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- metadata/train/scene0000_02_metadata.json +198 -0
- metadata/train/scene0035_00_metadata.json +199 -0
- metadata/train/scene0051_01_metadata.json +198 -0
- metadata/train/scene0054_00_metadata.json +199 -0
- metadata/train/scene0056_00_metadata.json +198 -0
- metadata/train/scene0061_01_metadata.json +198 -0
- metadata/train/scene0073_02_metadata.json +198 -0
- metadata/train/scene0074_01_metadata.json +199 -0
- metadata/train/scene0075_00_metadata.json +199 -0
- metadata/train/scene0093_01_metadata.json +198 -0
- metadata/train/scene0105_01_metadata.json +198 -0
- metadata/train/scene0107_00_metadata.json +198 -0
- metadata/train/scene0110_01_metadata.json +198 -0
- metadata/train/scene0117_00_metadata.json +198 -0
- metadata/train/scene0121_01_metadata.json +198 -0
- metadata/train/scene0140_00_metadata.json +198 -0
- metadata/train/scene0141_02_metadata.json +198 -0
- metadata/train/scene0142_00_metadata.json +198 -0
- metadata/train/scene0143_00_metadata.json +198 -0
- metadata/train/scene0152_00_metadata.json +199 -0
- metadata/train/scene0161_00_metadata.json +198 -0
- metadata/train/scene0163_00_metadata.json +198 -0
- metadata/train/scene0170_02_metadata.json +198 -0
- metadata/train/scene0186_00_metadata.json +198 -0
- metadata/train/scene0197_00_metadata.json +198 -0
- metadata/train/scene0204_01_metadata.json +199 -0
- metadata/train/scene0205_02_metadata.json +199 -0
- metadata/train/scene0214_02_metadata.json +199 -0
- metadata/train/scene0232_00_metadata.json +198 -0
- metadata/train/scene0237_00_metadata.json +199 -0
- metadata/train/scene0254_01_metadata.json +199 -0
- metadata/train/scene0255_01_metadata.json +198 -0
- metadata/train/scene0268_02_metadata.json +198 -0
- metadata/train/scene0276_00_metadata.json +199 -0
- metadata/train/scene0295_01_metadata.json +199 -0
- metadata/train/scene0302_01_metadata.json +199 -0
- metadata/train/scene0310_01_metadata.json +198 -0
- metadata/train/scene0335_02_metadata.json +198 -0
- metadata/train/scene0341_00_metadata.json +198 -0
- metadata/train/scene0350_02_metadata.json +198 -0
- metadata/train/scene0361_02_metadata.json +198 -0
- metadata/train/scene0368_01_metadata.json +198 -0
- metadata/train/scene0373_01_metadata.json +198 -0
- metadata/train/scene0392_02_metadata.json +199 -0
- metadata/train/scene0402_00_metadata.json +198 -0
- metadata/train/scene0415_00_metadata.json +198 -0
- metadata/train/scene0447_02_metadata.json +198 -0
- metadata/train/scene0454_00_metadata.json +198 -0
- metadata/train/scene0459_01_metadata.json +199 -0
- metadata/train/scene0469_02_metadata.json +198 -0
metadata/train/scene0000_02_metadata.json
ADDED
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| 1 |
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{
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| 2 |
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"scene_name": "scene0000_02",
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| 3 |
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"total_frames_in_dataset": 32,
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| 4 |
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"valid_frames_count": 32,
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| 5 |
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"invalid_frames_count": 0,
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| 6 |
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"output_shape": [
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32,
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432,
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432,
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3
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],
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"output_dtype": "bfloat16",
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"valid_indices_shape": [
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32
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| 15 |
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],
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| 16 |
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"valid_indices_dtype": "int32",
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| 17 |
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"pointcloud_file": "scene0000_02.pt",
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| 18 |
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"indices_file": "scene0000_02_indices.pt",
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| 19 |
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"transform_to_world_file": "scene0000_02_to_world.npy",
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| 20 |
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"coordinate_system": "first_camera_frame",
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"first_valid_frame": {
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"index": 0,
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"frame_id": "000000"
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},
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"image_size": [
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432,
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],
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"original_image_size": [
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640,
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480
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],
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"valid_view_mapping": [
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{
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"index": 0,
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"frame_id": "000000"
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},
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{
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"index": 1,
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"frame_id": "000199"
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},
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{
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"index": 2,
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"frame_id": "000398"
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},
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{
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"index": 3,
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"frame_id": "000597"
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},
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{
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"index": 4,
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"frame_id": "000796"
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{
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"index": 5,
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"frame_id": "000995"
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{
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"index": 6,
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"frame_id": "001194"
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"index": 7,
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"frame_id": "001393"
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{
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"index": 8,
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"frame_id": "001592"
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{
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"index": 9,
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"frame_id": "001791"
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{
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"index": 10,
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"frame_id": "001990"
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"index": 11,
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"frame_id": "002189"
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"index": 12,
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"frame_id": "002388"
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"frame_id": "002587"
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"frame_id": "002786"
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"frame_id": "002985"
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"frame_id": "003184"
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"frame_id": "003383"
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"frame_id": "003582"
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| 132 |
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"index": 26,
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| 140 |
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"index": 27,
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{
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"index": 28,
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| 148 |
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"frame_id": "005572"
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| 150 |
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| 152 |
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"frame_id": "005771"
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| 153 |
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| 154 |
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"frame_id": "005970"
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{
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"index": 31,
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| 160 |
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"frame_id": "006169"
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| 161 |
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}
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| 162 |
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],
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| 163 |
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"invalid_views": [],
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| 164 |
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"frame_order": [
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| 165 |
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"000000",
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| 166 |
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"000199",
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| 167 |
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"000398",
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| 168 |
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"000597",
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| 169 |
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"000796",
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| 170 |
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"000995",
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| 171 |
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"001194",
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| 172 |
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"001393",
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| 173 |
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"001592",
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| 174 |
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"001791",
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| 175 |
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"001990",
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| 176 |
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"002189",
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| 177 |
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"002388",
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| 178 |
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"002587",
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| 179 |
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"002786",
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| 180 |
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"002985",
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| 181 |
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"003184",
|
| 182 |
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"003383",
|
| 183 |
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"003582",
|
| 184 |
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"003781",
|
| 185 |
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"003980",
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| 186 |
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"004179",
|
| 187 |
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"004378",
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| 188 |
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"004577",
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| 189 |
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"004776",
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| 190 |
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"004975",
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| 191 |
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"005174",
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| 192 |
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"005373",
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| 193 |
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"005572",
|
| 194 |
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"005771",
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| 195 |
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"005970",
|
| 196 |
+
"006169"
|
| 197 |
+
]
|
| 198 |
+
}
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metadata/train/scene0035_00_metadata.json
ADDED
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@@ -0,0 +1,199 @@
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|
| 1 |
+
{
|
| 2 |
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"scene_name": "scene0035_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
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|
| 5 |
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| 6 |
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|
| 7 |
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|
| 8 |
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|
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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"transform_to_world_file": "scene0035_00_to_world.npy",
|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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{
|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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{
|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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{
|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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{
|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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{
|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
+
"001426",
|
| 197 |
+
"001474"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0051_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
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|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0051_01",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
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|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
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"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0051_01.pt",
|
| 18 |
+
"indices_file": "scene0051_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0051_01_to_world.npy",
|
| 20 |
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"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
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"index": 0,
|
| 23 |
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|
| 24 |
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},
|
| 25 |
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|
| 26 |
+
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|
| 27 |
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432
|
| 28 |
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],
|
| 29 |
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"original_image_size": [
|
| 30 |
+
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|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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|
| 34 |
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{
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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{
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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{
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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{
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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{
|
| 55 |
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|
| 56 |
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"frame_id": "000318"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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|
| 61 |
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|
| 62 |
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{
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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{
|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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{
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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{
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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{
|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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{
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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| 165 |
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|
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
+
"000318",
|
| 171 |
+
"000382",
|
| 172 |
+
"000446",
|
| 173 |
+
"000510",
|
| 174 |
+
"000573",
|
| 175 |
+
"000637",
|
| 176 |
+
"000701",
|
| 177 |
+
"000765",
|
| 178 |
+
"000829",
|
| 179 |
+
"000892",
|
| 180 |
+
"000956",
|
| 181 |
+
"001020",
|
| 182 |
+
"001084",
|
| 183 |
+
"001147",
|
| 184 |
+
"001211",
|
| 185 |
+
"001275",
|
| 186 |
+
"001339",
|
| 187 |
+
"001403",
|
| 188 |
+
"001466",
|
| 189 |
+
"001530",
|
| 190 |
+
"001594",
|
| 191 |
+
"001658",
|
| 192 |
+
"001721",
|
| 193 |
+
"001785",
|
| 194 |
+
"001849",
|
| 195 |
+
"001913",
|
| 196 |
+
"001977"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0054_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0054_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 31,
|
| 5 |
+
"invalid_frames_count": 1,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
31,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
31
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0054_00.pt",
|
| 18 |
+
"indices_file": "scene0054_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0054_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000213"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000427"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000641"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000855"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "001069"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "001282"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "001496"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "001710"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "001924"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "002138"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "002351"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "002565"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "002779"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "002993"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "003207"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "003420"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "003634"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "003848"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "004062"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "004276"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "004489"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "004703"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "004917"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "005131"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "005345"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "005558"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "005772"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "005986"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "006200"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "006414"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 31,
|
| 162 |
+
"frame_id": "006628",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000213",
|
| 169 |
+
"000427",
|
| 170 |
+
"000641",
|
| 171 |
+
"000855",
|
| 172 |
+
"001069",
|
| 173 |
+
"001282",
|
| 174 |
+
"001496",
|
| 175 |
+
"001710",
|
| 176 |
+
"001924",
|
| 177 |
+
"002138",
|
| 178 |
+
"002351",
|
| 179 |
+
"002565",
|
| 180 |
+
"002779",
|
| 181 |
+
"002993",
|
| 182 |
+
"003207",
|
| 183 |
+
"003420",
|
| 184 |
+
"003634",
|
| 185 |
+
"003848",
|
| 186 |
+
"004062",
|
| 187 |
+
"004276",
|
| 188 |
+
"004489",
|
| 189 |
+
"004703",
|
| 190 |
+
"004917",
|
| 191 |
+
"005131",
|
| 192 |
+
"005345",
|
| 193 |
+
"005558",
|
| 194 |
+
"005772",
|
| 195 |
+
"005986",
|
| 196 |
+
"006200",
|
| 197 |
+
"006414"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0056_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0056_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0056_00.pt",
|
| 18 |
+
"indices_file": "scene0056_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0056_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
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640,
|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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| 106 |
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| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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{
|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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| 165 |
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|
| 169 |
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| 170 |
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| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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| 177 |
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| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
+
"001993"
|
| 197 |
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|
| 198 |
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}
|
metadata/train/scene0061_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
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|
|
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|
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|
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|
|
|
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|
|
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|
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|
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|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
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|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
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|
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|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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],
|
| 16 |
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|
| 17 |
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"pointcloud_file": "scene0061_01.pt",
|
| 18 |
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"indices_file": "scene0061_01_indices.pt",
|
| 19 |
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"transform_to_world_file": "scene0061_01_to_world.npy",
|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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{
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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{
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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{
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
+
"001868"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0073_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
|
|
|
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|
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|
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|
|
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|
|
|
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|
|
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|
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|
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|
|
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|
|
|
|
|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
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|
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|
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|
|
|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0073_02",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0073_02.pt",
|
| 18 |
+
"indices_file": "scene0073_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0073_02_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000041"
|
| 41 |
+
},
|
| 42 |
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{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000082"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000124"
|
| 49 |
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},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000165"
|
| 53 |
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},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
