TensorBay also defines a uniform fusion dataset format. This topic explains the related concepts. The TensorBay fusion dataset format looks like:
fusion dataset ├── notes ├── catalog │ ├── subcatalog │ ├── subcatalog │ └── ... ├── fusion segment │ ├── sensors │ │ ├── sensor │ │ ├── sensor │ │ └── ... │ ├── frame │ │ ├── data │ │ └── ... │ ├── frame │ │ ├── data │ │ └── ... │ └── ... ├── fusion segment └── ...
Fusion dataset is the topmost concept in TensorBay format. Each fusion dataset includes a catalog and a certain number of fusion segments.
The corresponding class of fusion dataset is :class:`~tensorbay.dataset.dataset.FusionDataset`.
The notes of the fusion dataset is the same as the notes (:ref:`ref <reference/dataset_structure:notes>`) of the dataset.
The catalog of the fusion dataset is the same as the catalog (:ref:`ref <reference/dataset_structure:catalog>`) of the dataset.
There may be several parts in a fusion dataset. In TensorBay format, each part of the fusion dataset is stored in one fusion segment. Each fusion segment contains a certain number of frames and multiple sensors, from which the data inside the fusion segment are collected.
The corresponding class of fusion segment is :class:`~tensorbay.dataset.segment.FusionSegment`.
Sensor represents the device that collects the data inside the fusion segment. Currently, TensorBay supports four sensor types.(:numref:`Table. %s <sensor_types>`)
supported sensors| Supported Sensors | Corresponding Data Type |
|---|---|
| :class:`~tensorbay.sensor.sensor.Camera` | image |
| :class:`~tensorbay.sensor.sensor.FisheyeCamera` | image |
| :class:`~tensorbay.sensor.sensor.Lidar` | point cloud |
| :class:`~tensorbay.sensor.sensor.Radar` | point cloud |
The corresponding class of sensor is :class:`~tensorbay.sensor.sensor.Sensor`.
Frame is the structural level next to the fusion segment. Each frame contains multiple data collected from different sensors at the same time.
The corresponding class of frame is :class:`~tensorbay.dataset.frame.Frame`.
Each data inside a frame corresponds to a sensor. And the data of the fusion dataset is the same as the data (:ref:`ref <reference/dataset_structure:data>`) of the dataset.