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- metadata/train/scene0006_00_metadata.json +198 -0
- metadata/train/scene0021_00_metadata.json +198 -0
- metadata/train/scene0040_00_metadata.json +198 -0
- metadata/train/scene0042_01_metadata.json +199 -0
- metadata/train/scene0059_01_metadata.json +198 -0
- metadata/train/scene0059_02_metadata.json +199 -0
- metadata/train/scene0062_01_metadata.json +198 -0
- metadata/train/scene0070_00_metadata.json +198 -0
- metadata/train/scene0074_02_metadata.json +198 -0
- metadata/train/scene0092_01_metadata.json +198 -0
- metadata/train/scene0093_00_metadata.json +198 -0
- metadata/train/scene0097_00_metadata.json +198 -0
- metadata/train/scene0106_00_metadata.json +198 -0
- metadata/train/scene0116_01_metadata.json +199 -0
- metadata/train/scene0121_02_metadata.json +198 -0
- metadata/train/scene0122_01_metadata.json +198 -0
- metadata/train/scene0132_00_metadata.json +198 -0
- metadata/train/scene0147_00_metadata.json +198 -0
- metadata/train/scene0150_00_metadata.json +198 -0
- metadata/train/scene0159_00_metadata.json +198 -0
- metadata/train/scene0160_00_metadata.json +198 -0
- metadata/train/scene0174_00_metadata.json +198 -0
- metadata/train/scene0191_00_metadata.json +198 -0
- metadata/train/scene0195_01_metadata.json +198 -0
- metadata/train/scene0199_00_metadata.json +199 -0
- metadata/train/scene0200_01_metadata.json +199 -0
- metadata/train/scene0211_01_metadata.json +198 -0
- metadata/train/scene0264_01_metadata.json +198 -0
- metadata/train/scene0269_01_metadata.json +199 -0
- metadata/train/scene0270_00_metadata.json +198 -0
- metadata/train/scene0279_01_metadata.json +198 -0
- metadata/train/scene0286_01_metadata.json +199 -0
- metadata/train/scene0288_01_metadata.json +199 -0
- metadata/train/scene0299_01_metadata.json +198 -0
- metadata/train/scene0303_01_metadata.json +198 -0
- metadata/train/scene0319_00_metadata.json +199 -0
- metadata/train/scene0340_02_metadata.json +198 -0
- metadata/train/scene0358_00_metadata.json +198 -0
- metadata/train/scene0371_00_metadata.json +198 -0
- metadata/train/scene0385_00_metadata.json +198 -0
- metadata/train/scene0411_01_metadata.json +198 -0
- metadata/train/scene0418_01_metadata.json +198 -0
- metadata/train/scene0433_00_metadata.json +198 -0
- metadata/train/scene0440_00_metadata.json +198 -0
- metadata/train/scene0447_00_metadata.json +198 -0
- metadata/train/scene0451_01_metadata.json +198 -0
- metadata/train/scene0451_03_metadata.json +198 -0
- metadata/train/scene0460_00_metadata.json +199 -0
- metadata/train/scene0463_01_metadata.json +198 -0
- metadata/train/scene0467_00_metadata.json +198 -0
metadata/train/scene0006_00_metadata.json
ADDED
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| 1 |
+
{
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| 2 |
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"scene_name": "scene0006_00",
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| 3 |
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"total_frames_in_dataset": 32,
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| 4 |
+
"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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| 9 |
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432,
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3
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],
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| 12 |
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"output_dtype": "bfloat16",
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| 13 |
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"valid_indices_shape": [
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| 14 |
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32
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| 15 |
+
],
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| 16 |
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"valid_indices_dtype": "int32",
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| 17 |
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"pointcloud_file": "scene0006_00.pt",
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| 18 |
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"indices_file": "scene0006_00_indices.pt",
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| 19 |
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"transform_to_world_file": "scene0006_00_to_world.npy",
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| 20 |
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"coordinate_system": "first_camera_frame",
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| 21 |
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"first_valid_frame": {
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| 22 |
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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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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": "000069"
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},
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{
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"index": 2,
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| 44 |
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"frame_id": "000139"
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},
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{
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"index": 3,
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"frame_id": "000208"
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},
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{
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"index": 4,
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"frame_id": "000278"
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},
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{
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"index": 5,
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"frame_id": "000348"
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},
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{
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"index": 6,
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"frame_id": "000417"
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},
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{
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"index": 7,
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"frame_id": "000487"
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},
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{
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"index": 8,
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"frame_id": "000557"
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},
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{
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"index": 9,
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"frame_id": "000626"
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},
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{
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"index": 10,
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| 76 |
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"frame_id": "000696"
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},
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{
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"index": 11,
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| 80 |
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"frame_id": "000766"
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},
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{
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"index": 12,
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| 84 |
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"frame_id": "000835"
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| 85 |
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| 86 |
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{
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"index": 13,
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| 88 |
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"frame_id": "000905"
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| 89 |
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| 90 |
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{
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"index": 14,
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"frame_id": "000975"
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{
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"index": 15,
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| 96 |
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"frame_id": "001044"
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| 97 |
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{
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"index": 16,
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| 100 |
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"frame_id": "001114"
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| 102 |
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"index": 17,
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| 104 |
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"frame_id": "001183"
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"index": 18,
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| 108 |
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"frame_id": "001253"
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{
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"index": 19,
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| 112 |
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"frame_id": "001323"
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{
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"index": 20,
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| 116 |
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"frame_id": "001392"
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| 117 |
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| 118 |
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{
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"index": 21,
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| 120 |
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"frame_id": "001462"
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{
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"index": 22,
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| 124 |
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"frame_id": "001532"
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| 125 |
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| 126 |
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{
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"index": 23,
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| 128 |
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"frame_id": "001601"
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| 129 |
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| 130 |
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| 131 |
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"index": 24,
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| 132 |
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"frame_id": "001671"
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| 133 |
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| 134 |
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"index": 25,
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"frame_id": "001741"
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| 138 |
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{
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"index": 26,
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| 140 |
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"frame_id": "001810"
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| 141 |
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},
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| 142 |
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{
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"index": 27,
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| 144 |
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"frame_id": "001880"
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| 145 |
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},
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| 146 |
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{
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| 147 |
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"index": 28,
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| 148 |
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"frame_id": "001950"
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| 149 |
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},
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| 150 |
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{
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| 151 |
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"index": 29,
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| 152 |
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"frame_id": "002019"
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| 153 |
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},
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| 154 |
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{
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| 155 |
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"index": 30,
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| 156 |
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"frame_id": "002089"
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},
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| 158 |
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{
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| 159 |
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"index": 31,
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| 160 |
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"frame_id": "002159"
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| 161 |
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}
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| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
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"000000",
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| 166 |
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"000069",
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| 167 |
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"000139",
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| 168 |
+
"000208",
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| 169 |
+
"000278",
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| 170 |
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"000348",
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| 171 |
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"000417",
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| 172 |
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"000487",
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| 173 |
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"000557",
|
| 174 |
+
"000626",
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| 175 |
+
"000696",
|
| 176 |
+
"000766",
|
| 177 |
+
"000835",
|
| 178 |
+
"000905",
|
| 179 |
+
"000975",
|
| 180 |
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"001044",
|
| 181 |
+
"001114",
|
| 182 |
+
"001183",
|
| 183 |
+
"001253",
|
| 184 |
+
"001323",
|
| 185 |
+
"001392",
|
| 186 |
+
"001462",
|
| 187 |
+
"001532",
|
| 188 |
+
"001601",
|
| 189 |
+
"001671",
|
| 190 |
+
"001741",
|
| 191 |
+
"001810",
|
| 192 |
+
"001880",
|
| 193 |
+
"001950",
|
| 194 |
+
"002019",
|
| 195 |
+
"002089",
|
| 196 |
+
"002159"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0021_00_metadata.json
ADDED
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|
| 1 |
+
{
|
| 2 |
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"scene_name": "scene0021_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
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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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| 32 |
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| 34 |
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| 39 |
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| 75 |
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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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| 87 |
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| 90 |
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| 93 |
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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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| 103 |
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| 111 |
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| 115 |
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| 117 |
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| 123 |
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| 131 |
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|
| 141 |
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| 157 |
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|
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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/scene0040_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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": "scene0040_00.pt",
|
| 18 |
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"indices_file": "scene0040_00_indices.pt",
|
| 19 |
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"transform_to_world_file": "scene0040_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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|
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| 81 |
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| 82 |
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| 83 |
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| 89 |
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|
| 97 |
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|
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|
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|
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|
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|
| 117 |
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"000665",
|
| 173 |
+
"000760",
|
| 174 |
+
"000855",
|
| 175 |
+
"000950",
|
| 176 |
+
"001045",
|
| 177 |
+
"001140",
|
| 178 |
+
"001235",
|
| 179 |
+
"001330",
|
| 180 |
+
"001425",
|
| 181 |
+
"001521",
|
| 182 |
+
"001616",
|
| 183 |
+
"001711",
|
| 184 |
+
"001806",
|
| 185 |
+
"001901",
|
| 186 |
+
"001996",
|
| 187 |
+
"002091",
|
| 188 |
+
"002186",
|
| 189 |
+
"002281",
|
| 190 |
+
"002376",
|
| 191 |
+
"002471",
|
| 192 |
+
"002566",
|
| 193 |
+
"002661",
|
| 194 |
+
"002756",
|
| 195 |
+
"002851",
|
| 196 |
+
"002947"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0042_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0042_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": "scene0042_01.pt",
|
| 18 |
+
"indices_file": "scene0042_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0042_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": "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": "000148"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000185"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000222"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000259"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000297"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000334"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000371"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000408"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000445"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000482"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 15,