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"frame_id": "000206"
|
| 57 |
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},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000248"
|
| 61 |
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},
|
| 62 |
+
{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000289"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
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"frame_id": "000331"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000372"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000413"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000455"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000496"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000538"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
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"frame_id": "000579"
|
| 93 |
+
},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
+
"frame_id": "000620"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000662"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000703"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000744"
|
| 109 |
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},
|
| 110 |
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{
|
| 111 |
+
"index": 19,
|
| 112 |
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"frame_id": "000786"
|
| 113 |
+
},
|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000827"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000869"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000910"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000951"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000993"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001034"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001076"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001117"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001158"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001200"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001241"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001283"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000041",
|
| 167 |
+
"000082",
|
| 168 |
+
"000124",
|
| 169 |
+
"000165",
|
| 170 |
+
"000206",
|
| 171 |
+
"000248",
|
| 172 |
+
"000289",
|
| 173 |
+
"000331",
|
| 174 |
+
"000372",
|
| 175 |
+
"000413",
|
| 176 |
+
"000455",
|
| 177 |
+
"000496",
|
| 178 |
+
"000538",
|
| 179 |
+
"000579",
|
| 180 |
+
"000620",
|
| 181 |
+
"000662",
|
| 182 |
+
"000703",
|
| 183 |
+
"000744",
|
| 184 |
+
"000786",
|
| 185 |
+
"000827",
|
| 186 |
+
"000869",
|
| 187 |
+
"000910",
|
| 188 |
+
"000951",
|
| 189 |
+
"000993",
|
| 190 |
+
"001034",
|
| 191 |
+
"001076",
|
| 192 |
+
"001117",
|
| 193 |
+
"001158",
|
| 194 |
+
"001200",
|
| 195 |
+
"001241",
|
| 196 |
+
"001283"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0074_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0074_01",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 30,
|
| 5 |
+
"invalid_frames_count": 2,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
30,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
30
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0074_01.pt",
|
| 18 |
+
"indices_file": "scene0074_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0074_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000103"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000207"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000311"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000415"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000519"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000623"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000727"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000830"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000934"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "001038"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "001142"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "001246"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "001350"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "001454"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "001558"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 17,
|
| 100 |
+
"frame_id": "001765"
|
| 101 |
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},
|
| 102 |
+
{
|
| 103 |
+
"index": 18,
|
| 104 |
+
"frame_id": "001869"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"index": 19,
|
| 108 |
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"frame_id": "001973"
|
| 109 |
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},
|
| 110 |
+
{
|
| 111 |
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"index": 20,
|
| 112 |
+
"frame_id": "002077"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
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"index": 21,
|
| 116 |
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"frame_id": "002181"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 22,
|
| 120 |
+
"frame_id": "002285"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 23,
|
| 124 |
+
"frame_id": "002389"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 24,
|
| 128 |
+
"frame_id": "002492"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 25,
|
| 132 |
+
"frame_id": "002596"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 26,
|
| 136 |
+
"frame_id": "002700"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 27,
|
| 140 |
+
"frame_id": "002804"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 28,
|
| 144 |
+
"frame_id": "002908"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 29,
|
| 148 |
+
"frame_id": "003012"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 30,
|
| 152 |
+
"frame_id": "003116"
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"invalid_views": [
|
| 156 |
+
{
|
| 157 |
+
"index": 16,
|
| 158 |
+
"frame_id": "001661",
|
| 159 |
+
"reason": "invalid_pose"
|
| 160 |
+
},
|
| 161 |
+
{
|
| 162 |
+
"index": 31,
|
| 163 |
+
"frame_id": "003220",
|
| 164 |
+
"reason": "invalid_pose"
|
| 165 |
+
}
|
| 166 |
+
],
|
| 167 |
+
"frame_order": [
|
| 168 |
+
"000000",
|
| 169 |
+
"000103",
|
| 170 |
+
"000207",
|
| 171 |
+
"000311",
|
| 172 |
+
"000415",
|
| 173 |
+
"000519",
|
| 174 |
+
"000623",
|
| 175 |
+
"000727",
|
| 176 |
+
"000830",
|
| 177 |
+
"000934",
|
| 178 |
+
"001038",
|
| 179 |
+
"001142",
|
| 180 |
+
"001246",
|
| 181 |
+
"001350",
|
| 182 |
+
"001454",
|
| 183 |
+
"001558",
|
| 184 |
+
"001765",
|
| 185 |
+
"001869",
|
| 186 |
+
"001973",
|
| 187 |
+
"002077",
|
| 188 |
+
"002181",
|
| 189 |
+
"002285",
|
| 190 |
+
"002389",
|
| 191 |
+
"002492",
|
| 192 |
+
"002596",
|
| 193 |
+
"002700",
|
| 194 |
+
"002804",
|
| 195 |
+
"002908",
|
| 196 |
+
"003012",
|
| 197 |
+
"003116"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0075_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0075_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 25,
|
| 5 |
+
"invalid_frames_count": 7,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
25,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
25
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0075_00.pt",
|
| 18 |
+
"indices_file": "scene0075_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0075_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000028"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000057"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000085"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000114"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000142"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000171"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000199"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000228"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000256"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000285"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000313"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000342"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000370"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000399"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000427"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000456"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000484"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000513"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000541"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000570"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000598"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000627"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000655"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000684"
|
| 133 |
+
}
|
| 134 |
+
],
|
| 135 |
+
"invalid_views": [
|
| 136 |
+
{
|
| 137 |
+
"index": 25,
|
| 138 |
+
"frame_id": "000712",
|
| 139 |
+
"reason": "invalid_pose"
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"index": 26,
|
| 143 |
+
"frame_id": "000741",
|
| 144 |
+
"reason": "invalid_pose"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 27,
|
| 148 |
+
"frame_id": "000769",
|
| 149 |
+
"reason": "invalid_pose"
|
| 150 |
+
},
|
| 151 |
+
{
|
| 152 |
+
"index": 28,
|
| 153 |
+
"frame_id": "000798",
|
| 154 |
+
"reason": "invalid_pose"
|
| 155 |
+
},
|
| 156 |
+
{
|
| 157 |
+
"index": 29,
|
| 158 |
+
"frame_id": "000826",
|
| 159 |
+
"reason": "invalid_pose"
|
| 160 |
+
},
|
| 161 |
+
{
|
| 162 |
+
"index": 30,
|
| 163 |
+
"frame_id": "000855",
|
| 164 |
+
"reason": "invalid_pose"
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"index": 31,
|
| 168 |
+
"frame_id": "000884",
|
| 169 |
+
"reason": "invalid_pose"
|
| 170 |
+
}
|
| 171 |
+
],
|
| 172 |
+
"frame_order": [
|
| 173 |
+
"000000",
|
| 174 |
+
"000028",
|
| 175 |
+
"000057",
|
| 176 |
+
"000085",
|
| 177 |
+
"000114",
|
| 178 |
+
"000142",
|
| 179 |
+
"000171",
|
| 180 |
+
"000199",
|
| 181 |
+
"000228",
|
| 182 |
+
"000256",
|
| 183 |
+
"000285",
|
| 184 |
+
"000313",
|
| 185 |
+
"000342",
|
| 186 |
+
"000370",
|
| 187 |
+
"000399",
|
| 188 |
+
"000427",
|
| 189 |
+
"000456",
|
| 190 |
+
"000484",
|
| 191 |
+
"000513",
|
| 192 |
+
"000541",
|
| 193 |
+
"000570",
|
| 194 |
+
"000598",
|
| 195 |
+
"000627",
|
| 196 |
+
"000655",
|
| 197 |
+
"000684"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0093_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
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|
|
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|
|
|
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|
|
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|
|
|
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|
|
|
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|
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|
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|
|
|
|
|
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|
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|
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|
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|
|
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|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0093_01",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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32,
|
| 8 |
+
432,
|
| 9 |
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432,
|
| 10 |
+
3
|
| 11 |
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|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0093_01.pt",
|
| 18 |
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"indices_file": "scene0093_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0093_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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},
|
| 38 |
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{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000031"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000062"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000093"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000124"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000155"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000186"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000217"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000248"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000279"
|
| 73 |
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|
| 74 |
+
{
|
| 75 |
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"index": 10,
|
| 76 |
+
"frame_id": "000310"
|
| 77 |
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},
|
| 78 |
+
{
|
| 79 |
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"index": 11,
|
| 80 |
+
"frame_id": "000341"
|
| 81 |
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},
|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000372"
|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000403"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000434"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000465"
|
| 97 |
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|
| 98 |
+
{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000497"
|
| 101 |
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},
|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000528"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "000559"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000590"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000621"
|
| 117 |
+
},
|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000652"
|
| 121 |
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},
|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "000683"
|
| 125 |
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},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000714"
|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000745"
|
| 133 |
+
},
|
| 134 |
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{
|
| 135 |
+
"index": 25,
|
| 136 |
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"frame_id": "000776"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000807"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000838"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000869"
|
| 149 |
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},
|
| 150 |
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{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000900"
|
| 153 |
+
},
|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "000931"
|
| 157 |
+
},
|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000963"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
+
"000031",
|
| 167 |
+
"000062",
|
| 168 |
+
"000093",
|
| 169 |
+
"000124",
|
| 170 |
+
"000155",
|
| 171 |
+
"000186",
|
| 172 |
+
"000217",
|
| 173 |
+
"000248",
|
| 174 |
+
"000279",
|
| 175 |
+
"000310",
|
| 176 |
+
"000341",
|
| 177 |
+
"000372",
|
| 178 |
+
"000403",
|
| 179 |
+
"000434",
|
| 180 |
+
"000465",
|
| 181 |
+
"000497",
|
| 182 |
+
"000528",
|
| 183 |
+
"000559",
|
| 184 |
+
"000590",
|
| 185 |
+
"000621",
|
| 186 |
+
"000652",
|
| 187 |
+
"000683",
|
| 188 |
+
"000714",
|
| 189 |
+
"000745",
|
| 190 |
+
"000776",
|
| 191 |
+
"000807",
|
| 192 |
+
"000838",
|
| 193 |
+
"000869",
|
| 194 |
+
"000900",
|
| 195 |
+
"000931",
|
| 196 |
+
"000963"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0105_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0105_01",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0105_01.pt",
|
| 18 |
+
"indices_file": "scene0105_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0105_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000036"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000072"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000108"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000144"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000181"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000217"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000253"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000289"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000326"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000362"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000398"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
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"frame_id": "000434"
|
| 85 |
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},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000470"
|
| 89 |
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},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000507"
|
| 93 |
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},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000543"
|
| 97 |
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},
|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000579"
|
| 101 |
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},
|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000615"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "000652"
|
| 109 |
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},
|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000688"
|
| 113 |
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},
|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
+
"frame_id": "000724"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
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"index": 21,
|
| 120 |
+
"frame_id": "000760"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000796"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000833"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000869"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000905"
|
| 137 |
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},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000941"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000978"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001014"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001050"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001086"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001123"
|
| 161 |
+
}
|
| 162 |
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],
|
| 163 |
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"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
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"000036",
|
| 167 |
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"000072",
|
| 168 |
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"000108",
|
| 169 |
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"000144",
|
| 170 |
+
"000181",
|
| 171 |
+
"000217",
|
| 172 |
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"000253",
|
| 173 |
+
"000289",
|
| 174 |
+
"000326",
|
| 175 |
+
"000362",
|
| 176 |
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"000398",
|
| 177 |
+
"000434",
|
| 178 |
+
"000470",
|
| 179 |
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"000507",
|
| 180 |
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"000543",
|
| 181 |
+
"000579",
|
| 182 |
+
"000615",
|
| 183 |
+
"000652",
|
| 184 |
+
"000688",
|
| 185 |
+
"000724",
|
| 186 |
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"000760",
|
| 187 |
+
"000796",
|
| 188 |
+
"000833",
|
| 189 |
+
"000869",
|
| 190 |
+
"000905",
|
| 191 |
+
"000941",
|
| 192 |
+
"000978",
|
| 193 |
+
"001014",
|
| 194 |
+
"001050",
|
| 195 |
+
"001086",
|
| 196 |
+
"001123"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0107_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0107_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
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"invalid_frames_count": 0,
|
| 6 |
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"output_shape": [
|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
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"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0107_00.pt",
|
| 18 |
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"indices_file": "scene0107_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0107_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
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"index": 0,
|
| 23 |
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"frame_id": "000000"
|
| 24 |
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},
|
| 25 |
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"image_size": [
|
| 26 |
+
432,
|
| 27 |
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432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
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{
|
| 35 |
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"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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},
|
| 38 |
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{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000076"
|
| 41 |
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},
|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000152"
|
| 45 |
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},
|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000228"
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
+
"index": 4,
|
| 52 |
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"frame_id": "000305"
|
| 53 |
+
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000381"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000457"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000533"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000610"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000686"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000762"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000838"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000915"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000991"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "001067"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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{
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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{
|
| 111 |
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|
| 112 |
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"frame_id": "001448"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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{
|
| 119 |
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|
| 120 |
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"frame_id": "001601"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "001677"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "001830"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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|
| 137 |
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|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "001982"
|
| 141 |
+
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|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "002058"
|
| 145 |
+
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|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "002135"
|
| 149 |
+
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|
| 150 |
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{
|
| 151 |
+
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|
| 152 |
+
"frame_id": "002211"
|
| 153 |
+
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|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
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"frame_id": "002287"
|
| 157 |
+
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|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "002364"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
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"000076",
|
| 167 |
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|
| 168 |
+
"000228",
|
| 169 |
+
"000305",
|
| 170 |
+
"000381",
|
| 171 |
+
"000457",
|
| 172 |
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"000533",
|
| 173 |
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"000610",
|
| 174 |
+
"000686",
|
| 175 |
+
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|
| 176 |
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"000838",
|
| 177 |
+
"000915",
|
| 178 |
+
"000991",
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
+
"001372",
|
| 184 |
+
"001448",
|
| 185 |
+
"001525",
|
| 186 |
+
"001601",
|
| 187 |
+
"001677",
|
| 188 |
+
"001753",
|
| 189 |
+
"001830",
|
| 190 |
+
"001906",
|
| 191 |
+
"001982",
|
| 192 |
+
"002058",
|
| 193 |
+
"002135",
|
| 194 |
+
"002211",
|
| 195 |
+
"002287",
|
| 196 |
+
"002364"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0110_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0110_01",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
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|
| 6 |
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|
| 7 |
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32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
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|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0110_01.pt",
|
| 18 |
+
"indices_file": "scene0110_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0110_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
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|
| 25 |
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"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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|
| 38 |
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{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000026"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000053"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000080"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000107"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000134"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000161"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000187"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000214"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000241"
|
| 73 |
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|
| 74 |
+
{
|
| 75 |
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"index": 10,
|
| 76 |
+
"frame_id": "000268"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000295"
|
| 81 |
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},
|
| 82 |
+
{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000322"
