diff --git a/README.md b/README.md index 7b95401dc46245ac339fc25059d4a56d90b4cde5..e7b9a4363d2f02a22a9e2d20101028a4be92e99d 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,256 @@ ---- -license: apache-2.0 ---- +--- +license: apache-2.0 +language: + - zh + - en +tags: + - autonomous-navigation + - drone + - embodied-ai + - trajectory + - carla + - synthetic-data +pretty_name: CosFly-Track +size_categories: + - 100/ +│ ├── ORI/ +│ │ ├── trajectory.json +│ │ └── frames_playback/ +│ │ └── frame_/ +│ │ ├── rgb.png +│ │ ├── depth.npy +│ │ ├── instance.png +│ │ ├── debug.png +│ │ └── meta.json +│ └── aug_001/ +│ ├── trajectory.json +│ ├── perturbation_report.json +│ └── frames_playback/ +│ └── frame_/ +│ ├── rgb.png +│ ├── depth.npy +│ ├── instance.png +│ ├── debug.png +│ └── meta.json +└── data_v7/ + └── Town/ + └── trajectory_/ + ├── augmentation_summary.json + ├── ORI/ + │ ├── trajectory.json + │ └── frames_playback/ + │ └── frame_/ + │ ├── rgb.png + │ ├── depth.npy + │ ├── instance.png + │ ├── debug.png + │ └── meta.json + └── aug_001/ + ├── trajectory.json + ├── perturbation_report.json + └── frames_playback/ + └── frame_/ + ├── rgb.png + ├── depth.npy + ├── instance.png + ├── debug.png + └── meta.json +``` + +## Data Files + +Each trace contains one trajectory-level JSON file: + +```text +data_v7//trajectory_//trajectory.json +``` + +Example: + +```text +data_v7/Town01/trajectory_1777083733/aug_001/trajectory.json +``` + +Observed top-level keys include: + +```text +camera +dataset_format +frames_dir +pedestrian_blueprint +points +schema +schema_version +source +trace_dir +``` + +Additional augmentation metadata is stored at the parent trajectory level: + +```text +data_v7//trajectory_/augmentation_summary.json +data_v7//trajectory_/aug_001/perturbation_report.json +``` + +The `points` array stores per-frame annotations. Observed per-point keys include: + +```text +drone_pose +index +is_perturbed +nav_waypoint +perturbation +target +timing +world_to_camera +``` + +Important nested fields: + +- `drone_pose`: UAV position and attitude, including `x`, `y`, `z`, `pitch`, `yaw`, and `roll`. +- `target`: target actor metadata and visual annotations, including visibility, image coordinates, depth, and 3D bounding box. +- `nav_waypoint`: navigation waypoint annotations in both world and image coordinates. +- `world_to_camera`: transformation matrix for projecting world coordinates to the camera frame. + +Each playback frame directory contains: + +- `rgb.png`: RGB observation, usually 1280 x 720. +- `depth.npy`: depth array in NumPy format. +- `instance.png`: instance segmentation image. +- `debug.png`: visualization/debug image with overlays. +- `meta.json`: per-frame metadata aligned with the corresponding `points` entry. + +## Minimal Loader Example + +```python +from pathlib import Path +import json +import numpy as np +from PIL import Image + +root = Path("data_v7") + +for traj_json in sorted(root.glob("Town*/trajectory_*/*/trajectory.json")): + with traj_json.open("r", encoding="utf-8") as f: + traj = json.load(f) + + trace_dir = traj.get("trace_dir") + points = traj.get("points", []) + if not points: + continue + + first = points[0] + frame_index = first["index"] + frame_dir = traj_json.parent / "frames_playback" / f"frame_{frame_index:05d}" + + rgb = Image.open(frame_dir / "rgb.png") + depth = np.load(frame_dir / "depth.npy") + with (frame_dir / "meta.json").open("r", encoding="utf-8") as f: + meta = json.load(f) + + print( + trace_dir, + len(points), + rgb.size, + depth.shape, + first["drone_pose"], + first["target"], + meta["frame_id"], + ) + break +``` + +## Filtering and Quality Criteria + +The current release is generated from filtered v7 data. Main checks include: + +- Integrity checks: `ORI` and `aug_*` traces exist, required frame files are readable, and `meta.json` contains `frame_id`. +- Basic trajectory quality: average target-drone distance <= 35, max distance <= 50, max target height <= 2, target visible ratio > 55%, and adjacent drone z-step <= 5. +- Drone collision checks: drone poses must not enter town-specific map 3D bounding boxes. +- Target collision checks: target 3D bounding boxes must not overlap map objects beyond the configured threshold. +- Town-map consistency: map bounding boxes are selected according to the Town name in each trajectory