|
| 92 |
+
"frame_id": "000556"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 16,
|
| 96 |
+
"frame_id": "000594"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 17,
|
| 100 |
+
"frame_id": "000631"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 18,
|
| 104 |
+
"frame_id": "000668"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 19,
|
| 108 |
+
"frame_id": "000705"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 20,
|
| 112 |
+
"frame_id": "000742"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 21,
|
| 116 |
+
"frame_id": "000779"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 22,
|
| 120 |
+
"frame_id": "000816"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 23,
|
| 124 |
+
"frame_id": "000853"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 24,
|
| 128 |
+
"frame_id": "000891"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 25,
|
| 132 |
+
"frame_id": "000928"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 26,
|
| 136 |
+
"frame_id": "000965"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 27,
|
| 140 |
+
"frame_id": "001002"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 28,
|
| 144 |
+
"frame_id": "001039"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 29,
|
| 148 |
+
"frame_id": "001076"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 30,
|
| 152 |
+
"frame_id": "001113"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 31,
|
| 156 |
+
"frame_id": "001151"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 14,
|
| 162 |
+
"frame_id": "000519",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000037",
|
| 169 |
+
"000074",
|
| 170 |
+
"000111",
|
| 171 |
+
"000148",
|
| 172 |
+
"000185",
|
| 173 |
+
"000222",
|
| 174 |
+
"000259",
|
| 175 |
+
"000297",
|
| 176 |
+
"000334",
|
| 177 |
+
"000371",
|
| 178 |
+
"000408",
|
| 179 |
+
"000445",
|
| 180 |
+
"000482",
|
| 181 |
+
"000556",
|
| 182 |
+
"000594",
|
| 183 |
+
"000631",
|
| 184 |
+
"000668",
|
| 185 |
+
"000705",
|
| 186 |
+
"000742",
|
| 187 |
+
"000779",
|
| 188 |
+
"000816",
|
| 189 |
+
"000853",
|
| 190 |
+
"000891",
|
| 191 |
+
"000928",
|
| 192 |
+
"000965",
|
| 193 |
+
"001002",
|
| 194 |
+
"001039",
|
| 195 |
+
"001076",
|
| 196 |
+
"001113",
|
| 197 |
+
"001151"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0059_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0059_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": "scene0059_01.pt",
|
| 18 |
+
"indices_file": "scene0059_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0059_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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|
| 34 |
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{
|
| 35 |
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"index": 0,
|
| 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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"frame_id": "000092"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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|
| 48 |
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"frame_id": "000138"
|
| 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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"frame_id": "000369"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000415"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000461"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000507"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000553"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000600"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000646"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000692"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000738"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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|
| 104 |
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"frame_id": "000784"
|
| 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": "000877"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000923"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000969"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "001015"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "001061"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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|
| 132 |
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"frame_id": "001107"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "001154"
|
| 137 |
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|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "001200"
|
| 141 |
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},
|
| 142 |
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{
|
| 143 |
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"index": 27,
|
| 144 |
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"frame_id": "001246"
|
| 145 |
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},
|
| 146 |
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{
|
| 147 |
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"index": 28,
|
| 148 |
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"frame_id": "001292"
|
| 149 |
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},
|
| 150 |
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{
|
| 151 |
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"index": 29,
|
| 152 |
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"frame_id": "001338"
|
| 153 |
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},
|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "001384"
|
| 157 |
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},
|
| 158 |
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{
|
| 159 |
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"index": 31,
|
| 160 |
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"frame_id": "001431"
|
| 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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"000138",
|
| 169 |
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"000184",
|
| 170 |
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|
| 171 |
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"000276",
|
| 172 |
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"000323",
|
| 173 |
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"000369",
|
| 174 |
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"000415",
|
| 175 |
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"000461",
|
| 176 |
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"000507",
|
| 177 |
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"000553",
|
| 178 |
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"000600",
|
| 179 |
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|
| 180 |
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"000692",
|
| 181 |
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"000738",
|
| 182 |
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"000784",
|
| 183 |
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"000830",
|
| 184 |
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"000877",
|
| 185 |
+
"000923",
|
| 186 |
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"000969",
|
| 187 |
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"001015",
|
| 188 |
+
"001061",
|
| 189 |
+
"001107",
|
| 190 |
+
"001154",
|
| 191 |
+
"001200",
|
| 192 |
+
"001246",
|
| 193 |
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"001292",
|
| 194 |
+
"001338",
|
| 195 |
+
"001384",
|
| 196 |
+
"001431"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0059_02_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0059_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 |
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"valid_indices_shape": [
|
| 14 |
+
30
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0059_02.pt",
|
| 18 |
+
"indices_file": "scene0059_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0059_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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"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 |
+
],
|
| 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 |
+
"index": 1,
|
| 40 |
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"frame_id": "000047"
|
| 41 |
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},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000094"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
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"frame_id": "000141"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
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"frame_id": "000188"
|
| 53 |
+
},
|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000235"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000282"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000329"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000376"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000423"
|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000470"
|
| 77 |
+
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|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000518"
|
| 81 |
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},
|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000565"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000612"
|
| 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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"index": 22,
|
| 124 |
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"frame_id": "001036"
|
| 125 |
+
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "001083"
|
| 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 |
+
{
|
| 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 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001271"
|
| 145 |
+
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|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001318"
|
| 149 |
+
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|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001365"
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"invalid_views": [
|
| 156 |
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{
|
| 157 |
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"index": 30,
|
| 158 |
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"frame_id": "001412",
|
| 159 |
+
"reason": "invalid_pose"
|
| 160 |
+
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|
| 161 |
+
{
|
| 162 |
+
"index": 31,
|
| 163 |
+
"frame_id": "001460",
|
| 164 |
+
"reason": "invalid_pose"
|
| 165 |
+
}
|
| 166 |
+
],
|
| 167 |
+
"frame_order": [
|
| 168 |
+
"000000",
|
| 169 |
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|
| 170 |
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|
| 171 |
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"000141",
|
| 172 |
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|
| 173 |
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|
| 174 |
+
"000282",
|
| 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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"000753",
|
| 185 |
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"000800",
|
| 186 |
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"000847",
|
| 187 |
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"000894",
|
| 188 |
+
"000941",
|
| 189 |
+
"000989",
|
| 190 |
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|
| 191 |
+
"001083",
|
| 192 |
+
"001130",
|
| 193 |
+
"001177",
|
| 194 |
+
"001224",
|
| 195 |
+
"001271",
|
| 196 |
+
"001318",
|
| 197 |
+
"001365"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0062_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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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0062_01",
|
| 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": "scene0062_01.pt",
|
| 18 |
+
"indices_file": "scene0062_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0062_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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"index": 1,
|
| 40 |
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"frame_id": "000024"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000048"
|
| 45 |
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},
|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000072"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000097"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000121"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000145"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000170"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000194"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000218"
|
| 73 |
+
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|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000242"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
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"index": 11,
|
| 80 |
+
"frame_id": "000267"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
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"frame_id": "000291"
|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
+
"index": 13,
|
| 88 |
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"frame_id": "000315"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000340"
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000364"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000388"
|
| 101 |
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},
|
| 102 |
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{
|
| 103 |
+
"index": 17,
|
| 104 |
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"frame_id": "000412"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "000437"
|
| 109 |
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},
|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000461"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000485"
|
| 117 |
+
},
|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000510"
|
| 121 |
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},
|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "000534"
|
| 125 |
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},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
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"frame_id": "000558"
|
| 129 |
+
},
|
| 130 |
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{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000582"
|
| 133 |
+
},
|
| 134 |
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{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000607"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000631"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000655"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000680"
|
| 149 |
+
},
|
| 150 |
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{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000704"
|
| 153 |
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},
|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "000728"
|
| 157 |
+
},
|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000753"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
+
"000024",
|
| 167 |
+
"000048",
|
| 168 |
+
"000072",
|
| 169 |
+
"000097",
|
| 170 |
+
"000121",
|
| 171 |
+
"000145",
|
| 172 |
+
"000170",
|
| 173 |
+
"000194",
|
| 174 |
+
"000218",
|
| 175 |
+
"000242",
|
| 176 |
+
"000267",
|
| 177 |
+
"000291",
|
| 178 |
+
"000315",
|
| 179 |
+
"000340",
|
| 180 |
+
"000364",
|
| 181 |
+
"000388",
|
| 182 |
+
"000412",
|
| 183 |
+
"000437",
|
| 184 |
+
"000461",
|
| 185 |
+
"000485",
|
| 186 |
+
"000510",
|
| 187 |
+
"000534",
|
| 188 |
+
"000558",
|
| 189 |
+
"000582",
|
| 190 |
+
"000607",
|
| 191 |
+
"000631",
|
| 192 |
+
"000655",
|
| 193 |
+
"000680",
|
| 194 |
+
"000704",
|
| 195 |
+
"000728",
|
| 196 |
+
"000753"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0070_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0070_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": "scene0070_00.pt",
|
| 18 |
+
"indices_file": "scene0070_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0070_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": "000042"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000085"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000127"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000170"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000213"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000255"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000298"
|
| 65 |
+
},
|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000340"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000383"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000426"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000468"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000511"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000553"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000596"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000639"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000681"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000724"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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|
| 108 |
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"frame_id": "000767"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000809"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000852"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000894"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "000937"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "000980"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "001022"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "001065"
|
| 137 |
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|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "001107"
|
| 141 |
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},
|
| 142 |
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{
|
| 143 |
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"index": 27,
|
| 144 |
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"frame_id": "001150"
|
| 145 |
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},
|
| 146 |
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{
|
| 147 |
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"index": 28,
|
| 148 |
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"frame_id": "001193"
|
| 149 |
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|
| 150 |
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{
|
| 151 |
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"index": 29,
|
| 152 |
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"frame_id": "001235"
|
| 153 |
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},
|
| 154 |
+
{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "001278"
|
| 157 |
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|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
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"frame_id": "001321"
|
| 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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"000170",
|
| 170 |
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"000213",
|
| 171 |
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|
| 172 |
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"000298",
|
| 173 |
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"000340",
|
| 174 |
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"000383",
|
| 175 |
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"000426",
|
| 176 |
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"000468",
|
| 177 |
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"000511",
|
| 178 |
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"000553",
|
| 179 |
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|
| 180 |
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"000639",
|
| 181 |
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"000681",
|