|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000348"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000375"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000402"
|
| 97 |
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|
| 98 |
+
{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000429"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000456"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "000483"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000509"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000536"
|
| 117 |
+
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000563"
|
| 121 |
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},
|
| 122 |
+
{
|
| 123 |
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"index": 22,
|
| 124 |
+
"frame_id": "000590"
|
| 125 |
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},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
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"frame_id": "000617"
|
| 129 |
+
},
|
| 130 |
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{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000644"
|
| 133 |
+
},
|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "000670"
|
| 137 |
+
},
|
| 138 |
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{
|
| 139 |
+
"index": 26,
|
| 140 |
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"frame_id": "000697"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000724"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000751"
|
| 149 |
+
},
|
| 150 |
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{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000778"
|
| 153 |
+
},
|
| 154 |
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{
|
| 155 |
+
"index": 30,
|
| 156 |
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"frame_id": "000805"
|
| 157 |
+
},
|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000832"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
+
"000026",
|
| 167 |
+
"000053",
|
| 168 |
+
"000080",
|
| 169 |
+
"000107",
|
| 170 |
+
"000134",
|
| 171 |
+
"000161",
|
| 172 |
+
"000187",
|
| 173 |
+
"000214",
|
| 174 |
+
"000241",
|
| 175 |
+
"000268",
|
| 176 |
+
"000295",
|
| 177 |
+
"000322",
|
| 178 |
+
"000348",
|
| 179 |
+
"000375",
|
| 180 |
+
"000402",
|
| 181 |
+
"000429",
|
| 182 |
+
"000456",
|
| 183 |
+
"000483",
|
| 184 |
+
"000509",
|
| 185 |
+
"000536",
|
| 186 |
+
"000563",
|
| 187 |
+
"000590",
|
| 188 |
+
"000617",
|
| 189 |
+
"000644",
|
| 190 |
+
"000670",
|
| 191 |
+
"000697",
|
| 192 |
+
"000724",
|
| 193 |
+
"000751",
|
| 194 |
+
"000778",
|
| 195 |
+
"000805",
|
| 196 |
+
"000832"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0117_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0117_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0117_00.pt",
|
| 18 |
+
"indices_file": "scene0117_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0117_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000019"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000039"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000059"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000079"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000099"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000119"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000139"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000158"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000178"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000198"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
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"frame_id": "000218"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
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"frame_id": "000238"
|
| 85 |
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},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
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"frame_id": "000258"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000278"
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
+
"frame_id": "000298"
|
| 97 |
+
},
|
| 98 |
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{
|
| 99 |
+
"index": 16,
|
| 100 |
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"frame_id": "000317"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
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"frame_id": "000337"
|
| 105 |
+
},
|
| 106 |
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{
|
| 107 |
+
"index": 18,
|
| 108 |
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"frame_id": "000357"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000377"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
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"index": 20,
|
| 116 |
+
"frame_id": "000397"
|
| 117 |
+
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000417"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "000437"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
+
"frame_id": "000457"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000476"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000496"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000516"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000536"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000556"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000576"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000596"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000616"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000019",
|
| 167 |
+
"000039",
|
| 168 |
+
"000059",
|
| 169 |
+
"000079",
|
| 170 |
+
"000099",
|
| 171 |
+
"000119",
|
| 172 |
+
"000139",
|
| 173 |
+
"000158",
|
| 174 |
+
"000178",
|
| 175 |
+
"000198",
|
| 176 |
+
"000218",
|
| 177 |
+
"000238",
|
| 178 |
+
"000258",
|
| 179 |
+
"000278",
|
| 180 |
+
"000298",
|
| 181 |
+
"000317",
|
| 182 |
+
"000337",
|
| 183 |
+
"000357",
|
| 184 |
+
"000377",
|
| 185 |
+
"000397",
|
| 186 |
+
"000417",
|
| 187 |
+
"000437",
|
| 188 |
+
"000457",
|
| 189 |
+
"000476",
|
| 190 |
+
"000496",
|
| 191 |
+
"000516",
|
| 192 |
+
"000536",
|
| 193 |
+
"000556",
|
| 194 |
+
"000576",
|
| 195 |
+
"000596",
|
| 196 |
+
"000616"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0121_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0121_01",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0121_01.pt",
|
| 18 |
+
"indices_file": "scene0121_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0121_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
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"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
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{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
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"frame_id": "000048"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000096"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000145"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000193"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000241"
|
| 57 |
+
},
|
| 58 |
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{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000290"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000338"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000386"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000435"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
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"frame_id": "000483"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
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"frame_id": "000531"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000580"
|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000628"
|
| 89 |
+
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000676"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000725"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000773"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000822"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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|
| 109 |
+
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|
| 110 |
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{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000918"
|
| 113 |
+
},
|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000967"
|
| 117 |
+
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|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
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"frame_id": "001015"
|
| 121 |
+
},
|
| 122 |
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{
|
| 123 |
+
"index": 22,
|
| 124 |
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"frame_id": "001063"
|
| 125 |
+
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|
| 126 |
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{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001112"
|
| 129 |
+
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|
| 130 |
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{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001160"
|
| 133 |
+
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|
| 134 |
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{
|
| 135 |
+
"index": 25,
|
| 136 |
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"frame_id": "001208"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001257"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001305"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001353"
|
| 149 |
+
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|
| 150 |
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{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001402"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001450"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001499"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000048",
|
| 167 |
+
"000096",
|
| 168 |
+
"000145",
|
| 169 |
+
"000193",
|
| 170 |
+
"000241",
|
| 171 |
+
"000290",
|
| 172 |
+
"000338",
|
| 173 |
+
"000386",
|
| 174 |
+
"000435",
|
| 175 |
+
"000483",
|
| 176 |
+
"000531",
|
| 177 |
+
"000580",
|
| 178 |
+
"000628",
|
| 179 |
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"000676",
|
| 180 |
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"000725",
|
| 181 |
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"000773",
|
| 182 |
+
"000822",
|
| 183 |
+
"000870",
|
| 184 |
+
"000918",
|
| 185 |
+
"000967",
|
| 186 |
+
"001015",
|
| 187 |
+
"001063",
|
| 188 |
+
"001112",
|
| 189 |
+
"001160",
|
| 190 |
+
"001208",
|
| 191 |
+
"001257",
|
| 192 |
+
"001305",
|
| 193 |
+
"001353",
|
| 194 |
+
"001402",
|
| 195 |
+
"001450",
|
| 196 |
+
"001499"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0140_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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| 6 |
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|
| 7 |
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|
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|
| 10 |
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|
| 11 |
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| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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| 24 |
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| 28 |
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| 29 |
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| 30 |
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|
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|
| 32 |
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| 33 |
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|
| 34 |
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| 35 |
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|
| 36 |
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| 37 |
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| 38 |
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| 39 |
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|
| 40 |
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|
| 41 |
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| 42 |
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| 45 |
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| 47 |
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|
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| 50 |
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| 51 |
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| 55 |
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| 63 |
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|
| 65 |
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| 67 |
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| 69 |
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| 70 |
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| 71 |
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|
| 72 |
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|
| 73 |
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| 74 |
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| 75 |
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|
| 76 |
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|
| 77 |
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| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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| 83 |
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| 84 |
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|
| 85 |
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| 86 |
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| 87 |
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| 88 |
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|
| 89 |
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|
| 90 |
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| 91 |
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|
| 92 |
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|
| 93 |
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| 94 |
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| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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|
| 100 |
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|
| 101 |
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| 102 |
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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| 107 |
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| 108 |
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|
| 109 |
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| 110 |
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| 111 |
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| 112 |
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|
| 113 |
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| 114 |
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| 115 |
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| 116 |
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|
| 117 |
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| 119 |
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|
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|
| 121 |
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| 122 |
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| 123 |
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|
| 124 |
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|
| 125 |
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| 126 |
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| 127 |
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|
| 128 |
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|
| 129 |
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| 130 |
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| 131 |
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|
| 132 |
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|
| 133 |
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| 134 |
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| 135 |
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|
| 137 |
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| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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| 147 |
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|
| 148 |
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|
| 149 |
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| 151 |
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|
| 152 |
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|
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| 155 |
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|
| 156 |
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|
| 157 |
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| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
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|
| 169 |
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| 170 |
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| 171 |
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|
| 172 |
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| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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| 177 |
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|
| 178 |
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|
| 179 |
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| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
+
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|
| 197 |
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|
| 198 |
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}
|
metadata/train/scene0141_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
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|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
+
432,
|
| 10 |
+
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
+
32
|
| 15 |
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],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
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"pointcloud_file": "scene0141_02.pt",
|
| 18 |
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"indices_file": "scene0141_02_indices.pt",
|
| 19 |
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"transform_to_world_file": "scene0141_02_to_world.npy",
|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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480
|
| 32 |
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|
| 33 |
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|
| 34 |
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{
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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{
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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{
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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{
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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{
|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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| 83 |
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|
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| 85 |
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| 86 |
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| 87 |
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|
| 88 |
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|
| 89 |
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| 90 |
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|
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|
| 93 |
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| 94 |
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|
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|
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|
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| 114 |
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| 115 |
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|
| 116 |
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|
| 117 |
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|
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| 125 |
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|
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|
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|
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}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000031",
|
| 167 |
+
"000062",
|
| 168 |
+
"000093",
|
| 169 |
+
"000124",
|
| 170 |
+
"000155",
|
| 171 |
+
"000186",
|
| 172 |
+
"000218",
|
| 173 |
+
"000249",
|
| 174 |
+
"000280",
|
| 175 |
+
"000311",
|
| 176 |
+
"000342",
|
| 177 |
+
"000373",
|
| 178 |
+
"000405",
|
| 179 |
+
"000436",
|
| 180 |
+
"000467",
|
| 181 |
+
"000498",
|
| 182 |
+
"000529",
|
| 183 |
+
"000560",
|
| 184 |
+
"000592",
|
| 185 |
+
"000623",
|
| 186 |
+
"000654",
|
| 187 |
+
"000685",
|
| 188 |
+
"000716",
|
| 189 |
+
"000747",
|
| 190 |
+
"000779",
|
| 191 |
+
"000810",
|
| 192 |
+
"000841",
|
| 193 |
+
"000872",
|
| 194 |
+
"000903",
|
| 195 |
+
"000934",
|
| 196 |
+
"000966"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0142_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0142_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0142_00.pt",
|
| 18 |
+
"indices_file": "scene0142_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0142_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000078"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000156"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000235"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000313"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000392"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000470"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000549"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000627"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000706"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000784"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000863"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000941"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "001020"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
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"frame_id": "001098"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "001177"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
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"frame_id": "001255"
|
| 101 |
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},
|
| 102 |
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{
|
| 103 |
+
"index": 17,
|
| 104 |
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"frame_id": "001334"
|
| 105 |
+
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|
| 106 |
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{
|
| 107 |
+
"index": 18,
|
| 108 |
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"frame_id": "001412"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "001491"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
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"frame_id": "001569"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001648"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001726"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001805"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001883"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001962"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "002040"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "002119"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "002197"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "002276"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "002354"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "002433"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000078",
|
| 167 |
+
"000156",
|
| 168 |
+
"000235",
|
| 169 |
+
"000313",
|
| 170 |
+
"000392",
|
| 171 |
+
"000470",
|
| 172 |
+
"000549",
|
| 173 |
+
"000627",
|
| 174 |
+
"000706",
|
| 175 |
+
"000784",
|
| 176 |
+
"000863",
|
| 177 |
+
"000941",
|
| 178 |
+
"001020",
|
| 179 |
+
"001098",
|
| 180 |
+
"001177",
|
| 181 |
+
"001255",
|
| 182 |
+
"001334",
|
| 183 |
+
"001412",
|
| 184 |
+
"001491",
|
| 185 |
+
"001569",
|
| 186 |
+
"001648",
|
| 187 |
+
"001726",
|
| 188 |
+
"001805",
|
| 189 |
+
"001883",
|
| 190 |
+
"001962",
|
| 191 |
+
"002040",
|
| 192 |
+
"002119",
|
| 193 |
+
"002197",
|
| 194 |
+
"002276",
|
| 195 |
+
"002354",
|
| 196 |
+
"002433"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0143_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0143_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0143_00.pt",
|
| 18 |
+
"indices_file": "scene0143_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0143_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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| 47 |
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|
| 48 |
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| 49 |
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|
| 50 |
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| 51 |
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|
| 52 |
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| 53 |
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| 54 |
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| 55 |
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|
| 56 |
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|
| 57 |
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| 58 |
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| 59 |
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|
| 60 |
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|
| 61 |
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| 62 |
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| 63 |
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| 64 |
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|
| 65 |
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| 66 |
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| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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| 86 |
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| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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| 106 |
