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moonbit-robot-vision-formats

Offline robotics vision format bridge for image timestamps, camera calibration, trajectories, depth metadata and annotation sync.

robotics
vision
csv
yaml
dataset
slam
moon add ppyj663/moonbit-robot-vision-formats@0.3.0
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Version
0.3.0
License
Apache-2.0
Repository
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4 hours ago
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README

#moonbit-robot-vision-formats

Offline format bridges for robotics vision datasets in MoonBit.

The project focuses on text artifacts commonly exported from ROS bag workflows: image timestamp indexes, CameraInfo-style calibration YAML, 2D trajectory CSV, depth image metadata and object annotations. It is not a ROS client and does not subscribe to topics. The goal is to give MoonBit users a small, testable library for converting and aligning perception data before it reaches SLAM, calibration or dataset review tools.

///|
test "README quick start" {
  let csv =
    #|sec,nsec,frame_id,path
    #|42,0,camera/front,front_000001.png
    #|42,33333333,camera/front,front_000002.png
    #|
  let frames = parse_image_index_csv(csv)
  inspect(
    image_index_summary(frames),
    content="2 frames from 42.000000000 to 42.033333333",
  )
}

#Scope

  • Parse and write image timestamp CSV exported from bag extraction scripts.
  • Parse the scalar and matrix subset of camera calibration YAML used by common sensor_msgs/CameraInfo dumps.
  • Parse trajectory CSV containing timestamped planar poses.
  • Parse depth metadata sidecars without loading large depth image payloads.
  • Parse 2D annotation CSV and align all streams by timestamp tolerance.

#Repository Notes

This repository was created as an original MoonBit OSC2026 ecosystem library. Before implementation, the package space on Mooncakes was checked with robotics, vision, camera, depth, CSV and YAML keywords. No mature MoonBit package with this same offline robotics vision bridge scope was found.

#Validation

Run these commands before submitting or publishing:

moon check --target all
moon test --target all
moon check --target all --deny-warn --fmt
moon fmt --check
moon info
git diff --exit-code

#License

Apache-2.0.

#Acceptance snapshot

The current implementation contains 24,503 MoonBit source lines: 18,965 lines of library code and 5,538 lines of executable tests. It passes the wasm, wasm-gc, js and native targets with moon check --target all --deny-warn. Reproducible measurements are recorded in docs/benchmark-results.md.

The extended API includes quoted CSV parsing, time-series statistics and resampling, polygon and box geometry, camera distortion/undistortion, quality rules, detection metrics, deterministic benchmark checksums and reusable application query modules for every dataset stream.

Publishing is performed by .github/workflows/publish.yml; it requires the MOONCAKES_TOKEN repository secret and validates the package before moon publish.

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