path. + +## Recommended Quality Checks + +Before packaging a public release, run the following checks: + +- Ensure every parent trajectory contains both `ORI` and `aug_001`. +- Ensure every trace has a readable `trajectory.json`. +- Ensure every frame referenced by `trajectory.json` has `meta.json`, `rgb.png`, `depth.npy`, `instance.png`, and `debug.png`. +- Optionally decode all RGB and debug images with Pillow to catch corrupted images. +- Verify that frame indices between `ORI` and `aug_001` are aligned. +- Verify that public manifests and JSON metadata do not expose unintended internal machine paths. + +## Coordinate System + +The trajectory fields `x`, `y`, `z`, `pitch`, `yaw`, and `roll` follow CARLA / Unreal-style world coordinates and Euler angles. For Three.js visualization, the project uses the mapping `(x, z, -y)`. + +## Intended Uses + +CosFly-Track can be used for: + +- UAV visual target tracking. +- Waypoint prediction and visual navigation. +- Robustness training with augmented UAV poses. +- Multi-modal learning from RGB, depth, segmentation, and structured trajectory metadata. +- Trajectory prediction, visibility modeling, and simulator-based evaluation. + +## Release Checklist + +The following items should be finalized before public open-source release: + +- Public Hugging Face dataset URL. +- Dataset license. +- Paper authors and final citation. +- Train/validation/test split manifest. +- Benchmark metric definition and evaluation script path. +- Known limitations and simulator domain-gap notes. + +## Citation + +Citation information is pending. Replace this section with the final BibTeX entry before release. + +```bibtex +@misc{cosfly_track, + title = {CosFly-Track: A Large-Scale Multi-Modal Dataset for UAV Visual Tracking via Multi-Constraint Trajectory Optimization}, + author = {TBD}, + year = {2026}, + howpublished = {TBD} +} +``` diff --git a/data_v7/Town05_Opt/trajectory_1777051735/augmentation_summary.json b/data_v7/Town05_Opt/trajectory_1777051735/augmentation_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..143c94a3e1eeda337ce079bb23febf55ece8ec04 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777051735/augmentation_summary.json @@ -0,0 +1,2893 @@ +{ + "schema": "augmentation_summary_v5", + "schema_version": "5.0.0", + "augmentation": { + "enabled": true, + "K": 2, + "seed": -1, + "perturb_ratio": 0.8, + "random_person": true, + "walker_blueprint_id": "walker.pedestrian.0032", + "viewpoint": { + "enabled": false, + "strategy": "sphere", + "radius": 0.0, + "description": "V4: Camera look-at target offset around pedestrian position" + }, + "pedestrian": { + "strategy": "cube", + "radius_Rh": 0.0, + "pixel_center_max": 0.0, + "ground_z_min": -0.5, + "ground_z_max": 3.0 + }, + "drone": { + "strategy": "sphere", + "radius_Rd": 0.2 + }, + "v5_joint_prob": { + "enabled": true, + "p_pos": 0.6, + "p_rot": 0.6, + "rot_max_deg": 5.0, + "joint_human_radius": 3.0, + "joint_human_strategy": "sphere", + "description": "V5: P_pos→ped/drone position; P_rot→lookat offset in joint_human_radius; euler delta vs baseline clamped by rot_max_deg" + } + }, + "augmented_traces": [ + { + "aug_index": 0, + "run_dir": "ORI", + "is_original": true, + "perturbations": [] + }, + { + "aug_index": 1, + "run_dir": "aug_001", + "is_original": false, + "perturbations": [ + { + "frame_id": 0, + "is_perturbed": true, + "pos_applied": false, + "ped_pos_applied": false, + "drone_pos_applied": false, + "viewpoint_applied": true, + "p_pos": 0.6, + "p_rot": 0.6, + "ped_delta": [ + 0.0, + 0.0, + 0.0 + ], + "drone_delta": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "frame_id": 1, + "is_perturbed": true, + "pos_applied": true, + "ped_pos_applied": false, + "drone_pos_applied": true, + "viewpoint_applied": false, + "p_pos": 0.6, + "p_rot": 0.6, + "ped_delta": [ + 0.0, + 0.0, + 0.0 + ], + "drone_delta": [ + -0.005872991029681529, + 0.17631996892552948, + 0.06028083476658708 + ] + }, + { + "frame_id": 2, + "is_perturbed": true, + "pos_applied": true, + "ped_pos_applied": false, + "drone_pos_applied": true, + "viewpoint_applied": false, + "p_pos": 0.6, + "p_rot": 0.6, + "ped_delta": [ + 0.0, + 0.0, + 0.0 + ], + "drone_delta": [ + 0.15380160025419798, + 0.11728150615323507, + -0.04407585181570539 + ] + }, + { + "frame_id": 