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| 107 |
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|
| 108 |
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|
| 109 |
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| 110 |
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| 111 |
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| 112 |
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|
| 113 |
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| 114 |
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| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
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|
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|
| 169 |
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| 170 |
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|
| 171 |
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|
| 172 |
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| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
+
"000239"
|
| 197 |
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|
| 198 |
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}
|
metadata/train/scene0152_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
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|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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432,
|
| 9 |
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|
| 10 |
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|
| 11 |
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],
|
| 12 |
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|
| 13 |
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|
| 14 |
+
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|
| 15 |
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],
|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 24 |
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|
| 25 |
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| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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| 35 |
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|
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|
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
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|
| 69 |
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|
| 70 |
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|
| 72 |
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|
| 73 |
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| 74 |
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| 75 |
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|
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|
| 77 |
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| 78 |
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| 80 |
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|
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| 82 |
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|
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| 87 |
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|
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|
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|
| 90 |
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|
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| 93 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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+
"001696",
|
| 192 |
+
"001764",
|
| 193 |
+
"001832",
|
| 194 |
+
"001900",
|
| 195 |
+
"001968",
|
| 196 |
+
"002036",
|
| 197 |
+
"002104"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0161_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0161_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0161_00.pt",
|
| 18 |
+
"indices_file": "scene0161_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0161_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000007"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000015"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000023"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000031"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000039"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000047"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000055"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000062"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000070"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000078"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000086"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000094"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000102"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000110"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000118"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000125"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000133"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000141"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000149"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000157"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000165"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000173"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000181"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000188"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000196"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000204"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000212"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000220"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000228"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000236"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000244"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000007",
|
| 167 |
+
"000015",
|
| 168 |
+
"000023",
|
| 169 |
+
"000031",
|
| 170 |
+
"000039",
|
| 171 |
+
"000047",
|
| 172 |
+
"000055",
|
| 173 |
+
"000062",
|
| 174 |
+
"000070",
|
| 175 |
+
"000078",
|
| 176 |
+
"000086",
|
| 177 |
+
"000094",
|
| 178 |
+
"000102",
|
| 179 |
+
"000110",
|
| 180 |
+
"000118",
|
| 181 |
+
"000125",
|
| 182 |
+
"000133",
|
| 183 |
+
"000141",
|
| 184 |
+
"000149",
|
| 185 |
+
"000157",
|
| 186 |
+
"000165",
|
| 187 |
+
"000173",
|
| 188 |
+
"000181",
|
| 189 |
+
"000188",
|
| 190 |
+
"000196",
|
| 191 |
+
"000204",
|
| 192 |
+
"000212",
|
| 193 |
+
"000220",
|
| 194 |
+
"000228",
|
| 195 |
+
"000236",
|
| 196 |
+
"000244"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0163_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0163_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0163_00.pt",
|
| 18 |
+
"indices_file": "scene0163_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0163_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000071"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000142"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000213"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000284"
|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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"frame_id": "000569"
|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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{
|
| 75 |
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|
| 76 |
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"frame_id": "000711"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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{
|
| 83 |
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|
| 84 |
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"frame_id": "000853"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000924"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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|
| 92 |
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"frame_id": "000995"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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|
| 96 |
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"frame_id": "001066"
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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{
|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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{
|
| 111 |
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|
| 112 |
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"frame_id": "001351"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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|
| 116 |
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"frame_id": "001422"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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|
| 120 |
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"frame_id": "001493"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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|
| 124 |
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"frame_id": "001564"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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{
|
| 131 |
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|
| 132 |
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"frame_id": "001707"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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"frame_id": "001849"
|
| 141 |
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|
| 142 |
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{
|
| 143 |
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"index": 27,
|
| 144 |
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"frame_id": "001920"
|
| 145 |
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|
| 146 |
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{
|
| 147 |
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"index": 28,
|
| 148 |
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"frame_id": "001991"
|
| 149 |
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|
| 150 |
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{
|
| 151 |
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|
| 152 |
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"frame_id": "002062"
|
| 153 |
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|
| 154 |
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{
|
| 155 |
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|
| 156 |
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"frame_id": "002133"
|
| 157 |
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|
| 158 |
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{
|
| 159 |
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"index": 31,
|
| 160 |
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"frame_id": "002205"
|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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"001422",
|
| 186 |
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|
| 187 |
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|
| 188 |
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"001635",
|
| 189 |
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"001707",
|
| 190 |
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"001778",
|
| 191 |
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"001849",
|
| 192 |
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"001920",
|
| 193 |
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|
| 194 |
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"002062",
|
| 195 |
+
"002133",
|
| 196 |
+
"002205"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0170_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
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|
|
|
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|
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|
|
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|
|
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|
|
|
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|
|
|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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432,
|
| 9 |
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432,
|
| 10 |
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|
| 11 |
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],
|
| 12 |
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|
| 13 |
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|
| 14 |
+
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|
| 15 |
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],
|
| 16 |
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|
| 17 |
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"pointcloud_file": "scene0170_02.pt",
|
| 18 |
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"indices_file": "scene0170_02_indices.pt",
|
| 19 |
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"transform_to_world_file": "scene0170_02_to_world.npy",
|
| 20 |
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"coordinate_system": "first_camera_frame",
|
| 21 |
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"first_valid_frame": {
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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"image_size": [
|
| 26 |
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|
| 27 |
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432
|
| 28 |
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],
|
| 29 |
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"original_image_size": [
|
| 30 |
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640,
|
| 31 |
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480
|
| 32 |
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],
|
| 33 |
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|
| 34 |
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{
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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{
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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{
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000114"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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{
|
| 59 |
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|
| 60 |
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"frame_id": "000172"
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
+
"000891"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0186_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
|
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|
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|
|
|
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|
|
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|
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|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0186_00",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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432,
|
| 10 |
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|
| 11 |
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|
| 12 |
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"output_dtype": "bfloat16",
|
| 13 |
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"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
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],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0186_00.pt",
|
| 18 |
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"indices_file": "scene0186_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0186_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
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|
| 23 |
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|
| 24 |
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|
| 25 |
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"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
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{
|
| 35 |
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"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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"frame_id": "000083"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000166"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000249"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000333"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000499"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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|
| 64 |
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"frame_id": "000583"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000666"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000749"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000832"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000916"
|
| 81 |
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},
|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000999"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "001082"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "001166"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "001249"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "001332"
|
| 101 |
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},
|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "001415"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "001499"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "001582"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "001665"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "001749"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "001832"
|
| 125 |
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},
|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "001915"
|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "001998"
|
| 133 |
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},
|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "002082"
|
| 137 |
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},
|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "002165"
|
| 141 |
+
},
|
| 142 |
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{
|
| 143 |
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"index": 27,
|
| 144 |
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"frame_id": "002248"
|
| 145 |
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},
|
| 146 |
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{
|
| 147 |
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"index": 28,
|
| 148 |
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"frame_id": "002332"
|
| 149 |
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},
|
| 150 |
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{
|
| 151 |
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"index": 29,
|
| 152 |
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"frame_id": "002415"
|
| 153 |
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},
|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "002498"
|
| 157 |
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},
|
| 158 |
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{
|
| 159 |
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"index": 31,
|
| 160 |
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"frame_id": "002582"
|
| 161 |
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}
|
| 162 |
+
],
|
| 163 |
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"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
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"000083",
|
| 167 |
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"000166",
|
| 168 |
+
"000249",
|
| 169 |
+
"000333",
|
| 170 |
+
"000416",
|
| 171 |
+
"000499",
|
| 172 |
+
"000583",
|
| 173 |
+
"000666",
|
| 174 |
+
"000749",
|
| 175 |
+
"000832",
|
| 176 |
+
"000916",
|
| 177 |
+
"000999",
|
| 178 |
+
"001082",
|
| 179 |
+
"001166",
|
| 180 |
+
"001249",
|
| 181 |
+
"001332",
|
| 182 |
+
"001415",
|
| 183 |
+
"001499",
|
| 184 |
+
"001582",
|
| 185 |
+
"001665",
|
| 186 |
+
"001749",
|
| 187 |
+
"001832",
|
| 188 |
+
"001915",
|
| 189 |
+
"001998",
|
| 190 |
+
"002082",
|
| 191 |
+
"002165",
|
| 192 |
+
"002248",
|
| 193 |
+
"002332",
|
| 194 |
+
"002415",
|
| 195 |
+
"002498",
|
| 196 |
+
"002582"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0197_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0197_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
+
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|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0197_00.pt",
|
| 18 |
+
"indices_file": "scene0197_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0197_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000067"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000135"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000203"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000271"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000338"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000406"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000474"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000542"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000609"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000677"
|
| 77 |
+
},
|
| 78 |
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{
|
| 79 |
+
"index": 11,
|
| 80 |
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"frame_id": "000745"
|
| 81 |
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},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
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"frame_id": "000813"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000881"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000948"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "001016"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "001084"
|
| 101 |
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},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "001152"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "001219"
|
| 109 |
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},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "001287"
|
| 113 |
+
},
|
| 114 |
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{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "001355"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001423"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001491"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001558"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001626"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001694"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001762"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001829"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001897"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001965"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "002033"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "002101"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
+
"000067",
|
| 167 |
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"000135",
|
| 168 |
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"000203",
|
| 169 |
+
"000271",
|
| 170 |
+
"000338",
|
| 171 |
+
"000406",
|
| 172 |
+
"000474",
|
| 173 |
+
"000542",
|
| 174 |
+
"000609",
|
| 175 |
+
"000677",
|
| 176 |
+
"000745",
|
| 177 |
+
"000813",
|
| 178 |
+
"000881",
|
| 179 |
+
"000948",
|
| 180 |
+
"001016",
|
| 181 |
+
"001084",
|
| 182 |
+
"001152",
|
| 183 |
+
"001219",
|
| 184 |
+
"001287",
|
| 185 |
+
"001355",
|
| 186 |
+
"001423",
|
| 187 |
+
"001491",
|
| 188 |
+
"001558",
|
| 189 |
+
"001626",
|
| 190 |
+
"001694",
|
| 191 |
+
"001762",
|
| 192 |
+
"001829",
|
| 193 |
+
"001897",
|
| 194 |
+
"001965",
|
| 195 |
+
"002033",
|
| 196 |
+
"002101"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0204_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0204_01",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 29,
|
| 5 |
+
"invalid_frames_count": 3,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
29,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
29
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0204_01.pt",
|
| 18 |
+
"indices_file": "scene0204_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0204_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000026"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000053"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
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"frame_id": "000079"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000106"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
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"index": 5,
|
| 56 |
+
"frame_id": "000132"
|
| 57 |
+
},
|
| 58 |
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{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000159"
|
| 61 |
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},
|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000185"
|
| 65 |
+
},
|
| 66 |
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{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000212"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
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"index": 9,
|
| 72 |
+
"frame_id": "000238"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000265"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000291"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
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"frame_id": "000318"
|
| 85 |
+
},
|
| 86 |
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{
|
| 87 |
+
"index": 13,
|
| 88 |
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"frame_id": "000344"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000371"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000397"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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{
|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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{
|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000503"
|
| 113 |
+
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|
| 114 |
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{
|
| 115 |
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"index": 23,
|
| 116 |
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|
| 117 |
+
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|
| 118 |
+
{
|
| 119 |
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"index": 24,
