DataSetsManager Client

English | Українська

Current Client version: 1.0.0.

Dataset Server v1 is the source of truth for published metadata and binaries. See the generated public catalog.

Clone, import, fetch, and publish

python -m pip install -e .
dsm-client sync
dsm-client sync --check
dsm-client fetch iv.dev.4.ff.1 --format rosbag
dsm-client fetch iv.dev.4.ff.1 --format rosbag2
dsm-client validate

Set DSM_SERVER_URL to the server base URL. Without it, the importer uses the versioned local test fixture for reproducible offline work. Generated catalog.json, CATALOG.md, and generated/ are replaced by the importer. --check is read-only and exits nonzero when they are stale.

Fetched payloads live below datasets/<family>/artifacts/<stable-id>/<format>/ and are narrowly ignored by Git. This replaces the former raw-data sibling-checkout default; --raw-root remains an expert/test migration override.

Publication requires DSM_SERVER_TOKEN:

python scripts/raw_catalog.py publish ID --format rosbag --version 1 \
  --path PATH --metadata METADATA.json

The client calculates size/SHA-256 and uses the authenticated v1 lifecycle without persisting the token. Run import-catalog after publication.

The former scripts and IVINS_* environment variables remain compatibility interfaces through Client 1.x. DSM_* always takes precedence.

This repository is a client catalog for evaluating multiple visual-inertial navigation systems (VINS) against public and iVINS MAV recordings. Dataset recordings are not stored in this repository. Manifests point to authoritative download locations, ground truth, and implementation-specific YAML configurations. Recordings are obtained from the linked external catalogs. External catalog metadata is based on the official OpenVINS Supported Datasets page.

Useful links: raw-data catalog guide, manifest schema, iVINS configuration profiles, and iVINS calibration reports.

Supported Datasets

EuRoC MAV

ID	Dataset Name	Length (m)	ROS Bag	ROS Bag2	Ground Truth	OpenVINS Config
e.1.1.e	V1_01_easy	58	ROS Bag	ROS Bag2	Trajectory	euroc_mav
e.1.2.m	V1_02_medium	76	ROS Bag	ROS Bag2	Trajectory	euroc_mav
e.1.3.d	V1_03_difficult	79	ROS Bag	ROS Bag2	Trajectory	euroc_mav
e.2.1.e	V2_01_easy	37	ROS Bag	ROS Bag2	Trajectory	euroc_mav
e.2.2.m	V2_02_medium	83	ROS Bag	ROS Bag2	Trajectory	euroc_mav
e.2.3.d	V2_03_difficult	86	ROS Bag	ROS Bag2	Trajectory	euroc_mav
e.mh.1.e	MH_01_easy	80	ROS Bag	ROS Bag2	Trajectory	euroc_mav
e.mh.2.e	MH_02_easy	73	ROS Bag	ROS Bag2	Trajectory	euroc_mav
e.mh.3.m	MH_03_medium	131	ROS Bag	ROS Bag2	Trajectory	euroc_mav
e.mh.4.d	MH_04_difficult	92	ROS Bag	ROS Bag2	Trajectory	euroc_mav
e.mh.5.d	MH_05_difficult	98	ROS Bag	ROS Bag2	Trajectory	euroc_mav

Catalog metadata: datasets/euroc/manifest.yaml.

TUM-VI

ID	Dataset Name	Length (m)	ROS Bag	ROS Bag2	Ground Truth	OpenVINS Config
t.r.1	room1	147	ROS Bag	Not published	Trajectory	tum_vi
t.r.2	room2	142	ROS Bag	Not published	Trajectory	tum_vi
t.r.3	room3	136	ROS Bag	Not published	Trajectory	tum_vi
t.r.4	room4	69	ROS Bag	Not published	Trajectory	tum_vi
t.r.5	room5	132	ROS Bag	Not published	Trajectory	tum_vi
t.r.6	room6	67	ROS Bag	Not published	Trajectory	tum_vi

Catalog metadata: datasets/tum-vi/manifest.yaml.

