category. |
## `metadata/tof_sensor.yaml`
Machine-readable metadata for the ToF sensor used by `/nlink_tofsensem_cascade`.
Key facts:
| Field | Description |
| --- | --- |
| `model` | Nooploop TOFSense-M. |
| `collection_configuration` | Six-node UART query cascade in 8x8 mode. |
| `message_layout` | ROS message and per-node/per-pixel fields. |
| `distance_status_codes` | Meaning of `dis_status` values. |
| `specifications` | Range, FOV, refresh rate, laser class, power, and interface limits. |
See `metadata/tof_sensor.md` for the human-readable version.
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