| 182 |
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"000724",
|
| 183 |
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"000767",
|
| 184 |
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"000809",
|
| 185 |
+
"000852",
|
| 186 |
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"000894",
|
| 187 |
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"000937",
|
| 188 |
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"000980",
|
| 189 |
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"001022",
|
| 190 |
+
"001065",
|
| 191 |
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"001107",
|
| 192 |
+
"001150",
|
| 193 |
+
"001193",
|
| 194 |
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"001235",
|
| 195 |
+
"001278",
|
| 196 |
+
"001321"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0074_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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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 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 |
+
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|
| 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": "scene0074_02.pt",
|
| 18 |
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"indices_file": "scene0074_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0074_02_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 |
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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": "000085"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000171"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000256"
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
+
"index": 4,
|
| 52 |
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"frame_id": "000342"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000427"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000513"
|
| 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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|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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"frame_id": "000940"
|
| 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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"index": 23,
|
| 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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"index": 26,
|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
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"index": 27,
|
| 144 |
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|
| 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": "002565"
|
| 157 |
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|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "002651"
|
| 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 |
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"000256",
|
| 169 |
+
"000342",
|
| 170 |
+
"000427",
|
| 171 |
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"000513",
|
| 172 |
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"000598",
|
| 173 |
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"000684",
|
| 174 |
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|
| 175 |
+
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|
| 176 |
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"000940",
|
| 177 |
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"001026",
|
| 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 |
+
"001539",
|
| 184 |
+
"001624",
|
| 185 |
+
"001710",
|
| 186 |
+
"001795",
|
| 187 |
+
"001881",
|
| 188 |
+
"001966",
|
| 189 |
+
"002052",
|
| 190 |
+
"002137",
|
| 191 |
+
"002223",
|
| 192 |
+
"002308",
|
| 193 |
+
"002394",
|
| 194 |
+
"002479",
|
| 195 |
+
"002565",
|
| 196 |
+
"002651"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0092_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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0092_01",
|
| 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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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": "scene0092_01.pt",
|
| 18 |
+
"indices_file": "scene0092_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0092_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 |
+
"frame_id": "000000"
|
| 37 |
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},
|
| 38 |
+
{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000065"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000130"
|
| 45 |
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},
|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000196"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000261"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000326"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000392"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000457"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000523"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000588"
|
| 73 |
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|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000653"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
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"index": 11,
|
| 80 |
+
"frame_id": "000719"
|
| 81 |
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},
|
| 82 |
+
{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000784"
|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000850"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000915"
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000980"
|
| 97 |
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},
|
| 98 |
+
{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "001046"
|
| 101 |
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},
|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "001111"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "001176"
|
| 109 |
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},
|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "001242"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "001307"
|
| 117 |
+
},
|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "001373"
|
| 121 |
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},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001438"
|
| 125 |
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},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001503"
|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001569"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
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"frame_id": "001634"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001700"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001765"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001830"
|
| 149 |
+
},
|
| 150 |
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{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001896"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
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"frame_id": "001961"
|
| 157 |
+
},
|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "002027"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
+
"000065",
|
| 167 |
+
"000130",
|
| 168 |
+
"000196",
|
| 169 |
+
"000261",
|
| 170 |
+
"000326",
|
| 171 |
+
"000392",
|
| 172 |
+
"000457",
|
| 173 |
+
"000523",
|
| 174 |
+
"000588",
|
| 175 |
+
"000653",
|
| 176 |
+
"000719",
|
| 177 |
+
"000784",
|
| 178 |
+
"000850",
|
| 179 |
+
"000915",
|
| 180 |
+
"000980",
|
| 181 |
+
"001046",
|
| 182 |
+
"001111",
|
| 183 |
+
"001176",
|
| 184 |
+
"001242",
|
| 185 |
+
"001307",
|
| 186 |
+
"001373",
|
| 187 |
+
"001438",
|
| 188 |
+
"001503",
|
| 189 |
+
"001569",
|
| 190 |
+
"001634",
|
| 191 |
+
"001700",
|
| 192 |
+
"001765",
|
| 193 |
+
"001830",
|
| 194 |
+
"001896",
|
| 195 |
+
"001961",
|
| 196 |
+
"002027"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0093_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0093_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": "scene0093_00.pt",
|
| 18 |
+
"indices_file": "scene0093_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0093_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": "000034"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000069"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000103"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000138"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000173"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000207"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000242"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000276"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000311"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000346"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000380"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000415"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000449"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000484"
|
| 93 |
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},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000519"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000553"
|
| 101 |
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},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
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"frame_id": "000588"
|
| 105 |
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},
|
| 106 |
+
{
|
| 107 |
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"index": 18,
|
| 108 |
+
"frame_id": "000623"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
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"frame_id": "000657"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000692"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000726"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000761"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000796"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000830"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000865"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000899"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000934"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000969"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001003"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001038"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001073"
|
| 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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|
| 167 |
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"000069",
|
| 168 |
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"000103",
|
| 169 |
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"000138",
|
| 170 |
+
"000173",
|
| 171 |
+
"000207",
|
| 172 |
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"000242",
|
| 173 |
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"000276",
|
| 174 |
+
"000311",
|
| 175 |
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"000346",
|
| 176 |
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"000380",
|
| 177 |
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"000415",
|
| 178 |
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"000449",
|
| 179 |
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"000484",
|
| 180 |
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"000519",
|
| 181 |
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"000553",
|
| 182 |
+
"000588",
|
| 183 |
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"000623",
|
| 184 |
+
"000657",
|
| 185 |
+
"000692",
|
| 186 |
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"000726",
|
| 187 |
+
"000761",
|
| 188 |
+
"000796",
|
| 189 |
+
"000830",
|
| 190 |
+
"000865",
|
| 191 |
+
"000899",
|
| 192 |
+
"000934",
|
| 193 |
+
"000969",
|
| 194 |
+
"001003",
|
| 195 |
+
"001038",
|
| 196 |
+
"001073"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0097_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0097_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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|
| 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": "scene0097_00.pt",
|
| 18 |
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"indices_file": "scene0097_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0097_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 |
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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": "000024"
|
| 41 |
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},
|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000048"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000073"
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
+
"index": 4,
|
| 52 |
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"frame_id": "000097"
|
| 53 |
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},
|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000121"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000146"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000170"
|
| 65 |
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},
|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000194"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000219"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000243"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000267"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000292"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000316"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000340"
|
| 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": "000462"
|
| 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": "000511"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "000535"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "000560"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "000584"
|
| 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": "000633"
|
| 141 |
+
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|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000657"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000681"
|
| 149 |
+
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|
| 150 |
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{
|
| 151 |
+
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|
| 152 |
+
"frame_id": "000706"
|
| 153 |
+
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|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000730"
|
| 157 |
+
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|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000755"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
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"000024",
|
| 167 |
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|
| 168 |
+
"000073",
|
| 169 |
+
"000097",
|
| 170 |
+
"000121",
|
| 171 |
+
"000146",
|
| 172 |
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"000170",
|
| 173 |
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"000194",
|
| 174 |
+
"000219",
|
| 175 |
+
"000243",
|
| 176 |
+
"000267",
|
| 177 |
+
"000292",
|
| 178 |
+
"000316",
|
| 179 |
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"000340",
|
| 180 |
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|
| 181 |
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"000389",
|
| 182 |
+
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|
| 183 |
+
"000438",
|
| 184 |
+
"000462",
|
| 185 |
+
"000487",
|
| 186 |
+
"000511",
|
| 187 |
+
"000535",
|
| 188 |
+
"000560",
|
| 189 |
+
"000584",
|
| 190 |
+
"000608",
|
| 191 |
+
"000633",
|
| 192 |
+
"000657",
|
| 193 |
+
"000681",
|
| 194 |
+
"000706",
|
| 195 |
+
"000730",
|
| 196 |
+
"000755"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0106_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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0106_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": "scene0106_00.pt",
|
| 18 |
+
"indices_file": "scene0106_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0106_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 |
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],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"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": "000074"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000149"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000224"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000299"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000374"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000449"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000524"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000599"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000674"
|
| 73 |
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},
|
| 74 |
+
{
|
| 75 |
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"index": 10,
|
| 76 |
+
"frame_id": "000749"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000824"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000899"
|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
+
"index": 13,
|
| 88 |
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"frame_id": "000974"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "001049"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "001124"
|
| 97 |
+
},
|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "001198"
|
| 101 |
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},
|
| 102 |
+
{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "001273"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "001348"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "001423"
|
| 113 |
+
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "001498"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "001573"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001648"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001723"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001798"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001873"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001948"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "002023"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "002098"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "002173"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "002248"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "002323"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
+
"000074",
|
| 167 |
+
"000149",
|
| 168 |
+
"000224",
|
| 169 |
+
"000299",
|
| 170 |
+
"000374",
|
| 171 |
+
"000449",
|
| 172 |
+
"000524",
|
| 173 |
+
"000599",
|
| 174 |
+
"000674",
|
| 175 |
+
"000749",
|
| 176 |
+
"000824",
|
| 177 |
+
"000899",
|
| 178 |
+
"000974",
|
| 179 |
+
"001049",
|
| 180 |
+
"001124",
|
| 181 |
+
"001198",
|
| 182 |
+
"001273",
|
| 183 |
+
"001348",
|
| 184 |
+
"001423",
|
| 185 |
+
"001498",
|
| 186 |
+
"001573",
|
| 187 |
+
"001648",
|
| 188 |
+
"001723",
|
| 189 |
+
"001798",
|
| 190 |
+
"001873",
|
| 191 |
+
"001948",
|
| 192 |
+
"002023",
|
| 193 |
+
"002098",
|
| 194 |
+
"002173",
|
| 195 |
+
"002248",
|
| 196 |
+
"002323"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0116_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0116_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": "scene0116_01.pt",
|
| 18 |
+
"indices_file": "scene0116_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0116_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": "000066"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000133"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000200"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000266"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000333"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000400"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000467"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000533"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000600"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000667"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000734"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
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"frame_id": "000800"
|
| 85 |
+
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|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
