Sample data / six-cam head rig

Six cameras. One trigger.

Three sessions from the 6-cam head rig: a forward stereo pair, a bottom pair looking down at the hands, and one camera on each side, all exposing on the same hardware pulse at 30 fps.

Sessions 3Recorded 11:53Full data 13.6 GB

The OpenRobot 6C capture cap: a camera bar across the front of a grey cap

Side view of the 6C cap showing the forward and bottom camera pairs

The rig6 cameras / 1 trigger

6-cam head rig

Six global-shutter cameras, two IMUs, one hardware trigger.

Per camera1920 × 1200 · 30 fps

Cameras: 6 × AR0234 color global shutter, 1/2.6-inch, 3 µm pixels, M12 wide-angle
Layout: Forward pair level with the head, bottom pair 60° down for the hands, one camera each side at 90° and 20° down
Baseline: 60 mm per stereo pair
Field of view: Stereo approximately 112° H / 80° V / 119° D
Video: H.265 or H.264; stereo side by side 3840 × 1200 @ 30 fps; exposure capped at 2 ms
Motion: 2 × ICM-42688-P, one centred behind each stereo pair, ~500 Hz, ±1000 °/s, ±4 g
Sync: One 30 Hz pulse from the forward pair; every camera exposes on it; 0 µs left/right offset
Recording: USB 2.0 through one powered hub, one cable out of the cap; ~14 MB/s for all six

View the spec sheet Get the data

Latest shareable sessions

Three synced takes.

Each take has one folder per camera with raw video, per-frame tables and IMU, plus a sync table that lists, for every trigger pulse, the matching frame of all four cameras.

Session 1 / 04:31 Shenzhen 3:466,762 synced pulses · 4.3 GB

Session 2 / 04:36 Shenzhen 3:175,892 synced pulses · 3.8 GB

Session 3 / 04:41 Shenzhen 4:508,691 synced pulses · 5.5 GB

All three11:5321,345 synced pulses · 13.6 GB

Stereos drop no frames after start-up. Monos skip scattered single frames, marked in the sync table. Start times are Shenzhen time.

Session 1 / one-minute preview12 Sep · 04:31 Shenzhen · 3:46 recorded

Every frame = one trigger pulse

Pulses with all four 6,762 / 6,782

Missing frames stereo 4 · mono 9 / 8

Full session 4.3 GB

Session 2 / one-minute preview12 Sep · 04:36 Shenzhen · 3:17 recorded

Every frame = one trigger pulse

Pulses with all four 5,892 / 5,902

Missing frames stereo 0 · mono 6 / 5

Full session 3.8 GB

Session 3 / one-minute preview12 Sep · 04:41 Shenzhen · 4:50 recorded

Every frame = one trigger pulse

Pulses with all four 8,691 / 8,696

Missing frames stereo 0 · mono 3 / 2

Full session 5.5 GB

Notes

How the data fits together.

SyncVerified

One pulse, four exposures.

The forward stereo drives the 30 Hz pulse and the other three expose on it. The monos' timestamps run 4 frames late, so their frames were matched to pulses from the footage itself: head turns move every camera on the same pulse, and all four line up at zero offset.

LayoutPer camera

One folder per camera.

forward_stereo, bottom_stereo, right_mono and left_mono, each with raw video, a per-frame table and, for the stereos, IMU. sync.csv has one row per pulse and a README explains every file.

CalibrationDefault

Factory default blob.

The stereo calibration stored on these units is a factory default, not a per-unit calibration. Calibrate each stereo before using it for metric depth.