3, + "is_perturbed": true, + "pos_applied": true, + "ped_pos_applied": false, + "drone_pos_applied": true, + "viewpoint_applied": false, + "p_pos": 0.6, + "p_rot": 0.6, + "ped_delta": [ + 0.0, + 0.0, + 0.0 + ], + "drone_delta": [ + 0.04102924273967545, + 0.008788066138285977, + 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a/data_v7/Town05_Opt/trajectory_1777102518/augmentation_summary.json b/data_v7/Town05_Opt/trajectory_1777102518/augmentation_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..366ce4b469c29a51b9a1e6c93b20bbdf613f46d9 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777102518/augmentation_summary.json @@ -0,0 +1,2473 @@ +{ + "schema": "augmentation_summary_v5", + "schema_version": "5.0.0", + "augmentation": { + "enabled": true, + "K": 2, + "seed": -1, + "perturb_ratio": 0.8, + "random_person": true, + "walker_blueprint_id": "walker.pedestrian.0001", + "viewpoint": { + "enabled": false, + "strategy": "sphere", + "radius": 0.0, + "description": "V4: Camera look-at target offset around pedestrian position" + }, + "pedestrian": { + "strategy": "cube", + "radius_Rh": 0.0, + "pixel_center_max": 0.0, + "ground_z_min": -0.5, + "ground_z_max": 3.0 + }, + "drone": { + "strategy": "sphere", + "radius_Rd": 0.2 + }, + "v5_joint_prob": { + "enabled": true, + "p_pos": 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newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777116006/augmentation_summary.json b/data_v7/Town05_Opt/trajectory_1777116006/augmentation_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..77bb68f4890d325437275eeeef38dd264b8fc304 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777116006/augmentation_summary.json @@ -0,0 +1,3533 @@ +{ + "schema": "augmentation_summary_v5", + "schema_version": "5.0.0", + "augmentation": { + "enabled": true, + "K": 2, + "seed": -1, + "perturb_ratio": 0.8, + "random_person": true, + "walker_blueprint_id": "walker.pedestrian.0028", + "viewpoint": { + "enabled": false, + "strategy": "sphere", + "radius": 0.0, + "description": "V4: Camera look-at target offset around pedestrian position" + }, + "pedestrian": { + "strategy": "cube", + "radius_Rh": 0.0, + "pixel_center_max": 0.0, + "ground_z_min": -0.5, + "ground_z_max": 3.0 + }, + "drone": { + "strategy": "sphere", + "radius_Rd": 0.2 + }, + 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a/data_v7/Town05_Opt/trajectory_1777124816/augmentation_summary.json b/data_v7/Town05_Opt/trajectory_1777124816/augmentation_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..76c43ba62c9af4dbbc3f2eb92b7cda0644a784f9 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777124816/augmentation_summary.json @@ -0,0 +1,4333 @@ +{ + "schema": "augmentation_summary_v5", + "schema_version": "5.0.0", + "augmentation": { + "enabled": true, + "K": 2, + "seed": -1, + "perturb_ratio": 0.8, + "random_person": true, + "walker_blueprint_id": "walker.pedestrian.0001", + "viewpoint": { + "enabled": false, + "strategy": "sphere", + "radius": 0.0, + "description": "V4: Camera look-at target offset around pedestrian position" + }, + "pedestrian": { + "strategy": "cube", + "radius_Rh": 0.0, + "pixel_center_max": 0.0, + "ground_z_min": -0.5, + "ground_z_max": 3.0 + }, + "drone": { + "strategy": "sphere", + "radius_Rd": 0.2 + }, + "v5_joint_prob": { + "enabled": true, + "p_pos": 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b/data_v7/Town05_Opt/trajectory_1777175211/augmentation_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..405d2db90dd96f1401a97ce1da1722233ac77e99 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777175211/augmentation_summary.json @@ -0,0 +1,2613 @@ +{ + "schema": "augmentation_summary_v5", + "schema_version": "5.0.0", + "augmentation": { + "enabled": true, + "K": 2, + "seed": -1, + "perturb_ratio": 0.8, + "random_person": true, + "walker_blueprint_id": "walker.pedestrian.0038", + "viewpoint": { + "enabled": false, + "strategy": "sphere", + "radius": 0.0, + "description": "V4: Camera look-at target offset around pedestrian position" + }, + "pedestrian": { + "strategy": "cube", + "radius_Rh": 0.0, + "pixel_center_max": 0.0, + "ground_z_min": -0.5, + "ground_z_max": 3.0 + }, + "drone": { + "strategy": "sphere", + "radius_Rd": 0.2 + }, + "v5_joint_prob": { + "enabled": true, + "p_pos": 0.6, + "p_rot": 0.6, + "rot_max_deg": 5.0, + "joint_human_radius": 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