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"frame_id": "000867"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
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"frame_id": "000934"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "001001"
|
| 97 |
+
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|
| 98 |
+
{
|
| 99 |
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"index": 16,
|
| 100 |
+
"frame_id": "001067"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
+
"index": 17,
|
| 104 |
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"frame_id": "001134"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "001201"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "001268"
|
| 113 |
+
},
|
| 114 |
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{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "001334"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
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"frame_id": "001401"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001468"
|
| 125 |
+
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|
| 126 |
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{
|
| 127 |
+
"index": 23,
|
| 128 |
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"frame_id": "001535"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
+
"frame_id": "001601"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001668"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001735"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001802"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 29,
|
| 148 |
+
"frame_id": "001935"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 30,
|
| 152 |
+
"frame_id": "002002"
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"invalid_views": [
|
| 156 |
+
{
|
| 157 |
+
"index": 28,
|
| 158 |
+
"frame_id": "001868",
|
| 159 |
+
"reason": "invalid_pose"
|
| 160 |
+
},
|
| 161 |
+
{
|
| 162 |
+
"index": 31,
|
| 163 |
+
"frame_id": "002069",
|
| 164 |
+
"reason": "invalid_pose"
|
| 165 |
+
}
|
| 166 |
+
],
|
| 167 |
+
"frame_order": [
|
| 168 |
+
"000000",
|
| 169 |
+
"000066",
|
| 170 |
+
"000133",
|
| 171 |
+
"000200",
|
| 172 |
+
"000266",
|
| 173 |
+
"000333",
|
| 174 |
+
"000400",
|
| 175 |
+
"000467",
|
| 176 |
+
"000533",
|
| 177 |
+
"000600",
|
| 178 |
+
"000667",
|
| 179 |
+
"000734",
|
| 180 |
+
"000800",
|
| 181 |
+
"000867",
|
| 182 |
+
"000934",
|
| 183 |
+
"001001",
|
| 184 |
+
"001067",
|
| 185 |
+
"001134",
|
| 186 |
+
"001201",
|
| 187 |
+
"001268",
|
| 188 |
+
"001334",
|
| 189 |
+
"001401",
|
| 190 |
+
"001468",
|
| 191 |
+
"001535",
|
| 192 |
+
"001601",
|
| 193 |
+
"001668",
|
| 194 |
+
"001735",
|
| 195 |
+
"001802",
|
| 196 |
+
"001935",
|
| 197 |
+
"002002"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0121_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0121_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": "scene0121_02.pt",
|
| 18 |
+
"indices_file": "scene0121_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0121_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": "000046"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000092"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000138"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000184"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000231"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000277"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000323"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000369"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000416"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000462"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000508"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000554"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000600"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000647"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000693"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000739"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
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"frame_id": "000785"
|
| 105 |
+
},
|
| 106 |
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{
|
| 107 |
+
"index": 18,
|
| 108 |
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"frame_id": "000832"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000878"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000924"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000970"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001016"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001063"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001109"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001155"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001201"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001248"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001294"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001340"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001386"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001433"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000046",
|
| 167 |
+
"000092",
|
| 168 |
+
"000138",
|
| 169 |
+
"000184",
|
| 170 |
+
"000231",
|
| 171 |
+
"000277",
|
| 172 |
+
"000323",
|
| 173 |
+
"000369",
|
| 174 |
+
"000416",
|
| 175 |
+
"000462",
|
| 176 |
+
"000508",
|
| 177 |
+
"000554",
|
| 178 |
+
"000600",
|
| 179 |
+
"000647",
|
| 180 |
+
"000693",
|
| 181 |
+
"000739",
|
| 182 |
+
"000785",
|
| 183 |
+
"000832",
|
| 184 |
+
"000878",
|
| 185 |
+
"000924",
|
| 186 |
+
"000970",
|
| 187 |
+
"001016",
|
| 188 |
+
"001063",
|
| 189 |
+
"001109",
|
| 190 |
+
"001155",
|
| 191 |
+
"001201",
|
| 192 |
+
"001248",
|
| 193 |
+
"001294",
|
| 194 |
+
"001340",
|
| 195 |
+
"001386",
|
| 196 |
+
"001433"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0122_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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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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|
| 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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|
| 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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| 55 |
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| 58 |
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| 59 |
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| 60 |
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| 61 |
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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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| 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 |
+
"000952"
|
| 197 |
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|
| 198 |
+
}
|
metadata/train/scene0132_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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0132_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 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
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|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0132_00.pt",
|
| 18 |
+
"indices_file": "scene0132_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0132_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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432
|
| 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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"frame_id": "000151"
|
| 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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|
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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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|
| 124 |
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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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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
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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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|
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|
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|
| 149 |
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|
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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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|
| 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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"000000",
|
| 166 |
+
"000037",
|
| 167 |
+
"000075",
|
| 168 |
+
"000113",
|
| 169 |
+
"000151",
|
| 170 |
+
"000189",
|
| 171 |
+
"000226",
|
| 172 |
+
"000264",
|
| 173 |
+
"000302",
|
| 174 |
+
"000340",
|
| 175 |
+
"000378",
|
| 176 |
+
"000415",
|
| 177 |
+
"000453",
|
| 178 |
+
"000491",
|
| 179 |
+
"000529",
|
| 180 |
+
"000567",
|
| 181 |
+
"000604",
|
| 182 |
+
"000642",
|
| 183 |
+
"000680",
|
| 184 |
+
"000718",
|
| 185 |
+
"000756",
|
| 186 |
+
"000793",
|
| 187 |
+
"000831",
|
| 188 |
+
"000869",
|
| 189 |
+
"000907",
|
| 190 |
+
"000945",
|
| 191 |
+
"000982",
|
| 192 |
+
"001020",
|
| 193 |
+
"001058",
|
| 194 |
+
"001096",
|
| 195 |
+
"001134",
|
| 196 |
+
"001172"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0147_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0147_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": "scene0147_00.pt",
|
| 18 |
+
"indices_file": "scene0147_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0147_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": "000060"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000120"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000180"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000240"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000301"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000361"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000421"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000481"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000542"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000602"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000662"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000722"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000782"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000843"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000903"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000963"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "001023"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "001084"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "001144"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "001204"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001264"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001324"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001385"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001445"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001505"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001565"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001626"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001686"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001746"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001806"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001867"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000060",
|
| 167 |
+
"000120",
|
| 168 |
+
"000180",
|
| 169 |
+
"000240",
|
| 170 |
+
"000301",
|
| 171 |
+
"000361",
|
| 172 |
+
"000421",
|
| 173 |
+
"000481",
|
| 174 |
+
"000542",
|
| 175 |
+
"000602",
|
| 176 |
+
"000662",
|
| 177 |
+
"000722",
|
| 178 |
+
"000782",
|
| 179 |
+
"000843",
|
| 180 |
+
"000903",
|
| 181 |
+
"000963",
|
| 182 |
+
"001023",
|
| 183 |
+
"001084",
|
| 184 |
+
"001144",
|
| 185 |
+
"001204",
|
| 186 |
+
"001264",
|
| 187 |
+
"001324",
|
| 188 |
+
"001385",
|
| 189 |
+
"001445",
|
| 190 |
+
"001505",
|
| 191 |
+
"001565",
|
| 192 |
+
"001626",
|
| 193 |
+
"001686",
|
| 194 |
+
"001746",
|
| 195 |
+
"001806",
|
| 196 |
+
"001867"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0150_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0150_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": "scene0150_00.pt",
|
| 18 |
+
"indices_file": "scene0150_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0150_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 |
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| 29 |
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| 30 |
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| 32 |
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| 34 |
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| 35 |
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| 39 |
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| 40 |
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| 42 |
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| 47 |
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|
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| 83 |
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| 111 |
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| 131 |
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| 143 |
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| 159 |
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| 186 |
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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/scene0159_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
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| 1 |
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| 2 |
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| 3 |
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|
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| 18 |
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|
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|
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|
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|
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| 188 |
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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/scene0160_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
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| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0160_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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|
| 7 |
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32,
|
| 8 |
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432,
|
| 9 |
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432,
|
| 10 |
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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": "scene0160_00.pt",
|
| 18 |
+
"indices_file": "scene0160_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0160_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 |
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432,
|
| 27 |
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|
| 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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"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": "000025"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000051"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000077"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000103"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000129"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000155"
|
| 61 |
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|
| 62 |
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|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000181"
|
| 65 |
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|
| 66 |
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|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000207"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000233"
|
| 73 |
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|
| 74 |
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|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000259"
|
| 77 |
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|
| 78 |
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|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000284"
|
| 81 |
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|
| 82 |
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|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000310"
|
| 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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"frame_id": "000414"
|
| 101 |
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| 102 |
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| 103 |
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| 104 |
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"frame_id": "000440"
|
| 105 |
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| 106 |
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| 107 |
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| 108 |
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"frame_id": "000466"
|
| 109 |
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| 110 |
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| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000492"
|
| 113 |
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| 114 |
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| 115 |
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|
| 116 |
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"frame_id": "000518"
|
| 117 |
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| 118 |
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| 119 |
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|
| 120 |
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"frame_id": "000543"
|
| 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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"frame_id": "000647"
|
| 137 |
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| 138 |
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| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "000673"
|
| 141 |
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|
| 142 |
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|
| 143 |
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"index": 27,
|
| 144 |
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"frame_id": "000699"
|
| 145 |
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|
| 146 |
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{
|
| 147 |
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"index": 28,
|
| 148 |
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"frame_id": "000725"
|
| 149 |
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| 150 |
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|
| 151 |
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|
| 152 |
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"frame_id": "000751"
|
| 153 |
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| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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|
| 157 |
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|
| 158 |
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{
|
| 159 |
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"index": 31,
|
| 160 |
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"frame_id": "000803"
|
| 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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"000000",
|
| 166 |
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|
| 167 |
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|
| 168 |
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"000077",
|
| 169 |
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"000103",
|
| 170 |
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|
| 171 |
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"000155",
|
| 172 |
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"000181",
|
| 173 |
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|
| 174 |
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"000233",
|
| 175 |