|
| 120 |
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"frame_id": "000636"
|
| 121 |
+
},
|
| 122 |
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{
|
| 123 |
+
"index": 25,
|
| 124 |
+
"frame_id": "000662"
|
| 125 |
+
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|
| 126 |
+
{
|
| 127 |
+
"index": 26,
|
| 128 |
+
"frame_id": "000689"
|
| 129 |
+
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|
| 130 |
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{
|
| 131 |
+
"index": 27,
|
| 132 |
+
"frame_id": "000715"
|
| 133 |
+
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|
| 134 |
+
{
|
| 135 |
+
"index": 28,
|
| 136 |
+
"frame_id": "000742"
|
| 137 |
+
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|
| 138 |
+
{
|
| 139 |
+
"index": 29,
|
| 140 |
+
"frame_id": "000768"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 30,
|
| 144 |
+
"frame_id": "000795"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 31,
|
| 148 |
+
"frame_id": "000822"
|
| 149 |
+
}
|
| 150 |
+
],
|
| 151 |
+
"invalid_views": [
|
| 152 |
+
{
|
| 153 |
+
"index": 20,
|
| 154 |
+
"frame_id": "000530",
|
| 155 |
+
"reason": "invalid_pose"
|
| 156 |
+
},
|
| 157 |
+
{
|
| 158 |
+
"index": 21,
|
| 159 |
+
"frame_id": "000556",
|
| 160 |
+
"reason": "invalid_pose"
|
| 161 |
+
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|
| 162 |
+
{
|
| 163 |
+
"index": 22,
|
| 164 |
+
"frame_id": "000583",
|
| 165 |
+
"reason": "invalid_pose"
|
| 166 |
+
}
|
| 167 |
+
],
|
| 168 |
+
"frame_order": [
|
| 169 |
+
"000000",
|
| 170 |
+
"000026",
|
| 171 |
+
"000053",
|
| 172 |
+
"000079",
|
| 173 |
+
"000106",
|
| 174 |
+
"000132",
|
| 175 |
+
"000159",
|
| 176 |
+
"000185",
|
| 177 |
+
"000212",
|
| 178 |
+
"000238",
|
| 179 |
+
"000265",
|
| 180 |
+
"000291",
|
| 181 |
+
"000318",
|
| 182 |
+
"000344",
|
| 183 |
+
"000371",
|
| 184 |
+
"000397",
|
| 185 |
+
"000424",
|
| 186 |
+
"000450",
|
| 187 |
+
"000477",
|
| 188 |
+
"000503",
|
| 189 |
+
"000609",
|
| 190 |
+
"000636",
|
| 191 |
+
"000662",
|
| 192 |
+
"000689",
|
| 193 |
+
"000715",
|
| 194 |
+
"000742",
|
| 195 |
+
"000768",
|
| 196 |
+
"000795",
|
| 197 |
+
"000822"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0205_02_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
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|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0205_02",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
+
"invalid_frames_count": 2,
|
| 6 |
+
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|
| 7 |
+
30,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
30
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0205_02.pt",
|
| 18 |
+
"indices_file": "scene0205_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0205_02_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
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"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
+
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|
| 38 |
+
{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000036"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000072"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000108"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 5,
|
| 52 |
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"frame_id": "000180"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 6,
|
| 56 |
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"frame_id": "000216"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 7,
|
| 60 |
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"frame_id": "000252"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 8,
|
| 64 |
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"frame_id": "000288"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 9,
|
| 68 |
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"frame_id": "000324"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 10,
|
| 72 |
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"frame_id": "000360"
|
| 73 |
+
},
|
| 74 |
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{
|
| 75 |
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"index": 11,
|
| 76 |
+
"frame_id": "000396"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
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"index": 12,
|
| 80 |
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"frame_id": "000432"
|
| 81 |
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},
|
| 82 |
+
{
|
| 83 |
+
"index": 13,
|
| 84 |
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"frame_id": "000468"
|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
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"index": 14,
|
| 88 |
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"frame_id": "000504"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"index": 15,
|
| 92 |
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"frame_id": "000540"
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"index": 16,
|
| 96 |
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"frame_id": "000577"
|
| 97 |
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|
| 98 |
+
{
|
| 99 |
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"index": 17,
|
| 100 |
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"frame_id": "000613"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 18,
|
| 104 |
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"frame_id": "000649"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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"index": 19,
|
| 108 |
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"frame_id": "000685"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 20,
|
| 112 |
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"frame_id": "000721"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 21,
|
| 116 |
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"frame_id": "000757"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 22,
|
| 120 |
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"frame_id": "000793"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
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"index": 23,
|
| 124 |
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"frame_id": "000829"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 25,
|
| 128 |
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"frame_id": "000901"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 26,
|
| 132 |
+
"frame_id": "000937"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 27,
|
| 136 |
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"frame_id": "000973"
|
| 137 |
+
},
|
| 138 |
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{
|
| 139 |
+
"index": 28,
|
| 140 |
+
"frame_id": "001009"
|
| 141 |
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},
|
| 142 |
+
{
|
| 143 |
+
"index": 29,
|
| 144 |
+
"frame_id": "001045"
|
| 145 |
+
},
|
| 146 |
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{
|
| 147 |
+
"index": 30,
|
| 148 |
+
"frame_id": "001081"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 31,
|
| 152 |
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"frame_id": "001118"
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
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"invalid_views": [
|
| 156 |
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{
|
| 157 |
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"index": 4,
|
| 158 |
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"frame_id": "000144",
|
| 159 |
+
"reason": "invalid_pose"
|
| 160 |
+
},
|
| 161 |
+
{
|
| 162 |
+
"index": 24,
|
| 163 |
+
"frame_id": "000865",
|
| 164 |
+
"reason": "invalid_pose"
|
| 165 |
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}
|
| 166 |
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],
|
| 167 |
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"frame_order": [
|
| 168 |
+
"000000",
|
| 169 |
+
"000036",
|
| 170 |
+
"000072",
|
| 171 |
+
"000108",
|
| 172 |
+
"000180",
|
| 173 |
+
"000216",
|
| 174 |
+
"000252",
|
| 175 |
+
"000288",
|
| 176 |
+
"000324",
|
| 177 |
+
"000360",
|
| 178 |
+
"000396",
|
| 179 |
+
"000432",
|
| 180 |
+
"000468",
|
| 181 |
+
"000504",
|
| 182 |
+
"000540",
|
| 183 |
+
"000577",
|
| 184 |
+
"000613",
|
| 185 |
+
"000649",
|
| 186 |
+
"000685",
|
| 187 |
+
"000721",
|
| 188 |
+
"000757",
|
| 189 |
+
"000793",
|
| 190 |
+
"000829",
|
| 191 |
+
"000901",
|
| 192 |
+
"000937",
|
| 193 |
+
"000973",
|
| 194 |
+
"001009",
|
| 195 |
+
"001045",
|
| 196 |
+
"001081",
|
| 197 |
+
"001118"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0214_02_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0214_02",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 30,
|
| 5 |
+
"invalid_frames_count": 2,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
30,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
30
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0214_02.pt",
|
| 18 |
+
"indices_file": "scene0214_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0214_02_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000033"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000067"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000101"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000135"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000169"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000203"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000236"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000270"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000304"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000338"
|
| 77 |
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},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000372"
|
| 81 |
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},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
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"frame_id": "000406"
|
| 85 |
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},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
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"frame_id": "000439"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000473"
|
| 93 |
+
},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
+
"frame_id": "000507"
|
| 97 |
+
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
+
"frame_id": "000541"
|
| 101 |
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},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000575"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000609"
|
| 109 |
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},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000642"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000676"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000710"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000744"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000778"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 26,
|
| 132 |
+
"frame_id": "000879"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 27,
|
| 136 |
+
"frame_id": "000913"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 28,
|
| 140 |
+
"frame_id": "000947"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 29,
|
| 144 |
+
"frame_id": "000981"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 30,
|
| 148 |
+
"frame_id": "001015"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 31,
|
| 152 |
+
"frame_id": "001049"
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"invalid_views": [
|
| 156 |
+
{
|
| 157 |
+
"index": 24,
|
| 158 |
+
"frame_id": "000812",
|
| 159 |
+
"reason": "invalid_pose"
|
| 160 |
+
},
|
| 161 |
+
{
|
| 162 |
+
"index": 25,
|
| 163 |
+
"frame_id": "000845",
|
| 164 |
+
"reason": "invalid_pose"
|
| 165 |
+
}
|
| 166 |
+
],
|
| 167 |
+
"frame_order": [
|
| 168 |
+
"000000",
|
| 169 |
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"000033",
|
| 170 |
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"000067",
|
| 171 |
+
"000101",
|
| 172 |
+
"000135",
|
| 173 |
+
"000169",
|
| 174 |
+
"000203",
|
| 175 |
+
"000236",
|
| 176 |
+
"000270",
|
| 177 |
+
"000304",
|
| 178 |
+
"000338",
|
| 179 |
+
"000372",
|
| 180 |
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"000406",
|
| 181 |
+
"000439",
|
| 182 |
+
"000473",
|
| 183 |
+
"000507",
|
| 184 |
+
"000541",
|
| 185 |
+
"000575",
|
| 186 |
+
"000609",
|
| 187 |
+
"000642",
|
| 188 |
+
"000676",
|
| 189 |
+
"000710",
|
| 190 |
+
"000744",
|
| 191 |
+
"000778",
|
| 192 |
+
"000879",
|
| 193 |
+
"000913",
|
| 194 |
+
"000947",
|
| 195 |
+
"000981",
|
| 196 |
+
"001015",
|
| 197 |
+
"001049"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0232_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0232_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
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"invalid_frames_count": 0,
|
| 6 |
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"output_shape": [
|
| 7 |
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32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
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"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0232_00.pt",
|
| 18 |
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"indices_file": "scene0232_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0232_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
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"index": 0,
|
| 23 |
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|
| 24 |
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|
| 25 |
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"image_size": [
|
| 26 |
+
432,
|
| 27 |
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432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
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{
|
| 35 |
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"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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},
|
| 38 |
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{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000072"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000144"
|
| 45 |
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},
|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000216"
|
| 49 |
+
},
|
| 50 |
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{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000289"
|
| 53 |
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},
|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000361"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000433"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000506"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000578"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000650"
|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000722"
|
| 77 |
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},
|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000795"
|
| 81 |
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},
|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000867"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000939"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "001012"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "001084"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "001156"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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|
| 105 |
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|
| 106 |
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{
|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "001373"
|
| 113 |
+
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "001445"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "001518"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "001590"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "001662"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "001734"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "001807"
|
| 137 |
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|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "001879"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001951"
|
| 145 |
+
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|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "002024"
|
| 149 |
+
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|
| 150 |
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{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "002096"
|
| 153 |
+
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|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
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"frame_id": "002168"
|
| 157 |
+
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|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "002241"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
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"000072",
|
| 167 |
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|
| 168 |
+
"000216",
|
| 169 |
+
"000289",
|
| 170 |
+
"000361",
|
| 171 |
+
"000433",
|
| 172 |
+
"000506",
|
| 173 |
+
"000578",
|
| 174 |
+
"000650",
|
| 175 |
+
"000722",
|
| 176 |
+
"000795",
|
| 177 |
+
"000867",
|
| 178 |
+
"000939",
|
| 179 |
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"001012",
|
| 180 |
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"001084",
|
| 181 |
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"001156",
|
| 182 |
+
"001228",
|
| 183 |
+
"001301",
|
| 184 |
+
"001373",
|
| 185 |
+
"001445",
|
| 186 |
+
"001518",
|
| 187 |
+
"001590",
|
| 188 |
+
"001662",
|
| 189 |
+
"001734",
|
| 190 |
+
"001807",
|
| 191 |
+
"001879",
|
| 192 |
+
"001951",
|
| 193 |
+
"002024",
|
| 194 |
+
"002096",
|
| 195 |
+
"002168",
|
| 196 |
+
"002241"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0237_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0237_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 20,
|
| 5 |
+
"invalid_frames_count": 12,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
20,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
20
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0237_00.pt",
|
| 18 |
+
"indices_file": "scene0237_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0237_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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|
| 38 |
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{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000017"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000034"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000051"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000068"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000085"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000103"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000120"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000137"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000154"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000171"
|
| 77 |
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},
|
| 78 |
+
{
|
| 79 |
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"index": 11,
|
| 80 |
+
"frame_id": "000189"
|
| 81 |
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},
|
| 82 |
+
{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000206"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000223"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000240"
|
| 93 |
+
},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000257"
|
| 97 |
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|
| 98 |
+
{
|
| 99 |
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"index": 28,
|
| 100 |
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"frame_id": "000481"
|
| 101 |
+
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|
| 102 |
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{
|
| 103 |
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"index": 29,
|
| 104 |
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"frame_id": "000498"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"index": 30,
|
| 108 |
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"frame_id": "000515"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 31,
|
| 112 |
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"frame_id": "000533"
|
| 113 |
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}
|
| 114 |
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],
|
| 115 |
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"invalid_views": [
|
| 116 |
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{
|
| 117 |
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"index": 16,
|
| 118 |
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"frame_id": "000275",
|
| 119 |
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"reason": "invalid_pose"
|
| 120 |
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|
| 121 |
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{
|
| 122 |
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"index": 17,
|
| 123 |
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"frame_id": "000292",
|
| 124 |
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"reason": "invalid_pose"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 18,
|
| 128 |
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"frame_id": "000309",
|
| 129 |
+
"reason": "invalid_pose"
|
| 130 |
+
},
|
| 131 |
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{
|
| 132 |
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"index": 19,
|
| 133 |
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"frame_id": "000326",
|
| 134 |
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"reason": "invalid_pose"
|
| 135 |
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},
|
| 136 |
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{
|
| 137 |
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"index": 20,
|
| 138 |
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"frame_id": "000343",
|
| 139 |
+
"reason": "invalid_pose"
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
+
"index": 21,
|
| 143 |
+
"frame_id": "000361",
|
| 144 |
+
"reason": "invalid_pose"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 22,
|
| 148 |
+
"frame_id": "000378",
|
| 149 |
+
"reason": "invalid_pose"
|
| 150 |
+
},
|
| 151 |
+
{
|
| 152 |
+
"index": 23,
|
| 153 |
+
"frame_id": "000395",
|
| 154 |
+
"reason": "invalid_pose"
|
| 155 |
+
},
|
| 156 |
+
{
|
| 157 |
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"index": 24,
|
| 158 |
+
"frame_id": "000412",
|
| 159 |
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"reason": "invalid_pose"
|
| 160 |
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|
| 161 |
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{
|
| 162 |
+
"index": 25,
|
| 163 |
+
"frame_id": "000429",
|
| 164 |
+
"reason": "invalid_pose"
|
| 165 |
+
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|
| 166 |
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{
|
| 167 |
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"index": 26,
|
| 168 |
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"frame_id": "000447",
|
| 169 |
+
"reason": "invalid_pose"
|
| 170 |
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},
|
| 171 |
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{
|
| 172 |
+
"index": 27,
|
| 173 |
+
"frame_id": "000464",
|
| 174 |
+
"reason": "invalid_pose"
|
| 175 |
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}
|
| 176 |
+
],
|
| 177 |
+
"frame_order": [
|
| 178 |
+
"000000",
|
| 179 |
+
"000017",
|
| 180 |
+
"000034",
|
| 181 |
+
"000051",
|
| 182 |
+
"000068",
|
| 183 |
+
"000085",
|
| 184 |
+
"000103",
|
| 185 |
+
"000120",
|
| 186 |
+
"000137",
|
| 187 |
+
"000154",
|
| 188 |
+
"000171",
|
| 189 |
+
"000189",
|
| 190 |
+
"000206",
|
| 191 |
+
"000223",
|
| 192 |
+
"000240",
|
| 193 |
+
"000257",
|
| 194 |
+
"000481",
|
| 195 |
+
"000498",
|
| 196 |
+
"000515",
|
| 197 |
+
"000533"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0254_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0254_01",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 31,
|
| 5 |
+
"invalid_frames_count": 1,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
31,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
31
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0254_01.pt",
|
| 18 |
+
"indices_file": "scene0254_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0254_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000040"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000080"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000120"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000160"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000200"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000240"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000280"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000320"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000360"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000400"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
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"index": 11,
|
| 80 |
+
"frame_id": "000440"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
+
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|
| 84 |
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"frame_id": "000480"
|
| 85 |
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|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
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"frame_id": "000520"
|
| 89 |
+
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|
| 90 |
+
{
|
| 91 |
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"index": 14,
|
| 92 |
+
"frame_id": "000560"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
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"index": 15,
|
| 96 |
+
"frame_id": "000600"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000640"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000680"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000720"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000760"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000800"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000840"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000880"
|
| 125 |
+
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|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000920"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000960"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001000"
