[feat] enable TUM in full and ICL-NUIM in both suites - #157
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Both converters and both private tarballs have been in place since #123 and #135, but neither dataset carried an EvalSpec, so neither ran. Add them, and put them in different suites: this is the first time smoke and full select different records. ICL-NUIM joins both. At 4.1 GiB it gives pre-merge its RGB-D coverage alongside KITTI's stereo and EuRoC's stereo-inertial, so a PR exercises every modality. One config in both suites means one KPI prefix, which keeps PR values comparable to the nightly history a PR diffs against. TUM is full-only. At 15 sequences and 9.1 GiB it is the larger RGB-D corpus and ICL-NUIM already covers the modality, so paying for it on every PR buys nothing. Merge after the suite selection in GitHub Actions. Until a workflow sets EVAL_SUITE, an unset value selects every record, so TUM would run pre-merge too and its full-only marking would have no effect. Staging grows by 13.2 GiB for nightly and 4.1 GiB for pre-merge. The 20 new KPI entries are uncalibrated placeholders, matching how KITTI and EuRoC were seeded; drift stays soft and reports SKIPPED for them.
vikuznetsov-nvidia
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September 8, 2026 14:54
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Included review availability: Your plan provides up to 12 included reviews per hour; 9 remain after this review. 📝 WalkthroughWalkthroughThe dataset registry now supports RGB-D evaluations for TUM and ICL-NUIM. KPI baseline entries, registry tests, CLI assertions, Smoke-suite coverage, and CI documentation reflect the updated dataset and suite assignments. ChangesRGB-D evaluation enablement
Priority: ➖ Normal — Schedule the RGB-D evaluation expansion because ICL-NUIM will add pre-merge coverage and TUM will add full-suite coverage with increased staging demand. Estimated code review effort: 2 (Simple) | ~10 minutes Merge Risk: 🔵 Low · up to This change enables TUM and ICL-NUIM RGB-D evaluations, but Smoke validation only confirms RGB-D coverage rather than the intended ICL-NUIM assignment. The registry change is otherwise ready, with a bounded risk that a future suite edit could retain RGB-D coverage while changing the selected dataset. Sequence Diagram(s)sequenceDiagram
participant DatasetRegistry
participant EvaluationSuite
participant KPIBaselines
DatasetRegistry->>EvaluationSuite: Register TUM and ICL-NUIM RGB-D evaluations
EvaluationSuite->>KPIBaselines: Apply RGB-D KPI baseline entries
🚥 Pre-merge checks | ✅ 4 | ❌ 1❌ Failed checks (1 warning)
✅ Passed checks (4 passed)
✨ Finishing Touches 💡 1📝 Generate docstrings 💡
🧪 Generate unit tests (beta)
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In `@tools/python_tools/cuvslam_tools/tests/test_dataset_registry.py`:
- Around line 61-72: Update the Smoke suite assertions in the dataset registry
tests to require exactly the dataset IDs {"kitti", "euroc", "icl_nuim"},
including checking suite membership from each record’s suites. Preserve the
existing full-suite assertion so TUM remains full-only, and apply the same
correction to the corresponding later assertion.
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Drop the sequence counts and tarball sizes, which rot, and the suite membership, which the code above states. Keep the two constraints an editor could otherwise break: that TUM's absence from smoke is deliberate, and that a dataset in both suites needs one config so its KPI prefix stays comparable to the nightly history.
Test Results
cuVSLAM Evaluation KPIs
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slepichev
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Sep 8, 2026
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Both converters and both private tarballs have been in place since #123 and #135, but neither dataset carried an EvalSpec, so neither ran. Add them, and put them in different suites: this is the first time smoke and full select different records.
ICL-NUIM joins both. At 4.1 GiB it gives pre-merge its RGB-D coverage alongside KITTI's stereo and EuRoC's stereo-inertial, so a PR exercises every modality. One config in both suites means one KPI prefix, which keeps PR values comparable to the nightly history a PR diffs against.
TUM is full-only. At 15 sequences and 9.1 GiB it is the larger RGB-D corpus and ICL-NUIM already covers the modality, so paying for it on every PR buys nothing.
Merge after the suite selection in GitHub Actions. Until a workflow sets EVAL_SUITE, an unset value selects every record, so TUM would run pre-merge too and its full-only marking would have no effect.
Staging grows by 13.2 GiB for nightly and 4.1 GiB for pre-merge. The 20 new KPI entries are uncalibrated placeholders, matching how KITTI and EuRoC were seeded; drift stays soft and reports SKIPPED for them.
Summary by CodeRabbit
New Features
Documentation
Tests