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"000259",
|
| 176 |
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"000284",
|
| 177 |
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"000310",
|
| 178 |
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"000336",
|
| 179 |
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"000362",
|
| 180 |
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"000388",
|
| 181 |
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"000414",
|
| 182 |
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"000440",
|
| 183 |
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"000466",
|
| 184 |
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"000492",
|
| 185 |
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"000518",
|
| 186 |
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"000543",
|
| 187 |
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"000569",
|
| 188 |
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"000595",
|
| 189 |
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"000621",
|
| 190 |
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"000647",
|
| 191 |
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"000673",
|
| 192 |
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"000699",
|
| 193 |
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"000725",
|
| 194 |
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"000751",
|
| 195 |
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"000777",
|
| 196 |
+
"000803"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0174_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0174_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": "scene0174_00.pt",
|
| 18 |
+
"indices_file": "scene0174_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0174_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": "000234"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000313"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000391"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000469"
|
| 61 |
+
},
|
| 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": "000626"
|
| 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": "000783"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000861"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000939"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "001018"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "001096"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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|
| 96 |
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"frame_id": "001174"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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|
| 100 |
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"frame_id": "001253"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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|
| 104 |
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"frame_id": "001331"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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|
| 108 |
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"frame_id": "001409"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "001488"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "001566"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "001644"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "001723"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "001801"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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|
| 132 |
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"frame_id": "001879"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "001958"
|
| 137 |
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|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "002036"
|
| 141 |
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|
| 142 |
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{
|
| 143 |
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"index": 27,
|
| 144 |
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"frame_id": "002114"
|
| 145 |
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|
| 146 |
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{
|
| 147 |
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"index": 28,
|
| 148 |
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"frame_id": "002193"
|
| 149 |
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|
| 150 |
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{
|
| 151 |
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"index": 29,
|
| 152 |
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"frame_id": "002271"
|
| 153 |
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|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "002349"
|
| 157 |
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|
| 158 |
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{
|
| 159 |
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"index": 31,
|
| 160 |
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"frame_id": "002428"
|
| 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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"000704",
|
| 175 |
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|
| 176 |
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"000861",
|
| 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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"001331",
|
| 183 |
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"001409",
|
| 184 |
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"001488",
|
| 185 |
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"001566",
|
| 186 |
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"001644",
|
| 187 |
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"001723",
|
| 188 |
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"001801",
|
| 189 |
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"001879",
|
| 190 |
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"001958",
|
| 191 |
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"002036",
|
| 192 |
+
"002114",
|
| 193 |
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"002193",
|
| 194 |
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"002271",
|
| 195 |
+
"002349",
|
| 196 |
+
"002428"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0191_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 |
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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 |
+
432,
|
| 9 |
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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 |
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"pointcloud_file": "scene0191_00.pt",
|
| 18 |
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"indices_file": "scene0191_00_indices.pt",
|
| 19 |
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"transform_to_world_file": "scene0191_00_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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432,
|
| 27 |
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432
|
| 28 |
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],
|
| 29 |
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"original_image_size": [
|
| 30 |
+
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": "000140"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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|
| 56 |
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"frame_id": "000175"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000210"
|
| 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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"frame_id": "000948"
|
| 145 |
+
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|
| 146 |
+
{
|
| 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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"frame_id": "001053"
|
| 157 |
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|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001089"
|
| 161 |
+
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|
| 162 |
+
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|
| 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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"000105",
|
| 169 |
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"000140",
|
| 170 |
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"000175",
|
| 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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"000702",
|
| 186 |
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"000737",
|
| 187 |
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|
| 188 |
+
"000807",
|
| 189 |
+
"000843",
|
| 190 |
+
"000878",
|
| 191 |
+
"000913",
|
| 192 |
+
"000948",
|
| 193 |
+
"000983",
|
| 194 |
+
"001018",
|
| 195 |
+
"001053",
|
| 196 |
+
"001089"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0195_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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0195_01",
|
| 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 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0195_01.pt",
|
| 18 |
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"indices_file": "scene0195_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0195_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 |
+
"frame_id": "000000"
|
| 37 |
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},
|
| 38 |
+
{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000048"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
+
"index": 2,
|
| 44 |
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"frame_id": "000097"
|
| 45 |
+
},
|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000146"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000195"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000243"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000292"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000341"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000390"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000438"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000487"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
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"index": 11,
|
| 80 |
+
"frame_id": "000536"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000585"
|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
+
"index": 13,
|
| 88 |
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"frame_id": "000634"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000682"
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000731"
|
| 97 |
+
},
|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000780"
|
| 101 |
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},
|
| 102 |
+
{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000829"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
+
"index": 18,
|
| 108 |
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"frame_id": "000877"
|
| 109 |
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},
|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000926"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000975"
|
| 117 |
+
},
|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "001024"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001073"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001121"
|
| 129 |
+
},
|
| 130 |
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{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001170"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001219"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001268"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001316"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001365"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001414"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001463"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001512"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000048",
|
| 167 |
+
"000097",
|
| 168 |
+
"000146",
|
| 169 |
+
"000195",
|
| 170 |
+
"000243",
|
| 171 |
+
"000292",
|
| 172 |
+
"000341",
|
| 173 |
+
"000390",
|
| 174 |
+
"000438",
|
| 175 |
+
"000487",
|
| 176 |
+
"000536",
|
| 177 |
+
"000585",
|
| 178 |
+
"000634",
|
| 179 |
+
"000682",
|
| 180 |
+
"000731",
|
| 181 |
+
"000780",
|
| 182 |
+
"000829",
|
| 183 |
+
"000877",
|
| 184 |
+
"000926",
|
| 185 |
+
"000975",
|
| 186 |
+
"001024",
|
| 187 |
+
"001073",
|
| 188 |
+
"001121",
|
| 189 |
+
"001170",
|
| 190 |
+
"001219",
|
| 191 |
+
"001268",
|
| 192 |
+
"001316",
|
| 193 |
+
"001365",
|
| 194 |
+
"001414",
|
| 195 |
+
"001463",
|
| 196 |
+
"001512"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0199_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0199_00",
|
| 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": "scene0199_00.pt",
|
| 18 |
+
"indices_file": "scene0199_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0199_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": "000058"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000116"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000175"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000233"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000291"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000350"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000408"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000466"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000525"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000583"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000641"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000700"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000758"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000816"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000875"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000933"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000992"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "001050"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "001108"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "001167"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001225"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001283"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001342"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001400"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001458"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001517"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001575"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001633"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001692"
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"invalid_views": [
|
| 156 |
+
{
|
| 157 |
+
"index": 30,
|
| 158 |
+
"frame_id": "001750",
|
| 159 |
+
"reason": "invalid_pose"
|
| 160 |
+
},
|
| 161 |
+
{
|
| 162 |
+
"index": 31,
|
| 163 |
+
"frame_id": "001809",
|
| 164 |
+
"reason": "invalid_pose"
|
| 165 |
+
}
|
| 166 |
+
],
|
| 167 |
+
"frame_order": [
|
| 168 |
+
"000000",
|
| 169 |
+
"000058",
|
| 170 |
+
"000116",
|
| 171 |
+
"000175",
|
| 172 |
+
"000233",
|
| 173 |
+
"000291",
|
| 174 |
+
"000350",
|
| 175 |
+
"000408",
|
| 176 |
+
"000466",
|
| 177 |
+
"000525",
|
| 178 |
+
"000583",
|
| 179 |
+
"000641",
|
| 180 |
+
"000700",
|
| 181 |
+
"000758",
|
| 182 |
+
"000816",
|
| 183 |
+
"000875",
|
| 184 |
+
"000933",
|
| 185 |
+
"000992",
|
| 186 |
+
"001050",
|
| 187 |
+
"001108",
|
| 188 |
+
"001167",
|
| 189 |
+
"001225",
|
| 190 |
+
"001283",
|
| 191 |
+
"001342",
|
| 192 |
+
"001400",
|
| 193 |
+
"001458",
|
| 194 |
+
"001517",
|
| 195 |
+
"001575",
|
| 196 |
+
"001633",
|
| 197 |
+
"001692"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0200_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0200_01",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 24,
|
| 5 |
+
"invalid_frames_count": 8,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
24,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
24
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0200_01.pt",
|
| 18 |
+
"indices_file": "scene0200_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0200_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": "000056"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000084"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000113"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000141"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000169"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000198"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000226"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000254"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000283"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000311"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000339"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000368"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000396"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 19,
|
| 96 |
+
"frame_id": "000538"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 20,
|
| 100 |
+
"frame_id": "000566"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 21,
|
| 104 |
+
"frame_id": "000594"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 22,
|
| 108 |
+
"frame_id": "000623"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 23,
|
| 112 |
+
"frame_id": "000651"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 24,
|
| 116 |
+
"frame_id": "000679"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 25,
|
| 120 |
+
"frame_id": "000708"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 26,
|
| 124 |
+
"frame_id": "000736"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 27,
|
| 128 |
+
"frame_id": "000764"
|
| 129 |
+
}
|
| 130 |
+
],
|
| 131 |
+
"invalid_views": [
|
| 132 |
+
{
|
| 133 |
+
"index": 15,
|
| 134 |
+
"frame_id": "000424",
|
| 135 |
+
"reason": "invalid_pose"
|
| 136 |
+
},
|
| 137 |
+
{
|
| 138 |
+
"index": 16,
|
| 139 |
+
"frame_id": "000453",
|
| 140 |
+
"reason": "invalid_pose"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 17,
|
| 144 |
+
"frame_id": "000481",
|
| 145 |
+
"reason": "invalid_pose"
|
| 146 |
+
},
|
| 147 |
+
{
|
| 148 |
+
"index": 18,
|
| 149 |
+
"frame_id": "000509",
|
| 150 |
+
"reason": "invalid_pose"
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"index": 28,
|
| 154 |
+
"frame_id": "000793",
|
| 155 |
+
"reason": "invalid_pose"
|
| 156 |
+
},
|
| 157 |
+
{
|
| 158 |
+
"index": 29,
|
| 159 |
+
"frame_id": "000821",
|
| 160 |
+
"reason": "invalid_pose"
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"index": 30,
|
| 164 |
+
"frame_id": "000849",
|
| 165 |
+
"reason": "invalid_pose"
|
| 166 |
+
},
|
| 167 |
+
{
|
| 168 |
+
"index": 31,
|
| 169 |
+
"frame_id": "000878",
|
| 170 |
+
"reason": "invalid_pose"
|
| 171 |
+
}
|
| 172 |
+
],
|
| 173 |
+
"frame_order": [
|
| 174 |
+
"000000",
|
| 175 |
+
"000028",
|
| 176 |
+
"000056",
|
| 177 |
+
"000084",
|
| 178 |
+
"000113",
|
| 179 |
+
"000141",
|
| 180 |
+
"000169",
|
| 181 |
+
"000198",
|
| 182 |
+
"000226",
|
| 183 |
+
"000254",
|
| 184 |
+
"000283",
|
| 185 |
+
"000311",
|
| 186 |
+
"000339",
|
| 187 |
+
"000368",
|
| 188 |
+
"000396",
|
| 189 |
+
"000538",
|
| 190 |
+
"000566",
|
| 191 |
+
"000594",
|
| 192 |
+
"000623",
|
| 193 |
+
"000651",
|
| 194 |
+
"000679",
|
| 195 |
+
"000708",
|
| 196 |
+
"000736",
|
| 197 |
+
"000764"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0211_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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0211_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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|
| 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": "scene0211_01.pt",
|
| 18 |
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"indices_file": "scene0211_01_indices.pt",
|
| 19 |
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"transform_to_world_file": "scene0211_01_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 |
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432
|
| 28 |
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|
| 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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|