|
| 137 |
+
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|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
+
"frame_id": "001040"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001080"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001120"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001160"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001200"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 31,
|
| 162 |
+
"frame_id": "001240",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000040",
|
| 169 |
+
"000080",
|
| 170 |
+
"000120",
|
| 171 |
+
"000160",
|
| 172 |
+
"000200",
|
| 173 |
+
"000240",
|
| 174 |
+
"000280",
|
| 175 |
+
"000320",
|
| 176 |
+
"000360",
|
| 177 |
+
"000400",
|
| 178 |
+
"000440",
|
| 179 |
+
"000480",
|
| 180 |
+
"000520",
|
| 181 |
+
"000560",
|
| 182 |
+
"000600",
|
| 183 |
+
"000640",
|
| 184 |
+
"000680",
|
| 185 |
+
"000720",
|
| 186 |
+
"000760",
|
| 187 |
+
"000800",
|
| 188 |
+
"000840",
|
| 189 |
+
"000880",
|
| 190 |
+
"000920",
|
| 191 |
+
"000960",
|
| 192 |
+
"001000",
|
| 193 |
+
"001040",
|
| 194 |
+
"001080",
|
| 195 |
+
"001120",
|
| 196 |
+
"001160",
|
| 197 |
+
"001200"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0255_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0255_01",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
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"output_shape": [
|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0255_01.pt",
|
| 18 |
+
"indices_file": "scene0255_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0255_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
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"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
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"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
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{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
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"frame_id": "000034"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000068"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000102"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000136"
|
| 53 |
+
},
|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000170"
|
| 57 |
+
},
|
| 58 |
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{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000204"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000238"
|
| 65 |
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},
|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000272"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000306"
|
| 73 |
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},
|
| 74 |
+
{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000340"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
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"frame_id": "000374"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000408"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000442"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000476"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000510"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000545"
|
| 101 |
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},
|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000579"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "000613"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000647"
|
| 113 |
+
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000681"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
+
"index": 21,
|
| 120 |
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"frame_id": "000715"
|
| 121 |
+
},
|
| 122 |
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{
|
| 123 |
+
"index": 22,
|
| 124 |
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"frame_id": "000749"
|
| 125 |
+
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|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000783"
|
| 129 |
+
},
|
| 130 |
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{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000817"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
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"frame_id": "000851"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000885"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000919"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000953"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000987"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001021"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001056"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000034",
|
| 167 |
+
"000068",
|
| 168 |
+
"000102",
|
| 169 |
+
"000136",
|
| 170 |
+
"000170",
|
| 171 |
+
"000204",
|
| 172 |
+
"000238",
|
| 173 |
+
"000272",
|
| 174 |
+
"000306",
|
| 175 |
+
"000340",
|
| 176 |
+
"000374",
|
| 177 |
+
"000408",
|
| 178 |
+
"000442",
|
| 179 |
+
"000476",
|
| 180 |
+
"000510",
|
| 181 |
+
"000545",
|
| 182 |
+
"000579",
|
| 183 |
+
"000613",
|
| 184 |
+
"000647",
|
| 185 |
+
"000681",
|
| 186 |
+
"000715",
|
| 187 |
+
"000749",
|
| 188 |
+
"000783",
|
| 189 |
+
"000817",
|
| 190 |
+
"000851",
|
| 191 |
+
"000885",
|
| 192 |
+
"000919",
|
| 193 |
+
"000953",
|
| 194 |
+
"000987",
|
| 195 |
+
"001021",
|
| 196 |
+
"001056"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0268_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0268_02",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
32,
|
| 8 |
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| 9 |
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432,
|
| 10 |
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| 11 |
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| 12 |
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| 14 |
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| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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| 24 |
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|
| 28 |
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| 29 |
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| 30 |
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|
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|
| 32 |
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| 33 |
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|
| 34 |
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| 35 |
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| 36 |
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| 38 |
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| 39 |
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|
| 40 |
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|
| 41 |
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| 51 |
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| 55 |
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| 67 |
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| 73 |
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| 75 |
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| 76 |
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|
| 77 |
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| 78 |
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| 79 |
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|
| 80 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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| 93 |
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| 94 |
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| 95 |
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| 96 |
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| 97 |
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| 98 |
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| 99 |
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|
| 100 |
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| 101 |
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| 103 |
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| 111 |
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| 115 |
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|
| 117 |
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| 119 |
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|
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| 121 |
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| 123 |
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|
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|
| 125 |
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| 126 |
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| 127 |
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|
| 128 |
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|
| 129 |
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| 130 |
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| 131 |
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|
| 132 |
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|
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| 135 |
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| 137 |
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| 139 |
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|
| 140 |
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|
| 141 |
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| 142 |
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| 143 |
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|
| 144 |
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|
| 145 |
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| 146 |
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| 147 |
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|
| 148 |
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|
| 149 |
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| 150 |
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| 151 |
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| 152 |
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|
| 153 |
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| 154 |
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| 155 |
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|
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|
| 157 |
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| 159 |
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|
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|
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 181 |
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|
| 182 |
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| 183 |
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| 184 |
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| 185 |
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| 186 |
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| 187 |
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| 188 |
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| 189 |
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| 190 |
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| 191 |
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| 192 |
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| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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}
|
metadata/train/scene0276_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
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|
|
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|
|
|
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|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
|
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|
|
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|
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|
|
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|
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|
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|
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|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
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|
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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| 28 |
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| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
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|
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|
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|
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|
| 49 |
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| 50 |
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|
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|
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|
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|
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|
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|
| 176 |
+
"000614",
|
| 177 |
+
"000683",
|
| 178 |
+
"000751",
|
| 179 |
+
"000819",
|
| 180 |
+
"000888",
|
| 181 |
+
"000956",
|
| 182 |
+
"001024",
|
| 183 |
+
"001093",
|
| 184 |
+
"001161",
|
| 185 |
+
"001229",
|
| 186 |
+
"001298",
|
| 187 |
+
"001366",
|
| 188 |
+
"001434",
|
| 189 |
+
"001503",
|
| 190 |
+
"001571",
|
| 191 |
+
"001639",
|
| 192 |
+
"001708",
|
| 193 |
+
"001776",
|
| 194 |
+
"001844",
|
| 195 |
+
"001913",
|
| 196 |
+
"001981",
|
| 197 |
+
"002118"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0295_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0295_01",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 31,
|
| 5 |
+
"invalid_frames_count": 1,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
31,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
31
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0295_01.pt",
|
| 18 |
+
"indices_file": "scene0295_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0295_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000022"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000045"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000067"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000090"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000112"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000135"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000158"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000180"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000203"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000225"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000248"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000270"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000293"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000316"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000338"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000361"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000383"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000406"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000429"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000451"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000474"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000496"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000519"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000541"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000564"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000587"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000609"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000632"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000654"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000677"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 31,
|
| 162 |
+
"frame_id": "000700",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000022",
|
| 169 |
+
"000045",
|
| 170 |
+
"000067",
|
| 171 |
+
"000090",
|
| 172 |
+
"000112",
|
| 173 |
+
"000135",
|
| 174 |
+
"000158",
|
| 175 |
+
"000180",
|
| 176 |
+
"000203",
|
| 177 |
+
"000225",
|
| 178 |
+
"000248",
|
| 179 |
+
"000270",
|
| 180 |
+
"000293",
|
| 181 |
+
"000316",
|
| 182 |
+
"000338",
|
| 183 |
+
"000361",
|
| 184 |
+
"000383",
|
| 185 |
+
"000406",
|
| 186 |
+
"000429",
|
| 187 |
+
"000451",
|
| 188 |
+
"000474",
|
| 189 |
+
"000496",
|
| 190 |
+
"000519",
|
| 191 |
+
"000541",
|
| 192 |
+
"000564",
|
| 193 |
+
"000587",
|
| 194 |
+
"000609",
|
| 195 |
+
"000632",
|
| 196 |
+
"000654",
|
| 197 |
+
"000677"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0302_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0302_01",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 28,
|
| 5 |
+
"invalid_frames_count": 4,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
28,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
28
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0302_01.pt",
|
| 18 |
+
"indices_file": "scene0302_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0302_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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{
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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{
|
| 47 |
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|
| 48 |
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"frame_id": "000081"
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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"frame_id": "000108"
|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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"frame_id": "000243"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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|
| 76 |
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"frame_id": "000270"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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"frame_id": "000297"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000324"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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|
| 88 |
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"frame_id": "000351"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000378"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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|
| 96 |
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"frame_id": "000459"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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"frame_id": "000594"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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{
|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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{
|
| 123 |
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|
| 124 |
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"frame_id": "000675"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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{
|
| 131 |
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|
| 132 |
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"frame_id": "000729"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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|
| 136 |
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"frame_id": "000756"
|
| 137 |
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|
| 138 |
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{
|
| 139 |
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|
| 140 |
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"frame_id": "000783"
|
| 141 |
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|
| 142 |
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{
|
| 143 |
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"index": 31,
|
| 144 |
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"frame_id": "000837"
|
| 145 |
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|
| 146 |
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|
| 147 |
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"invalid_views": [
|
| 148 |
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{
|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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"frame_id": "000432",
|
| 156 |
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|
| 157 |
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|
| 158 |
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{
|
| 159 |
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|
| 160 |
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"frame_id": "000513",
|
| 161 |
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|
| 162 |
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|
| 163 |
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{
|
| 164 |
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|
| 165 |
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"frame_id": "000810",
|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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"000486",
|
| 187 |
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"000540",
|
| 188 |
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"000567",
|
| 189 |
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"000594",
|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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"000783",
|
| 197 |
+
"000837"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0310_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
+
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|
| 6 |
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|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
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],
|
| 12 |
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"output_dtype": "bfloat16",
|
| 13 |
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"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
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],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0310_01.pt",
|
| 18 |
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"indices_file": "scene0310_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0310_01_to_world.npy",
|
| 20 |
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"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
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"index": 0,
|
| 23 |
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|
| 24 |
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|
| 25 |
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"image_size": [
|
| 26 |
+
432,
|
| 27 |
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432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
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{
|
| 35 |
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"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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},
|
| 38 |
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{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000028"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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|
| 45 |
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},
|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000084"
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000112"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000140"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000168"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000224"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000280"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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"frame_id": "000309"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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{
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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{
|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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{
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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{
|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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{
|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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{
|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
+
"index": 27,
|
| 144 |
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"frame_id": "000758"
|
| 145 |
+
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|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
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"frame_id": "000786"
|
| 149 |
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|
| 150 |
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{
|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "000842"
|
| 157 |
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|
| 158 |
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{
|
| 159 |
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"index": 31,
|
| 160 |
+
"frame_id": "000871"
|
| 161 |
+
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|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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"000112",
|
| 170 |
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"000140",
|
| 171 |
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"000168",
|
| 172 |
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"000196",
|
| 173 |
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"000224",
|
| 174 |
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"000252",
|
| 175 |
+
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|
| 176 |
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"000309",
|
| 177 |
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"000337",
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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"000505",
|
| 184 |
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"000533",
|
| 185 |
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"000561",
|
| 186 |
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"000590",
|
| 187 |
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"000618",
|
| 188 |
+
"000646",
|
| 189 |
+
"000674",
|
| 190 |
