Dataset Format¶

The native DatasetLint format is a local folder with JSON metadata and calibration plus CSV data files.

Use this format when you want to run the full datasetlint lint rule engine. Use Adapters when you want to inspect generic folders, COCO, KITTI, Argoverse 2, LeRobot, nuScenes, Waymo, ROS bag, MCAP, Hugging Face, or plugin-provided layouts without converting them first.

Layout¶

dataset/
  metadata.json
  calibration.json
  sensors/
    camera_front.csv
    imu.csv
    gps.csv
  labels/
    detections.csv
  trajectories/
    ego.csv
  images/
    000001.jpg

Only metadata.json and calibration.json are required files. Sensor, label, trajectory, and image files are validated when present or referenced.

Metadata¶

{
  "dataset_name": "sample_log",
  "version": "0.1",
  "sensors": ["camera_front", "imu", "gps"],
  "duration_sec": 0.2
}

Fields:

Field	Required	Meaning
dataset_name	yes	Dataset identifier
version	recommended	Dataset version string
sensors	yes	Declared sensor names
duration_sec	recommended	Expected duration in seconds

Calibration¶

{
  "camera_front": {
    "intrinsics": [[1000, 0, 640], [0, 1000, 360], [0, 0, 1]],
    "extrinsics": {
      "translation": [0.5, 0.0, 1.2],
      "rotation_quat": [1, 0, 0, 0]
    }
  }
}

Declared sensors should have calibration entries. Camera sensors need valid intrinsics. All calibration entries need extrinsics.translation with 3 numbers and extrinsics.rotation_quat with 4 normalized values.

Sensor CSVs¶

Camera:

timestamp,path,width,height
0.0,images/000001.jpg,1280,720

filename is accepted as an alias for path when path is absent.

IMU:

timestamp,ax,ay,az,gx,gy,gz
0.0,0.0,0.0,9.8,0.0,0.0,0.0

GPS:

timestamp,lat,lon,alt
0.0,37.0,-122.0,10.0

Other sensors require at least:

timestamp
0.0

Labels¶

Detection labels require:

timestamp,track_id,class,x,y,width,height,confidence
0.0,track-1,car,10,20,50,40,0.95

Trajectories¶

Trajectories require:

timestamp,x,y,yaw,vx,vy
0.0,0.0,0.0,0.0,10.0,0.0

Minimal Valid Example¶

Use examples/minimal_dataset as the complete working reference.