| 40 |
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"frame_id": "000081"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000163"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000245"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000327"
|
| 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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"frame_id": "000572"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000654"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000736"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000818"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000899"
|
| 81 |
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},
|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000981"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "001063"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "001145"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "001227"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "001308"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "001390"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "001472"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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|
| 112 |
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"frame_id": "001554"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "001636"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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|
| 120 |
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"frame_id": "001717"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "001799"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "001881"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "001963"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "002045"
|
| 137 |
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},
|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "002126"
|
| 141 |
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},
|
| 142 |
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{
|
| 143 |
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"index": 27,
|
| 144 |
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"frame_id": "002208"
|
| 145 |
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},
|
| 146 |
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{
|
| 147 |
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"index": 28,
|
| 148 |
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"frame_id": "002290"
|
| 149 |
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|
| 150 |
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{
|
| 151 |
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"index": 29,
|
| 152 |
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"frame_id": "002372"
|
| 153 |
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|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "002454"
|
| 157 |
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|
| 158 |
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{
|
| 159 |
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"index": 31,
|
| 160 |
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"frame_id": "002536"
|
| 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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"000245",
|
| 169 |
+
"000327",
|
| 170 |
+
"000409",
|
| 171 |
+
"000490",
|
| 172 |
+
"000572",
|
| 173 |
+
"000654",
|
| 174 |
+
"000736",
|
| 175 |
+
"000818",
|
| 176 |
+
"000899",
|
| 177 |
+
"000981",
|
| 178 |
+
"001063",
|
| 179 |
+
"001145",
|
| 180 |
+
"001227",
|
| 181 |
+
"001308",
|
| 182 |
+
"001390",
|
| 183 |
+
"001472",
|
| 184 |
+
"001554",
|
| 185 |
+
"001636",
|
| 186 |
+
"001717",
|
| 187 |
+
"001799",
|
| 188 |
+
"001881",
|
| 189 |
+
"001963",
|
| 190 |
+
"002045",
|
| 191 |
+
"002126",
|
| 192 |
+
"002208",
|
| 193 |
+
"002290",
|
| 194 |
+
"002372",
|
| 195 |
+
"002454",
|
| 196 |
+
"002536"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0264_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0264_01",
|
| 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": "scene0264_01.pt",
|
| 18 |
+
"indices_file": "scene0264_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0264_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": "000056"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000112"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000168"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000224"
|
| 53 |
+
},
|
| 54 |
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{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000280"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000336"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
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"index": 7,
|
| 64 |
+
"frame_id": "000392"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000448"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000504"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
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"frame_id": "000560"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000616"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 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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"frame_id": "000728"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000784"
|
| 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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"index": 16,
|
| 100 |
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"frame_id": "000896"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000952"
|
| 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 |
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"index": 19,
|
| 112 |
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"frame_id": "001064"
|
| 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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"index": 22,
|
| 124 |
+
"frame_id": "001232"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001288"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001344"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001400"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001456"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001512"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001568"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001624"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001680"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001737"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000056",
|
| 167 |
+
"000112",
|
| 168 |
+
"000168",
|
| 169 |
+
"000224",
|
| 170 |
+
"000280",
|
| 171 |
+
"000336",
|
| 172 |
+
"000392",
|
| 173 |
+
"000448",
|
| 174 |
+
"000504",
|
| 175 |
+
"000560",
|
| 176 |
+
"000616",
|
| 177 |
+
"000672",
|
| 178 |
+
"000728",
|
| 179 |
+
"000784",
|
| 180 |
+
"000840",
|
| 181 |
+
"000896",
|
| 182 |
+
"000952",
|
| 183 |
+
"001008",
|
| 184 |
+
"001064",
|
| 185 |
+
"001120",
|
| 186 |
+
"001176",
|
| 187 |
+
"001232",
|
| 188 |
+
"001288",
|
| 189 |
+
"001344",
|
| 190 |
+
"001400",
|
| 191 |
+
"001456",
|
| 192 |
+
"001512",
|
| 193 |
+
"001568",
|
| 194 |
+
"001624",
|
| 195 |
+
"001680",
|
| 196 |
+
"001737"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0269_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0269_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": "scene0269_01.pt",
|
| 18 |
+
"indices_file": "scene0269_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0269_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 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000030"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000061"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000091"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000122"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
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"index": 5,
|
| 56 |
+
"frame_id": "000153"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000183"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
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"frame_id": "000214"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000244"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000275"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000306"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000336"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
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"frame_id": "000367"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
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"frame_id": "000397"
|
| 89 |
+
},
|
| 90 |
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{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000428"
|
| 93 |
+
},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000459"
|
| 97 |
+
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|
| 98 |
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{
|
| 99 |
+
"index": 16,
|
| 100 |
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"frame_id": "000489"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000520"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
+
"index": 18,
|
| 108 |
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"frame_id": "000551"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000581"
|
| 113 |
+
},
|
| 114 |
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{
|
| 115 |
+
"index": 21,
|
| 116 |
+
"frame_id": "000642"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
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"index": 22,
|
| 120 |
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"frame_id": "000673"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 23,
|
| 124 |
+
"frame_id": "000704"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 24,
|
| 128 |
+
"frame_id": "000734"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 25,
|
| 132 |
+
"frame_id": "000765"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 26,
|
| 136 |
+
"frame_id": "000795"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 27,
|
| 140 |
+
"frame_id": "000826"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 28,
|
| 144 |
+
"frame_id": "000857"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 29,
|
| 148 |
+
"frame_id": "000887"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 30,
|
| 152 |
+
"frame_id": "000918"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 31,
|
| 156 |
+
"frame_id": "000949"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 20,
|
| 162 |
+
"frame_id": "000612",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000030",
|
| 169 |
+
"000061",
|
| 170 |
+
"000091",
|
| 171 |
+
"000122",
|
| 172 |
+
"000153",
|
| 173 |
+
"000183",
|
| 174 |
+
"000214",
|
| 175 |
+
"000244",
|
| 176 |
+
"000275",
|
| 177 |
+
"000306",
|
| 178 |
+
"000336",
|
| 179 |
+
"000367",
|
| 180 |
+
"000397",
|
| 181 |
+
"000428",
|
| 182 |
+
"000459",
|
| 183 |
+
"000489",
|
| 184 |
+
"000520",
|
| 185 |
+
"000551",
|
| 186 |
+
"000581",
|
| 187 |
+
"000642",
|
| 188 |
+
"000673",
|
| 189 |
+
"000704",
|
| 190 |
+
"000734",
|
| 191 |
+
"000765",
|
| 192 |
+
"000795",
|
| 193 |
+
"000826",
|
| 194 |
+
"000857",
|
| 195 |
+
"000887",
|
| 196 |
+
"000918",
|
| 197 |
+
"000949"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0270_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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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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|
| 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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|
| 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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| 55 |
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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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|
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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 |
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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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"001827",
|
| 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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"002383",
|
| 196 |
+
"002463"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0279_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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0279_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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|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"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": "scene0279_01.pt",
|
| 18 |
+
"indices_file": "scene0279_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0279_01_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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432
|
| 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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"frame_id": "000154"
|
| 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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|
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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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|
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|
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
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|
| 137 |
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|
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|
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|
| 142 |
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| 143 |
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|
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|
| 145 |
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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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| 154 |
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|
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"frame_id": "001162"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001201"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000038",
|
| 167 |
+
"000077",
|
| 168 |
+
"000116",
|
| 169 |
+
"000154",
|
| 170 |
+
"000193",
|
| 171 |
+
"000232",
|
| 172 |
+
"000271",
|
| 173 |
+
"000309",
|
| 174 |
+
"000348",
|
| 175 |
+
"000387",
|
| 176 |
+
"000426",
|
| 177 |
+
"000464",
|
| 178 |
+
"000503",
|
| 179 |
+
"000542",
|
| 180 |
+
"000581",
|
| 181 |
+
"000619",
|
| 182 |
+
"000658",
|
| 183 |
+
"000697",
|
| 184 |
+
"000736",
|
| 185 |
+
"000774",
|
| 186 |
+
"000813",
|
| 187 |
+
"000852",
|
| 188 |
+
"000891",
|
| 189 |
+
"000929",
|
| 190 |
+
"000968",
|
| 191 |
+
"001007",
|
| 192 |
+
"001046",
|
| 193 |
+
"001084",
|
| 194 |
+
"001123",
|
| 195 |
+
"001162",
|
| 196 |
+
"001201"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0286_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0286_01",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 31,
|
| 5 |
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"invalid_frames_count": 1,
|
| 6 |
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"output_shape": [
|
| 7 |
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|
| 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 |
+
31
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0286_01.pt",
|
| 18 |
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"indices_file": "scene0286_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0286_01_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 |
+
432
|
| 28 |
+
],
|
| 29 |
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"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
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"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 |
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{
|
| 39 |
+
"index": 1,
|
| 40 |
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"frame_id": "000081"
|
| 41 |
+
},
|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000163"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000245"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
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"frame_id": "000327"
|
| 53 |
+
},
|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000409"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000491"
|
| 61 |
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},
|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000573"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000655"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000737"
|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000819"
|
| 77 |
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},
|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000901"
|
| 81 |
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},
|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000983"
|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "001065"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "001147"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "001229"
|
| 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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"index": 17,
|
| 104 |
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"frame_id": "001392"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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|
| 108 |
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"frame_id": "001474"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "001556"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "001638"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "001720"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "001802"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "001884"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "001966"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "002048"
|
| 137 |
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|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "002130"
|
| 141 |
+
},
|
| 142 |
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{
|
| 143 |
+
"index": 27,
|
| 144 |
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"frame_id": "002212"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "002294"
|
| 149 |
+
},
|
| 150 |
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{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "002376"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
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"frame_id": "002458"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
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"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 31,
|
| 162 |
+
"frame_id": "002540",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
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|
| 169 |
+
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|
| 170 |
+
"000245",
|
| 171 |
+
"000327",
|
| 172 |
+
"000409",
|
| 173 |
+
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|
| 174 |
+
"000573",
|
| 175 |
+
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|
| 176 |
+
"000737",
|
| 177 |
+
"000819",
|
| 178 |
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"000901",
|
| 179 |
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"000983",
|
| 180 |
+
"001065",
|
| 181 |
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"001147",
|
| 182 |
+
"001229",
|
| 183 |
+
"001310",
|
| 184 |
+
"001392",
|
| 185 |
+
"001474",
|
| 186 |
+
"001556",
|
| 187 |
+
"001638",
|
| 188 |
+
"001720",
|
| 189 |
+
"001802",
|
| 190 |
+
"001884",
|
| 191 |
+
"001966",
|
| 192 |
+
"002048",
|
| 193 |
+
"002130",
|
| 194 |
+
"002212",
|
| 195 |
+
"002294",
|
| 196 |
+
"002376",
|
| 197 |
+
"002458"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0288_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0288_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": "scene0288_01.pt",
|
| 18 |
+
"indices_file": "scene0288_01_indices.pt",
|
| 19 |
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|