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"000702",
|
| 191 |
+
"000730",
|
| 192 |
+
"000758",
|
| 193 |
+
"000786",
|
| 194 |
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"000814",
|
| 195 |
+
"000842",
|
| 196 |
+
"000871"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0335_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
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|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
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|
|
|
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|
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|
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|
|
|
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|
|
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|
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|
|
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|
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|
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|
|
|
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|
|
|
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|
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|
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|
|
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|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0335_02",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
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|
| 5 |
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"invalid_frames_count": 0,
|
| 6 |
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|
| 7 |
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32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0335_02.pt",
|
| 18 |
+
"indices_file": "scene0335_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0335_02_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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},
|
| 38 |
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{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000083"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000166"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000249"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000332"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000415"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000498"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000581"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000664"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000747"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000830"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000914"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
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"frame_id": "000997"
|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
+
"index": 13,
|
| 88 |
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"frame_id": "001080"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "001163"
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "001246"
|
| 97 |
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},
|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "001329"
|
| 101 |
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},
|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "001412"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "001495"
|
| 109 |
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},
|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "001578"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "001661"
|
| 117 |
+
},
|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "001745"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001828"
|
| 125 |
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},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001911"
|
| 129 |
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},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001994"
|
| 133 |
+
},
|
| 134 |
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{
|
| 135 |
+
"index": 25,
|
| 136 |
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"frame_id": "002077"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "002160"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "002243"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "002326"
|
| 149 |
+
},
|
| 150 |
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{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "002409"
|
| 153 |
+
},
|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "002492"
|
| 157 |
+
},
|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "002576"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
+
"000083",
|
| 167 |
+
"000166",
|
| 168 |
+
"000249",
|
| 169 |
+
"000332",
|
| 170 |
+
"000415",
|
| 171 |
+
"000498",
|
| 172 |
+
"000581",
|
| 173 |
+
"000664",
|
| 174 |
+
"000747",
|
| 175 |
+
"000830",
|
| 176 |
+
"000914",
|
| 177 |
+
"000997",
|
| 178 |
+
"001080",
|
| 179 |
+
"001163",
|
| 180 |
+
"001246",
|
| 181 |
+
"001329",
|
| 182 |
+
"001412",
|
| 183 |
+
"001495",
|
| 184 |
+
"001578",
|
| 185 |
+
"001661",
|
| 186 |
+
"001745",
|
| 187 |
+
"001828",
|
| 188 |
+
"001911",
|
| 189 |
+
"001994",
|
| 190 |
+
"002077",
|
| 191 |
+
"002160",
|
| 192 |
+
"002243",
|
| 193 |
+
"002326",
|
| 194 |
+
"002409",
|
| 195 |
+
"002492",
|
| 196 |
+
"002576"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0341_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0341_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0341_00.pt",
|
| 18 |
+
"indices_file": "scene0341_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0341_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000083"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000166"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000249"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000332"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000415"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000499"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000582"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
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"frame_id": "000665"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000748"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000831"
|
| 77 |
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|
| 78 |
+
{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000915"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000998"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "001081"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "001164"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "001247"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "001331"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "001414"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "001497"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "001580"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "001663"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "001747"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "001830"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "001913"
|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "001996"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "002079"
|
| 137 |
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},
|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "002163"
|
| 141 |
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},
|
| 142 |
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{
|
| 143 |
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"index": 27,
|
| 144 |
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"frame_id": "002246"
|
| 145 |
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},
|
| 146 |
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{
|
| 147 |
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"index": 28,
|
| 148 |
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"frame_id": "002329"
|
| 149 |
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},
|
| 150 |
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{
|
| 151 |
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"index": 29,
|
| 152 |
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"frame_id": "002412"
|
| 153 |
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},
|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "002495"
|
| 157 |
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},
|
| 158 |
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{
|
| 159 |
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"index": 31,
|
| 160 |
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"frame_id": "002579"
|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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"frame_order": [
|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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"000332",
|
| 170 |
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"000415",
|
| 171 |
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|
| 172 |
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"000582",
|
| 173 |
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"000665",
|
| 174 |
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"000748",
|
| 175 |
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"000831",
|
| 176 |
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"000915",
|
| 177 |
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"000998",
|
| 178 |
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"001081",
|
| 179 |
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"001164",
|
| 180 |
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"001247",
|
| 181 |
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"001331",
|
| 182 |
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"001414",
|
| 183 |
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"001497",
|
| 184 |
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"001580",
|
| 185 |
+
"001663",
|
| 186 |
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"001747",
|
| 187 |
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"001830",
|
| 188 |
+
"001913",
|
| 189 |
+
"001996",
|
| 190 |
+
"002079",
|
| 191 |
+
"002163",
|
| 192 |
+
"002246",
|
| 193 |
+
"002329",
|
| 194 |
+
"002412",
|
| 195 |
+
"002495",
|
| 196 |
+
"002579"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0350_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0350_02",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
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"invalid_frames_count": 0,
|
| 6 |
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|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
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"output_dtype": "bfloat16",
|
| 13 |
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"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0350_02.pt",
|
| 18 |
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"indices_file": "scene0350_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0350_02_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
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"index": 0,
|
| 23 |
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|
| 24 |
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|
| 25 |
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"image_size": [
|
| 26 |
+
432,
|
| 27 |
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432
|
| 28 |
+
],
|
| 29 |
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"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
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{
|
| 35 |
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"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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},
|
| 38 |
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{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000044"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000088"
|
| 45 |
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},
|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000132"
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
+
"index": 4,
|
| 52 |
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"frame_id": "000176"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000220"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000264"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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|
| 69 |
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|
| 70 |
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{
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000440"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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{
|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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{
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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{
|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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{
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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{
|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001188"
|
| 145 |
+
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|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "001320"
|
| 157 |
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|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001364"
|
| 161 |
+
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|
| 162 |
+
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|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
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|
| 167 |
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|
| 168 |
+
"000132",
|
| 169 |
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"000176",
|
| 170 |
+
"000220",
|
| 171 |
+
"000264",
|
| 172 |
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"000308",
|
| 173 |
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"000352",
|
| 174 |
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"000396",
|
| 175 |
+
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|
| 176 |
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"000484",
|
| 177 |
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"000528",
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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"000748",
|
| 183 |
+
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|
| 184 |
+
"000836",
|
| 185 |
+
"000880",
|
| 186 |
+
"000924",
|
| 187 |
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"000968",
|
| 188 |
+
"001012",
|
| 189 |
+
"001056",
|
| 190 |
+
"001100",
|
| 191 |
+
"001144",
|
| 192 |
+
"001188",
|
| 193 |
+
"001232",
|
| 194 |
+
"001276",
|
| 195 |
+
"001320",
|
| 196 |
+
"001364"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0361_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0361_02",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
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|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0361_02.pt",
|
| 18 |
+
"indices_file": "scene0361_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0361_02_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
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},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000027"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
+
"index": 2,
|
| 44 |
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"frame_id": "000054"
|
| 45 |
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},
|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000082"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000109"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000137"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000164"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000192"
|
| 65 |
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},
|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000219"
|
| 69 |
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},
|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000247"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000274"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000302"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
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"frame_id": "000329"
|
| 85 |
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},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
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"frame_id": "000357"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000384"
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
+
"frame_id": "000412"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000439"
|
| 101 |
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},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
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"frame_id": "000467"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
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"frame_id": "000494"
|
| 109 |
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},
|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000522"
|
| 113 |
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},
|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000549"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
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"index": 21,
|
| 120 |
+
"frame_id": "000577"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000604"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000632"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000659"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000687"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000714"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000742"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000769"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000797"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000824"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000852"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
+
"000027",
|
| 167 |
+
"000054",
|
| 168 |
+
"000082",
|
| 169 |
+
"000109",
|
| 170 |
+
"000137",
|
| 171 |
+
"000164",
|
| 172 |
+
"000192",
|
| 173 |
+
"000219",
|
| 174 |
+
"000247",
|
| 175 |
+
"000274",
|
| 176 |
+
"000302",
|
| 177 |
+
"000329",
|
| 178 |
+
"000357",
|
| 179 |
+
"000384",
|
| 180 |
+
"000412",
|
| 181 |
+
"000439",
|
| 182 |
+
"000467",
|
| 183 |
+
"000494",
|
| 184 |
+
"000522",
|
| 185 |
+
"000549",
|
| 186 |
+
"000577",
|
| 187 |
+
"000604",
|
| 188 |
+
"000632",
|
| 189 |
+
"000659",
|
| 190 |
+
"000687",
|
| 191 |
+
"000714",
|
| 192 |
+
"000742",
|
| 193 |
+
"000769",
|
| 194 |
+
"000797",
|
| 195 |
+
"000824",
|
| 196 |
+
"000852"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0368_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0368_01",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0368_01.pt",
|
| 18 |
+
"indices_file": "scene0368_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0368_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000017"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000035"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000053"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000070"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000088"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000106"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000123"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000141"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000159"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000176"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000194"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000212"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000229"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000247"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000265"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000282"
|
| 101 |
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},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000300"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000318"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000335"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000353"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000371"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000388"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000406"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000424"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000441"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000459"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000477"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000494"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000512"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000530"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000548"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
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"000017",
|
| 167 |
+
"000035",
|
| 168 |
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"000053",
|
| 169 |
+
"000070",
|
| 170 |
+
"000088",
|
| 171 |
+
"000106",
|
| 172 |
+
"000123",
|
| 173 |
+
"000141",
|
| 174 |
+
"000159",
|
| 175 |
+
"000176",
|
| 176 |
+
"000194",
|
| 177 |
+
"000212",
|
| 178 |
+
"000229",
|
| 179 |
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"000247",
|
| 180 |
+
"000265",
|
| 181 |
+
"000282",
|
| 182 |
+
"000300",
|
| 183 |
+
"000318",
|
| 184 |
+
"000335",
|
| 185 |
+
"000353",
|
| 186 |
+
"000371",
|
| 187 |
+
"000388",
|
| 188 |
+
"000406",
|
| 189 |
+
"000424",
|
| 190 |
+
"000441",
|
| 191 |
+
"000459",
|
| 192 |
+
"000477",
|
| 193 |
+
"000494",
|
| 194 |
+
"000512",
|
| 195 |
+
"000530",
|
| 196 |
+
"000548"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0373_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0373_01",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
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"output_shape": [
|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0373_01.pt",
|
| 18 |
+
"indices_file": "scene0373_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0373_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
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"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
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"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
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{
|
| 35 |
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"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
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"frame_id": "000018"
|
| 41 |
+
},
|
| 42 |
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{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000037"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
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"frame_id": "000055"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000074"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000093"
|
| 57 |
+
},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
+
"frame_id": "000111"
|
| 61 |
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},
|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000130"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
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"frame_id": "000148"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000167"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000186"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
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"frame_id": "000204"
|
| 81 |
+
},
|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000223"
|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000241"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000260"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000279"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000297"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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|
| 105 |
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|
| 106 |
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{
|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000353"
|
| 113 |
+
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|
| 114 |
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{
|
| 115 |
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|
| 116 |
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"frame_id": "000372"
|
| 117 |
+
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000390"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "000409"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000428"
|
| 129 |
+
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|
| 130 |
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{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000446"
|
| 133 |
+
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|
| 134 |
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{
|
| 135 |
+
"index": 25,
|
| 136 |
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"frame_id": "000465"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000483"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000502"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000521"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000539"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000558"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000577"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000018",
|
| 167 |
+
"000037",
|
| 168 |
+
"000055",
|
| 169 |
+
"000074",
|
| 170 |
+
"000093",
|
| 171 |
+
"000111",
|
| 172 |
+
"000130",
|
| 173 |
+
"000148",
|
| 174 |
+
"000167",
|
| 175 |
+
"000186",
|
| 176 |
+
"000204",
|
| 177 |
+
"000223",
|
| 178 |
+
"000241",
|
| 179 |
+
"000260",
|
| 180 |
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"000279",
|
| 181 |
+
"000297",
|
| 182 |
+
"000316",
|
| 183 |
+
"000335",
|
| 184 |
+
"000353",
|
| 185 |
+
"000372",
|
| 186 |
+
"000390",
|
| 187 |
+
"000409",
|
| 188 |
+
"000428",
|
| 189 |
+
"000446",
|
| 190 |
+
"000465",
|
| 191 |
+
"000483",
|
| 192 |
+
"000502",
|
| 193 |
+
"000521",
|
| 194 |
+
"000539",
|
| 195 |
+
"000558",
|
| 196 |
+