RPNG AR Table

ID	Dataset Name	Size (GB)	ROS Bag	ROS Bag2	Ground Truth	OpenVINS Config
ra.t.1–ra.t.8	table1–table8	4.77–16.01	Catalog links	Not published	Trajectories	rpng_plane

Sequence metadata and individual sizes: datasets/rpng-ar-table/manifest.yaml.

RPNG OpenVINS

ID	Dataset Name	Length (m)	ROS Bag	ROS Bag2	Ground Truth	OpenVINS Config
ro.ar.1/ro.ar.2; ro.ah.1/ro.ah.2	ArUco Room 01/02; Hallway 01/02	27–190	Catalog links	Not published	Not available	rpng_aruco
ro.n.1/ro.n.2	Neighborhood 01/02	2300–7400	Catalog links	Not published	Not available; GPS messages may be present	rpng_ironsides

Sequence metadata: datasets/rpng-openvins/manifest.yaml.

UZH-FPV Drone Racing

ID	Dataset Name	Length (m)	ROS Bag	ROS Bag2	Ground Truth	OpenVINS Config
u.i.5, u.i.6, u.i.7, u.i.9, u.i.10	Indoor 5/6/7/9/10	129–314	Catalog links	Not published	Catalog links	uzhfpv_indoor
u.i45.2, u.i45.4, u.i45.12, u.i45.13, u.i45.14	Indoor 45deg 2/4/12/13/14	112–211	Catalog links	Not published	Catalog links	uzhfpv_indoor_45

Sequence metadata: datasets/uzh-fpv/manifest.yaml.

KAIST Urban

ID	Dataset Name	Length (km)	ROS Bag	ROS Bag2	Ground Truth	OpenVINS Config
ku.u.28, ku.u.32, ku.u.38, ku.u.39	Urban 28/32/38/39	7.30–11.47	Not available; source format	Not available	Baseline trajectories	kaist

Sequence metadata: datasets/kaist-urban/manifest.yaml.

KAIST VIO

The official OpenVINS catalog publishes numeric measurements but labels their column as kilometers, which is inconsistent with the documented small indoor capture environment. The values are retained below without asserting a unit. The official KAIST project publishes 11 sequences; pure rotation has no rotation_head variant.

ID	Dataset Name	Catalog Measurement (unit unspecified)	ROS Bag	ROS Bag2	Ground Truth	OpenVINS Config / Launch
kv.c	circle	29.99	ROS Bag	Not published	Trajectory	Config / ROS1 launch
kv.c.f	circle_fast	64.15	ROS Bag	Not published	Trajectory	Config / ROS1 launch
kv.c.h	circle_head	35.05	ROS Bag	Not published	Trajectory	Config / ROS1 launch
kv.i	infinite	29.35	ROS Bag	Not published	Trajectory	Config / ROS1 launch
kv.i.f	infinite_fast	54.24	ROS Bag	Not published	Trajectory	Config / ROS1 launch
kv.i.h	infinite_head	37.45	ROS Bag	Not published	Trajectory	Config / ROS1 launch
kv.r	rotation	7.82	ROS Bag	Not published	Trajectory	Config / ROS1 launch
kv.r.f	rotation_fast	14.55	ROS Bag	Not published	Trajectory	Config / ROS1 launch
kv.s	square	41.94	ROS Bag	Not published	Trajectory	Config / ROS1 launch
kv.s.f	square_fast	44.07	ROS Bag	Not published	Trajectory	Config / ROS1 launch
kv.s.h	square_head	50.00	ROS Bag	Not published	Trajectory	Config / ROS1 launch

Sequence metadata: datasets/kaist-vio/manifest.yaml.

iVINS

The following table is a local catalog of repository profile artifacts, not proof of validated runtime compatibility.