| 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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|
| 45 |
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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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| 55 |
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| 71 |
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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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| 107 |
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| 111 |
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| 112 |
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|
| 113 |
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| 115 |
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| 117 |
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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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| 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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|
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| 155 |
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|
| 157 |
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|
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| 171 |
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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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| 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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|
| 199 |
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}
|
metadata/train/scene0299_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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|
|
|
| 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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|
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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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|
| 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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| 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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|
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| 35 |
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|
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| 42 |
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|
| 45 |
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| 46 |
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| 47 |
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|
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|
| 50 |
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|
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|
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|
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| 66 |
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|
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|
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| 70 |
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+
"001102",
|
| 187 |
+
"001154",
|
| 188 |
+
"001207",
|
| 189 |
+
"001259",
|
| 190 |
+
"001312",
|
| 191 |
+
"001364",
|
| 192 |
+
"001417",
|
| 193 |
+
"001469",
|
| 194 |
+
"001522",
|
| 195 |
+
"001574",
|
| 196 |
+
"001627"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0303_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0303_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": "scene0303_01.pt",
|
| 18 |
+
"indices_file": "scene0303_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0303_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": "000034"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000069"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000104"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000138"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000173"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000208"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000242"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000277"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000312"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000346"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000381"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000416"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000450"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000485"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000520"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000554"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000589"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000624"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000658"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000693"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000728"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000762"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000797"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000832"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000866"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000901"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000936"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000970"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001005"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001040"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001075"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000034",
|
| 167 |
+
"000069",
|
| 168 |
+
"000104",
|
| 169 |
+
"000138",
|
| 170 |
+
"000173",
|
| 171 |
+
"000208",
|
| 172 |
+
"000242",
|
| 173 |
+
"000277",
|
| 174 |
+
"000312",
|
| 175 |
+
"000346",
|
| 176 |
+
"000381",
|
| 177 |
+
"000416",
|
| 178 |
+
"000450",
|
| 179 |
+
"000485",
|
| 180 |
+
"000520",
|
| 181 |
+
"000554",
|
| 182 |
+
"000589",
|
| 183 |
+
"000624",
|
| 184 |
+
"000658",
|
| 185 |
+
"000693",
|
| 186 |
+
"000728",
|
| 187 |
+
"000762",
|
| 188 |
+
"000797",
|
| 189 |
+
"000832",
|
| 190 |
+
"000866",
|
| 191 |
+
"000901",
|
| 192 |
+
"000936",
|
| 193 |
+
"000970",
|
| 194 |
+
"001005",
|
| 195 |
+
"001040",
|
| 196 |
+
"001075"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0319_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0319_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": "scene0319_00.pt",
|
| 18 |
+
"indices_file": "scene0319_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0319_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": "000057"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000114"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000171"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000228"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000286"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000343"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000400"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000457"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000515"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000572"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000629"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000686"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000743"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000801"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000858"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000915"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 18,
|
| 104 |
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"frame_id": "001030"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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"index": 19,
|
| 108 |
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"frame_id": "001087"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 20,
|
| 112 |
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"frame_id": "001144"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 21,
|
| 116 |
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"frame_id": "001201"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 22,
|
| 120 |
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"frame_id": "001258"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 23,
|
| 124 |
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"frame_id": "001316"
|
| 125 |
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},
|
| 126 |
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{
|
| 127 |
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"index": 24,
|
| 128 |
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"frame_id": "001373"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 25,
|
| 132 |
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"frame_id": "001430"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 26,
|
| 136 |
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"frame_id": "001487"
|
| 137 |
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},
|
| 138 |
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{
|
| 139 |
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"index": 27,
|
| 140 |
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"frame_id": "001545"
|
| 141 |
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},
|
| 142 |
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{
|
| 143 |
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"index": 28,
|
| 144 |
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"frame_id": "001602"
|
| 145 |
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},
|
| 146 |
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{
|
| 147 |
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"index": 29,
|
| 148 |
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"frame_id": "001659"
|
| 149 |
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},
|
| 150 |
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{
|
| 151 |
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"index": 30,
|
| 152 |
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"frame_id": "001716"
|
| 153 |
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},
|
| 154 |
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{
|
| 155 |
+
"index": 31,
|
| 156 |
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"frame_id": "001774"
|
| 157 |
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}
|
| 158 |
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],
|
| 159 |
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"invalid_views": [
|
| 160 |
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{
|
| 161 |
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"index": 17,
|
| 162 |
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"frame_id": "000972",
|
| 163 |
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"reason": "invalid_pose"
|
| 164 |
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|
| 165 |
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],
|
| 166 |
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"frame_order": [
|
| 167 |
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"000000",
|
| 168 |
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|
| 169 |
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|
| 170 |
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"000171",
|
| 171 |
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"000228",
|
| 172 |
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"000286",
|
| 173 |
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"000343",
|
| 174 |
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"000400",
|
| 175 |
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"000457",
|
| 176 |
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"000515",
|
| 177 |
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"000572",
|
| 178 |
+
"000629",
|
| 179 |
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"000686",
|
| 180 |
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"000743",
|
| 181 |
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"000801",
|
| 182 |
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"000858",
|
| 183 |
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"000915",
|
| 184 |
+
"001030",
|
| 185 |
+
"001087",
|
| 186 |
+
"001144",
|
| 187 |
+
"001201",
|
| 188 |
+
"001258",
|
| 189 |
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"001316",
|
| 190 |
+
"001373",
|
| 191 |
+
"001430",
|
| 192 |
+
"001487",
|
| 193 |
+
"001545",
|
| 194 |
+
"001602",
|
| 195 |
+
"001659",
|
| 196 |
+
"001716",
|
| 197 |
+
"001774"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0340_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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0340_02",
|
| 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 |
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"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0340_02.pt",
|
| 18 |
+
"indices_file": "scene0340_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0340_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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"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 |
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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 |
+
{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000050"
|
| 41 |
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},
|
| 42 |
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{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000101"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000152"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000203"
|
| 53 |
+
},
|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000254"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000305"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000356"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
+
"index": 8,
|
| 68 |
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"frame_id": "000407"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000458"
|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000509"
|
| 77 |
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},
|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000560"
|
| 81 |
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},
|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000611"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000662"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000713"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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|
| 96 |
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"frame_id": "000764"
|
| 97 |
+
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|
| 98 |
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{
|
| 99 |
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|
| 100 |
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"frame_id": "000814"
|
| 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": "000967"
|
| 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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"index": 21,
|
| 120 |
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"frame_id": "001069"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "001120"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
+
"index": 23,
|
| 128 |
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"frame_id": "001171"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "001222"
|
| 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": "001324"
|
| 141 |
+
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|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001375"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001426"
|
| 149 |
+
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|
| 150 |
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{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001477"
|
| 153 |
+
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|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001528"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001579"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000050",
|
| 167 |
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"000101",
|
| 168 |
+
"000152",
|
| 169 |
+
"000203",
|
| 170 |
+
"000254",
|
| 171 |
+
"000305",
|
| 172 |
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"000356",
|
| 173 |
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"000407",
|
| 174 |
+
"000458",
|
| 175 |
+
"000509",
|
| 176 |
+
"000560",
|
| 177 |
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"000611",
|
| 178 |
+
"000662",
|
| 179 |
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"000713",
|
| 180 |
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|
| 181 |
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"000814",
|
| 182 |
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"000865",
|
| 183 |
+
"000916",
|
| 184 |
+
"000967",
|
| 185 |
+
"001018",
|
| 186 |
+
"001069",
|
| 187 |
+
"001120",
|
| 188 |
+
"001171",
|
| 189 |
+
"001222",
|
| 190 |
+
"001273",
|
| 191 |
+
"001324",
|
| 192 |
+
"001375",
|
| 193 |
+
"001426",
|
| 194 |
+
"001477",
|
| 195 |
+
"001528",
|
| 196 |
+
"001579"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0358_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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|
|
|
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|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0358_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": "scene0358_00.pt",
|
| 18 |
+
"indices_file": "scene0358_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0358_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 |
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"frame_id": "000075"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
+
"index": 2,
|
| 44 |
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"frame_id": "000150"
|
| 45 |
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},
|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000225"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
+
"index": 4,
|
| 52 |
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"frame_id": "000300"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000375"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000450"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000525"
|
| 65 |
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},
|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000600"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000675"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000750"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000825"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000900"
|
| 85 |
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},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000975"
|
| 89 |
+
},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "001050"
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
+
"frame_id": "001125"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "001200"
|
| 101 |
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},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "001275"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
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"frame_id": "001350"
|
| 109 |
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},
|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "001425"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "001500"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "001575"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001650"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001725"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001800"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001875"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001950"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "002025"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "002100"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "002175"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "002250"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "002326"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000075",
|
| 167 |
+
"000150",
|
| 168 |