"000577"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0392_02_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0392_02",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 29,
|
| 5 |
+
"invalid_frames_count": 3,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
29,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
29
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0392_02.pt",
|
| 18 |
+
"indices_file": "scene0392_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0392_02_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
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{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000015"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000030"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000045"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000060"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000075"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000090"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000105"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000121"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000136"
|
| 73 |
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},
|
| 74 |
+
{
|
| 75 |
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"index": 10,
|
| 76 |
+
"frame_id": "000151"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000166"
|
| 81 |
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},
|
| 82 |
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{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000181"
|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000196"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000211"
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000226"
|
| 97 |
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},
|
| 98 |
+
{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000242"
|
| 101 |
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},
|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000257"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"index": 20,
|
| 108 |
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"frame_id": "000302"
|
| 109 |
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},
|
| 110 |
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{
|
| 111 |
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"index": 21,
|
| 112 |
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"frame_id": "000317"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 22,
|
| 116 |
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"frame_id": "000332"
|
| 117 |
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|
| 118 |
+
{
|
| 119 |
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"index": 23,
|
| 120 |
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"frame_id": "000347"
|
| 121 |
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},
|
| 122 |
+
{
|
| 123 |
+
"index": 24,
|
| 124 |
+
"frame_id": "000363"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 25,
|
| 128 |
+
"frame_id": "000378"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 26,
|
| 132 |
+
"frame_id": "000393"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
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"index": 27,
|
| 136 |
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"frame_id": "000408"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 28,
|
| 140 |
+
"frame_id": "000423"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 30,
|
| 144 |
+
"frame_id": "000453"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 31,
|
| 148 |
+
"frame_id": "000469"
|
| 149 |
+
}
|
| 150 |
+
],
|
| 151 |
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"invalid_views": [
|
| 152 |
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{
|
| 153 |
+
"index": 18,
|
| 154 |
+
"frame_id": "000272",
|
| 155 |
+
"reason": "invalid_pose"
|
| 156 |
+
},
|
| 157 |
+
{
|
| 158 |
+
"index": 19,
|
| 159 |
+
"frame_id": "000287",
|
| 160 |
+
"reason": "invalid_pose"
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"index": 29,
|
| 164 |
+
"frame_id": "000438",
|
| 165 |
+
"reason": "invalid_pose"
|
| 166 |
+
}
|
| 167 |
+
],
|
| 168 |
+
"frame_order": [
|
| 169 |
+
"000000",
|
| 170 |
+
"000015",
|
| 171 |
+
"000030",
|
| 172 |
+
"000045",
|
| 173 |
+
"000060",
|
| 174 |
+
"000075",
|
| 175 |
+
"000090",
|
| 176 |
+
"000105",
|
| 177 |
+
"000121",
|
| 178 |
+
"000136",
|
| 179 |
+
"000151",
|
| 180 |
+
"000166",
|
| 181 |
+
"000181",
|
| 182 |
+
"000196",
|
| 183 |
+
"000211",
|
| 184 |
+
"000226",
|
| 185 |
+
"000242",
|
| 186 |
+
"000257",
|
| 187 |
+
"000302",
|
| 188 |
+
"000317",
|
| 189 |
+
"000332",
|
| 190 |
+
"000347",
|
| 191 |
+
"000363",
|
| 192 |
+
"000378",
|
| 193 |
+
"000393",
|
| 194 |
+
"000408",
|
| 195 |
+
"000423",
|
| 196 |
+
"000453",
|
| 197 |
+
"000469"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0402_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0402_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0402_00.pt",
|
| 18 |
+
"indices_file": "scene0402_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0402_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000023"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000047"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000070"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000094"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000117"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000141"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000165"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000188"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000212"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000235"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000259"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000282"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000306"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000330"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000353"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000377"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000400"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
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"frame_id": "000424"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000448"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000471"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000495"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
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"index": 22,
|
| 124 |
+
"frame_id": "000518"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
+
"frame_id": "000542"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000565"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000589"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000613"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000636"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000660"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000683"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000707"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000731"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000023",
|
| 167 |
+
"000047",
|
| 168 |
+
"000070",
|
| 169 |
+
"000094",
|
| 170 |
+
"000117",
|
| 171 |
+
"000141",
|
| 172 |
+
"000165",
|
| 173 |
+
"000188",
|
| 174 |
+
"000212",
|
| 175 |
+
"000235",
|
| 176 |
+
"000259",
|
| 177 |
+
"000282",
|
| 178 |
+
"000306",
|
| 179 |
+
"000330",
|
| 180 |
+
"000353",
|
| 181 |
+
"000377",
|
| 182 |
+
"000400",
|
| 183 |
+
"000424",
|
| 184 |
+
"000448",
|
| 185 |
+
"000471",
|
| 186 |
+
"000495",
|
| 187 |
+
"000518",
|
| 188 |
+
"000542",
|
| 189 |
+
"000565",
|
| 190 |
+
"000589",
|
| 191 |
+
"000613",
|
| 192 |
+
"000636",
|
| 193 |
+
"000660",
|
| 194 |
+
"000683",
|
| 195 |
+
"000707",
|
| 196 |
+
"000731"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0415_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0415_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0415_00.pt",
|
| 18 |
+
"indices_file": "scene0415_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0415_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000037"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000074"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000111"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000149"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
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"index": 5,
|
| 56 |
+
"frame_id": "000186"
|
| 57 |
+
},
|
| 58 |
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{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000223"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000261"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000298"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000335"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000372"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000410"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
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"frame_id": "000447"
|
| 85 |
+
},
|
| 86 |
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{
|
| 87 |
+
"index": 13,
|
| 88 |
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"frame_id": "000484"
|
| 89 |
+
},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000522"
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000559"
|
| 97 |
+
},
|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000596"
|
| 101 |
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},
|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000633"
|
| 105 |
+
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|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "000671"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000708"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000745"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000783"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000820"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000857"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000894"
|
| 133 |
+
},
|
| 134 |
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{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000932"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000969"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001006"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001044"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001081"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001118"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001156"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000037",
|
| 167 |
+
"000074",
|
| 168 |
+
"000111",
|
| 169 |
+
"000149",
|
| 170 |
+
"000186",
|
| 171 |
+
"000223",
|
| 172 |
+
"000261",
|
| 173 |
+
"000298",
|
| 174 |
+
"000335",
|
| 175 |
+
"000372",
|
| 176 |
+
"000410",
|
| 177 |
+
"000447",
|
| 178 |
+
"000484",
|
| 179 |
+
"000522",
|
| 180 |
+
"000559",
|
| 181 |
+
"000596",
|
| 182 |
+
"000633",
|
| 183 |
+
"000671",
|
| 184 |
+
"000708",
|
| 185 |
+
"000745",
|
| 186 |
+
"000783",
|
| 187 |
+
"000820",
|
| 188 |
+
"000857",
|
| 189 |
+
"000894",
|
| 190 |
+
"000932",
|
| 191 |
+
"000969",
|
| 192 |
+
"001006",
|
| 193 |
+
"001044",
|
| 194 |
+
"001081",
|
| 195 |
+
"001118",
|
| 196 |
+
"001156"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0447_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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| 6 |
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|
| 7 |
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|
| 8 |
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|
| 10 |
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|
| 11 |
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| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 24 |
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| 25 |
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|
| 28 |
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| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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| 33 |
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|
| 34 |
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| 35 |
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|
| 36 |
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| 37 |
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| 38 |
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| 39 |
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|
| 40 |
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|
| 41 |
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| 42 |
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| 43 |
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| 44 |
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|
| 45 |
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| 46 |
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| 47 |
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|
| 48 |
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| 49 |
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| 50 |
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| 51 |
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|
| 52 |
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| 53 |
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| 55 |
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| 59 |
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| 63 |
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| 64 |
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|
| 65 |
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| 66 |
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| 67 |
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| 68 |
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|
| 69 |
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| 70 |
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| 71 |
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|
| 72 |
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|
| 73 |
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| 74 |
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| 75 |
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|
| 76 |
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|
| 77 |
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| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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| 83 |
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| 84 |
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|
| 85 |
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| 86 |
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| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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|
| 100 |
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|
| 101 |
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| 102 |
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| 103 |
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| 104 |
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|
| 105 |
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| 106 |
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| 107 |
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| 108 |
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| 109 |
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| 110 |
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| 111 |
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| 112 |
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|
| 113 |
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| 114 |
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| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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| 147 |
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|
| 148 |
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|
| 149 |
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| 150 |
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| 151 |
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|
| 152 |
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|
| 153 |
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| 154 |
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| 155 |
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|
| 156 |
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|
| 157 |
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| 158 |
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| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
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| 167 |
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|
| 169 |
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| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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| 177 |
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|
| 178 |
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|
| 179 |
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| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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| 186 |
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| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
+
"000996"
|
| 197 |
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|
| 198 |
+
}
|
metadata/train/scene0454_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0454_00",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
+
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|
| 6 |
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|
| 7 |
+
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|
| 8 |
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|
| 9 |
+
432,
|
| 10 |
+
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|
| 11 |
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],
|
| 12 |
+
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|
| 13 |
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|
| 14 |
+
32
|
| 15 |
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],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0454_00.pt",
|
| 18 |
+
"indices_file": "scene0454_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0454_00_to_world.npy",
|
| 20 |
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"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
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"index": 0,
|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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480
|
| 32 |
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|
| 33 |
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|
| 34 |
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{
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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{
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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{
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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{
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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{
|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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{
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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{
|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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{
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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{
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
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|
| 105 |
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|
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|
| 109 |
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| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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| 114 |
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| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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| 119 |
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|
| 120 |
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|
| 121 |
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| 122 |
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| 123 |
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|
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|
| 125 |
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|
| 126 |
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| 127 |
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|
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|
| 129 |
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| 130 |
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|
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|
| 133 |
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|
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|
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|
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|
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|
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|
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|
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|
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| 153 |
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|
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|
| 157 |
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| 158 |
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|
| 160 |
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|
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|
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|
| 163 |
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|
| 164 |
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| 165 |
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|
| 166 |
+
"000030",
|
| 167 |
+
"000060",
|
| 168 |
+
"000090",
|
| 169 |
+
"000121",
|
| 170 |
+
"000151",
|
| 171 |
+
"000181",
|
| 172 |
+
"000211",
|
| 173 |
+
"000242",
|
| 174 |
+
"000272",
|
| 175 |
+
"000302",
|
| 176 |
+
"000332",
|
| 177 |
+
"000363",
|
| 178 |
+
"000393",
|
| 179 |
+
"000423",
|
| 180 |
+
"000453",
|
| 181 |
+
"000484",
|
| 182 |
+
"000514",
|
| 183 |
+
"000544",
|
| 184 |
+
"000574",
|
| 185 |
+
"000605",
|
| 186 |
+
"000635",
|
| 187 |
+
"000665",
|
| 188 |
+
"000695",
|
| 189 |
+
"000726",
|
| 190 |
+
"000756",
|
| 191 |
+
"000786",
|
| 192 |
+
"000816",
|
| 193 |
+
"000847",
|
| 194 |
+
"000877",
|
| 195 |
+
"000907",
|
| 196 |
+
"000938"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0459_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0459_01",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 29,
|
| 5 |
+
"invalid_frames_count": 3,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
29,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
29
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0459_01.pt",
|
| 18 |
+
"indices_file": "scene0459_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0459_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000028"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000057"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000086"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000114"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000143"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000172"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000200"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000229"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000258"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000287"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000315"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000344"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000373"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000401"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000430"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000459"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000488"
|
| 105 |
+
},
|
| 106 |
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{
|
| 107 |
+
"index": 18,
|
| 108 |
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"frame_id": "000516"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000545"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000574"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000602"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000631"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000660"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000689"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000717"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 28,
|
| 140 |
+
"frame_id": "000803"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 29,
|
| 144 |
+
"frame_id": "000832"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 30,
|
| 148 |
+
"frame_id": "000861"
|
| 149 |
+
}
|
| 150 |
+
],
|
| 151 |
+
"invalid_views": [
|
| 152 |
+
{
|
| 153 |
+
"index": 26,
|
| 154 |
+
"frame_id": "000746",
|
| 155 |
+
"reason": "invalid_pose"
|
| 156 |
+
},
|
| 157 |
+
{
|
| 158 |
+
"index": 27,
|
| 159 |
+
"frame_id": "000775",
|
| 160 |
+
"reason": "invalid_pose"
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"index": 31,
|
| 164 |
+
"frame_id": "000890",
|
| 165 |
+
"reason": "invalid_pose"
|
| 166 |
+
}
|
| 167 |
+
],
|
| 168 |
+
"frame_order": [
|
| 169 |
+
"000000",
|
| 170 |
+
"000028",
|
| 171 |
+
"000057",
|
| 172 |
+
"000086",
|
| 173 |
+
"000114",
|
| 174 |
+
"000143",
|
| 175 |
+
"000172",
|
| 176 |
+
"000200",
|
| 177 |
+
"000229",
|
| 178 |
+
"000258",
|
| 179 |
+
"000287",
|
| 180 |
+
"000315",
|
| 181 |
+
"000344",
|
| 182 |
+
"000373",
|
| 183 |
+
"000401",
|
| 184 |
+
"000430",
|
| 185 |
+
"000459",
|
| 186 |
+
"000488",
|
| 187 |
+
"000516",
|
| 188 |
+
"000545",
|
| 189 |
+
"000574",
|
| 190 |
+
"000602",
|
| 191 |
+
"000631",
|
| 192 |
+
"000660",
|
| 193 |
+
"000689",
|
| 194 |
+
"000717",
|
| 195 |
+
"000803",
|
| 196 |
+
"000832",
|
| 197 |
+
"000861"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0469_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0469_02",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0469_02.pt",
|
| 18 |
+
"indices_file": "scene0469_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0469_02_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
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