Stereo Surface Finishing Data

It is first-person video of a person finishing a surface, recorded from their own point of view with two calibrated cameras and with hand pose and sensor streams alongside. The tasks are the ones the site’s catalog lists for sanding, drywall and painting. Stereo describes the capture, and MCAP describes the container. They are separate choices.

The site does not state that stereo is already running on these rows. The catalog lists a head-mounted phone or a multiview rig as the capture setup, and a stereo pair is a capture choice agreed in the skill spec and confirmed on a Spec Pilot. The data is human capture by paid, consented contributors, not robot or teleoperation data. Firsthand is not affiliated with Foxglove or the MCAP maintainers.

The egocentric sanding and finishing, drywall and wall finishing, and painting and coating pages cover the tasks: the catalog rows, the labels, the privacy steps and what each page does not state. This page does not repeat them. It covers the two choices layered on top of the same rows: a calibrated stereo pair for depth, and MCAP as the delivery container.

The rows are the same and the claims are as limited. This page states no grit, paint type, coverage, finish-quality or force figure, because the site states none, and it states no safety or certification position for any of these environments.

Nine rows count, in three families. The sanding and finishing family is Sanding & Surface Prep, Sand and finish wood surfaces, Staining & Finishing and Sand + wipe surface. The drywall family is the two taping and mudding rows. The painting family is Painting & Priming, Prime and paint interior walls, and Roll + cut-in paint. The first table below reproduces each as the catalog states it.

Statuses range from Ready to deploy and Active collection to Available on request, and two rows, Sand + wipe surface and Roll + cut-in paint, are recorded with a multiview rig and handheld grippers instead. Polishing, buffing and deburring rows are covered on the sanding and finishing page and are not counted here. The site states no grit, material, panel size or tool model for any row.

Finishing is about the state of a surface: whether a joint is covered, whether a coat is on, whether an edge is clean. A stereo pair recovers depth from the calibrated frame pair rather than from a standalone depth sensor, so the form of the wall or panel sits in the same frame as the hands. The site gives no depth accuracy figure for these rows, and no finish-quality label, so what a buyer does with that depth is their pipeline’s question.

The hard-environments page states that stereo keeps working outdoors where active depth sensors struggle, and that many programs capture both and sync them on one clock. Whether a finishing setting is a room, a workshop or a site exterior is not something the catalog rows state, so that is agreed in the spec.

The site describes two stereo setups and does not say which one a finishing order uses. The hard-environments stack is a global-shutter 4K/60 head camera with a 120° lens, two 1080p/60 wrist cameras, a depth sensor at 848×480 and 30 fps, and 200 Hz 6-DoF IMUs. The off-the-shelf stereo head rig, dataset 06, is dual fisheye cameras at 1080p per eye, a 62 mm baseline, per-unit calibration, a 9-axis IMU and hand-tracking output.

Which rig, resolution and streams a finishing order uses is Not stated on the site, and the second table below sets what is stated beside what is not. Intrinsics and extrinsics are re-solved at the start and end of every session, and streams are hardware-triggered onto one clock with a 2.0 ms cross-stream ceiling.

MCAP is an open source container file format for multimodal log data, supporting multiple channels of timestamped pre-serialized data. It is serialization-agnostic, so messages can be Protobuf, DDS (CDR), ROS, JSON and more. Its design is row-oriented and append-only, it stores schemas alongside the data, and it offers an optional index plus optional LZ4 or Zstandard chunk compression.

Reader and writer libraries exist for C++, Go, Python, Rust, Swift and TypeScript, and the mcap CLI can inspect, merge and split files. The foxglove/mcap repository is MIT-licensed; that is the MCAP project’s licence, not the licence of a Firsthand delivery. The MCAP hub page and the glossary entry cover the format in full.

Firsthand offers MCAP delivery, and dataset 06 is stated as shipping as MCAP. For finishing work the site states hand pose, a stereo-derived depth stream, IMU, contact events, action segments and per-frame instance masks elsewhere. What it does not state is which of those are channels in an MCAP file, how they are named, what encoding they use or at what rate.

No topic name, message schema or rate is stated on this page, and none should be assumed. Name the streams that matter in the skill spec and confirm them on a Spec Pilot batch. The third table below sets each stream beside what the site states about it.

Wet and reflective surfaces are the first risk. Fresh compound, paint, stain and lacquer leave wet, glossy surfaces, and the site says depth degrades on them. Confidence maps mask the low-confidence regions, and an episode is rejected when more than 35 percent of depth pixels in the manipulation region are invalid. The site does not say how depth behaves on a particular fresh coat, so this page promises no figure.

Hands are the second. A tool sits against the surface and the fingers wrap it, so the contact point is often hidden. The visibility flag on each joint is the answer the site gives, and contact events mark when a hand meets the item. A spec can also ask for wrist views, so a grip the head camera loses is still recorded.

Calibration is the third, because stereo depth is only as good as the rectification behind it: calibration is measured at the start and end of every session under a 0.28 px RMS gate. An episode is also rejected when the manipulated object is out of frame for more than 15 percent of it or an undocumented bystander appears, and a reject log ships with every batch. The site lists no finish-quality, coverage or force label.

Off-the-shelf covers what is already in stock: the stereo category lists the stereo datasets and hand-tracking video, and only dataset 06 is stated as MCAP. This page does not claim off-the-shelf coverage of the sanding, drywall or painting rows. Custom collection covers the rest: custom collection at scale through a network of thousands of capture providers, for a consistent, recurring data flow to labs.

Where coverage is deep, the median time from signed spec to first validated batch is a median of 48 hours; where it is thin, turnaround runs three to four weeks. The site does not say which applies to these rows, so ask when you request the quote. Collections are billed per validated hour, and capture at your own facility is listed as not offered.

Describe the finishing steps and their order, what counts as a completed pass, the surface and the setting, and the variation your pipeline is missing. Then name the streams you want in the file, the topic naming and message encoding your reader expects, whether calibration ships inside the file or beside it, and whether MCAP is the only delivery or sits beside RLDS, LeRobot or WebDataset.

Most programs begin with a Spec Pilot, a small first batch that proves the spec and accept criteria on real footage before you scale. The fourth table below shows what each spec element decides.