Profile	Configuration Set	Calibration Reports	Equipment Configuration	VINS Configurations
dev_01	Configuration catalog	Calibration catalog	Equipment template	Implementation index
dev_02	Configuration catalog	Calibration catalog	Equipment template	Implementation index
dev_03	Configuration catalog	Calibration catalog	Equipment template	Implementation index
dev_04	Configuration catalog	Calibration catalog	Equipment template	Implementation index

ID	Dataset Name	Size	ROS Bag	ROS Bag2	Ground Truth	Configurations
Not assigned	dev_01	Not yet registered	Not yet registered	Not yet registered	Declared in manifest.yaml when available	OpenVINS, VINS-Mono, VINS-Fusion, VINS-NEO
Not assigned	dev_02, dev_03, prod, future-products	Not yet registered	Not yet registered	Not yet registered	Declared per profile manifest	OpenVINS, VINS-Mono, VINS-Fusion, VINS-NEO
iv.dev.4.ff.1	dev_4_flight_field_01	Unknown	Catalog: local import, not a public download. An authenticated LAN server has the artifact under this standard ID. The OneDrive share is provenance only; see the raw catalog guide	Catalog: not published. The authenticated LAN server has a locally derived artifact	Not provided	dev_04 profile catalog (canonical profile; legacy aliases are declared in config/profile-aliases.yaml)

iCU

ID	Dataset Name	Size	ROS Bag	ROS Bag2	Ground Truth	OpenVINS Config
Not assigned	Placeholder — no manifest registered	Not yet registered	Not yet registered	Not yet registered	Not yet registered	Not yet registered

Standard dataset IDs

Each registered sequence keeps its original technical id and also receives a compact lowercase standard_id. Segments are dot-separated and encode family lineage without changing source names or paths:

• e: EuRoC (e.<room>.<sequence>.<e|m|d> or e.mh.<sequence>.<e|m|d>);
• t: TUM-VI (t.r.<sequence>);
• ra: RPNG AR Table (ra.t.<sequence>);
• ro: RPNG OpenVINS (ro.ar, ro.ah, and ro.n);
• u: UZH-FPV (u.i and u.i45);
• ku: KAIST Urban (ku.u.<sequence>);
• kv: KAIST VIO motion and optional variant (c, i, r, s; f, h).

Standard IDs are immutable and globally unique. Once published, an ID must not be renamed or reused for another recording. Placeholder profiles receive no ID until a recording is registered.

Repository conventions

• Every dataset manifest follows docs/manifest-schema.md.
• Every VINS implementation/profile has its own directory of YAML configuration files. Do not assume calibration or estimator settings are interchangeable.
• Placeholder directories contain .gitkeep until reviewed configuration files are contributed.
• The OpenVINS dev_01 YAML files are templates only. Replace every required placeholder with measured calibration and reviewed estimator settings before use.
• Generated Kalibr artifacts for the iVINS dev_04 profile belong in configurations/ivins/kalibr/dev_04; only commit outputs from an actual, traceable Kalibr run. The Kalibr path keeps the explicitly reserved name dev_04; implementation configurations use dev_04 to follow the established dev_01, dev_02, and dev_03 convention.
• locks/ records reproducible dataset/configuration revisions; test-suites/ groups repeatable evaluation scenarios.

Generated artifacts and large files

Keep dataset recordings, ROS bags, and other raw sensor captures outside this repository and retrieve them through manifest links. Small, reviewable generated calibration reports may be committed with their run metadata. Before adding any large binary artifact, define and review a Git LFS tracking rule in .gitattributes; do not commit large binaries first and migrate them later.

Run python scripts/validate_catalog.py or dsm-client validate to check manifest YAML and expected catalog structure. The validator requires PyYAML (python -m pip install pyyaml). The former validate_registry.py entrypoint is a deprecated compatibility wrapper through Client 1.x.

Use scripts/raw_catalog.py to fetch, publish, resolve, and inspect server artifacts in the ignored repository hierarchy. See the local raw-data catalog guide for commands and test runner integration. When verified mirrors exist, the tool automatically probes a bounded set and downloads from the fastest viable source; manual source selection is intentionally unsupported for legacy manifest sources. Supported OneDrive folder records use an explicit file selector and Microsoft Graph resolution at runtime; folder links themselves are never treated as bag downloads. Google Drive folder records follow the same explicit-selector rule and resolve through the official Drive API with locally supplied credentials.

Adding a dataset or profile

1. Add a manifest containing authoritative recording and ground-truth links.
2. Add one configuration directory per supported VINS implementation.
3. Replace placeholders only with traceable, reviewed settings.
4. Add or update a test suite and validate the catalog.