+
"000225",
|
| 169 |
+
"000300",
|
| 170 |
+
"000375",
|
| 171 |
+
"000450",
|
| 172 |
+
"000525",
|
| 173 |
+
"000600",
|
| 174 |
+
"000675",
|
| 175 |
+
"000750",
|
| 176 |
+
"000825",
|
| 177 |
+
"000900",
|
| 178 |
+
"000975",
|
| 179 |
+
"001050",
|
| 180 |
+
"001125",
|
| 181 |
+
"001200",
|
| 182 |
+
"001275",
|
| 183 |
+
"001350",
|
| 184 |
+
"001425",
|
| 185 |
+
"001500",
|
| 186 |
+
"001575",
|
| 187 |
+
"001650",
|
| 188 |
+
"001725",
|
| 189 |
+
"001800",
|
| 190 |
+
"001875",
|
| 191 |
+
"001950",
|
| 192 |
+
"002025",
|
| 193 |
+
"002100",
|
| 194 |
+
"002175",
|
| 195 |
+
"002250",
|
| 196 |
+
"002326"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0371_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0371_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": "scene0371_00.pt",
|
| 18 |
+
"indices_file": "scene0371_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0371_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": "000027"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000054"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000081"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000108"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000135"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000162"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000189"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000216"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000243"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000270"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"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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"index": 13,
|
| 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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"index": 15,
|
| 96 |
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"frame_id": "000405"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000432"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000459"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "000486"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000513"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000540"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000567"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "000594"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "000621"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "000648"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "000675"
|
| 137 |
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},
|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "000702"
|
| 141 |
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},
|
| 142 |
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{
|
| 143 |
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"index": 27,
|
| 144 |
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"frame_id": "000729"
|
| 145 |
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},
|
| 146 |
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{
|
| 147 |
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"index": 28,
|
| 148 |
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"frame_id": "000756"
|
| 149 |
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|
| 150 |
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{
|
| 151 |
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"index": 29,
|
| 152 |
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"frame_id": "000783"
|
| 153 |
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},
|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "000810"
|
| 157 |
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},
|
| 158 |
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{
|
| 159 |
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"index": 31,
|
| 160 |
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"frame_id": "000838"
|
| 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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|
| 170 |
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"000135",
|
| 171 |
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|
| 172 |
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|
| 173 |
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"000216",
|
| 174 |
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"000243",
|
| 175 |
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"000270",
|
| 176 |
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"000297",
|
| 177 |
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"000324",
|
| 178 |
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"000351",
|
| 179 |
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|
| 180 |
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"000405",
|
| 181 |
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"000432",
|
| 182 |
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"000459",
|
| 183 |
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"000486",
|
| 184 |
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"000513",
|
| 185 |
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"000540",
|
| 186 |
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"000567",
|
| 187 |
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"000594",
|
| 188 |
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"000621",
|
| 189 |
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"000648",
|
| 190 |
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"000675",
|
| 191 |
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"000702",
|
| 192 |
+
"000729",
|
| 193 |
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"000756",
|
| 194 |
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"000783",
|
| 195 |
+
"000810",
|
| 196 |
+
"000838"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0385_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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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 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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432,
|
| 9 |
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432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 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 |
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"pointcloud_file": "scene0385_00.pt",
|
| 18 |
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"indices_file": "scene0385_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0385_00_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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"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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|
| 37 |
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},
|
| 38 |
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{
|
| 39 |
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"index": 1,
|
| 40 |
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|
| 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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|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000177"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000222"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000266"
|
| 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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|
| 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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"index": 23,
|
| 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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"index": 26,
|
| 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 |
+
{
|
| 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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|
| 156 |
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|
| 157 |
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|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001378"
|
| 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 |
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"000133",
|
| 169 |
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"000177",
|
| 170 |
+
"000222",
|
| 171 |
+
"000266",
|
| 172 |
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|
| 173 |
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"000355",
|
| 174 |
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"000400",
|
| 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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"000800",
|
| 184 |
+
"000844",
|
| 185 |
+
"000889",
|
| 186 |
+
"000933",
|
| 187 |
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"000977",
|
| 188 |
+
"001022",
|
| 189 |
+
"001066",
|
| 190 |
+
"001111",
|
| 191 |
+
"001155",
|
| 192 |
+
"001200",
|
| 193 |
+
"001244",
|
| 194 |
+
"001289",
|
| 195 |
+
"001333",
|
| 196 |
+
"001378"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0411_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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0411_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": "scene0411_01.pt",
|
| 18 |
+
"indices_file": "scene0411_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0411_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 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000049"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
+
"index": 2,
|
| 44 |
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"frame_id": "000098"
|
| 45 |
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},
|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000147"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000197"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000246"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000295"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000344"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000394"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000443"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000492"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000541"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
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"frame_id": "000591"
|
| 85 |
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},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
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"frame_id": "000640"
|
| 89 |
+
},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000689"
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
+
"frame_id": "000738"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000788"
|
| 101 |
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},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
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"frame_id": "000837"
|
| 105 |
+
},
|
| 106 |
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{
|
| 107 |
+
"index": 18,
|
| 108 |
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"frame_id": "000886"
|
| 109 |
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},
|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000935"
|
| 113 |
+
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000985"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
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"index": 21,
|
| 120 |
+
"frame_id": "001034"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001083"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001132"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001182"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001231"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001280"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001329"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001379"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001428"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001477"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001527"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000049",
|
| 167 |
+
"000098",
|
| 168 |
+
"000147",
|
| 169 |
+
"000197",
|
| 170 |
+
"000246",
|
| 171 |
+
"000295",
|
| 172 |
+
"000344",
|
| 173 |
+
"000394",
|
| 174 |
+
"000443",
|
| 175 |
+
"000492",
|
| 176 |
+
"000541",
|
| 177 |
+
"000591",
|
| 178 |
+
"000640",
|
| 179 |
+
"000689",
|
| 180 |
+
"000738",
|
| 181 |
+
"000788",
|
| 182 |
+
"000837",
|
| 183 |
+
"000886",
|
| 184 |
+
"000935",
|
| 185 |
+
"000985",
|
| 186 |
+
"001034",
|
| 187 |
+
"001083",
|
| 188 |
+
"001132",
|
| 189 |
+
"001182",
|
| 190 |
+
"001231",
|
| 191 |
+
"001280",
|
| 192 |
+
"001329",
|
| 193 |
+
"001379",
|
| 194 |
+
"001428",
|
| 195 |
+
"001477",
|
| 196 |
+
"001527"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0418_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0418_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": "scene0418_01.pt",
|
| 18 |
+
"indices_file": "scene0418_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0418_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": "000088"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000177"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000265"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000354"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000443"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000531"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000620"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000708"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000797"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000886"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000974"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "001063"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "001151"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "001240"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "001329"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "001417"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "001506"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "001595"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "001683"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "001772"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001860"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001949"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "002038"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "002126"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "002215"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "002303"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "002392"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "002481"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "002569"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "002658"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "002747"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000088",
|
| 167 |
+
"000177",
|
| 168 |
+
"000265",
|
| 169 |
+
"000354",
|
| 170 |
+
"000443",
|
| 171 |
+
"000531",
|
| 172 |
+
"000620",
|
| 173 |
+
"000708",
|
| 174 |
+
"000797",
|
| 175 |
+
"000886",
|
| 176 |
+
"000974",
|
| 177 |
+
"001063",
|
| 178 |
+
"001151",
|
| 179 |
+
"001240",
|
| 180 |
+
"001329",
|
| 181 |
+
"001417",
|
| 182 |
+
"001506",
|
| 183 |
+
"001595",
|
| 184 |
+
"001683",
|
| 185 |
+
"001772",
|
| 186 |
+
"001860",
|
| 187 |
+
"001949",
|
| 188 |
+
"002038",
|
| 189 |
+
"002126",
|
| 190 |
+
"002215",
|
| 191 |
+
"002303",
|
| 192 |
+
"002392",
|
| 193 |
+
"002481",
|
| 194 |
+
"002569",
|
| 195 |
+
"002658",
|
| 196 |
+
"002747"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0433_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0433_00",
|
| 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": "scene0433_00.pt",
|
| 18 |
+
"indices_file": "scene0433_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0433_00_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 |
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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 |
+
],
|
| 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": "000041"
|
| 41 |
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},
|
| 42 |
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{
|
| 43 |
+
"index": 2,
|
| 44 |
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"frame_id": "000082"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000123"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000164"
|
| 53 |
+
},
|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000205"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000247"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000288"
|
| 65 |
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},
|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000329"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000370"
|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000411"
|
| 77 |
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},
|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000453"
|
| 81 |
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},
|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000494"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000535"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000576"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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|
| 96 |
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"frame_id": "000617"
|
| 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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"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": "000782"
|
| 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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"index": 21,
|
| 120 |
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"frame_id": "000865"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "000906"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "000947"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "000988"
|
| 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": "001071"
|
| 141 |
+
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|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001112"
|
| 145 |
+
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|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001153"
|
| 149 |
+
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|
| 150 |
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{
|
| 151 |
+
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|
| 152 |
+
"frame_id": "001194"
|
| 153 |
+
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|
| 154 |
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{
|
| 155 |
+
"index": 30,
|
| 156 |
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"frame_id": "001235"
|
| 157 |
+
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|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001277"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
+
"000041",
|
| 167 |
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"000082",
|
| 168 |
+
"000123",
|
| 169 |
+
"000164",
|
| 170 |
+
"000205",
|
| 171 |
+
"000247",
|
| 172 |
+
"000288",
|
| 173 |
+
"000329",
|
| 174 |
+
"000370",
|
| 175 |
+
"000411",
|
| 176 |
+
"000453",
|
| 177 |
+
"000494",
|
| 178 |
+
"000535",
|
| 179 |
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"000576",
|
| 180 |
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|
| 181 |
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|
| 182 |
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"000700",
|
| 183 |
+
"000741",
|
| 184 |
+
"000782",
|
| 185 |
+
"000823",
|
| 186 |
+
"000865",
|
| 187 |
+
"000906",
|
| 188 |
+
"000947",
|
| 189 |
+
"000988",
|
| 190 |
+
"001029",
|
| 191 |
+
"001071",
|
| 192 |
+
"001112",
|
| 193 |
+
"001153",
|
| 194 |
+
"001194",
|
| 195 |
+
"001235",
|
| 196 |
+
"001277"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0440_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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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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432,
|
| 10 |
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3
|
| 11 |
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|
| 12 |
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"output_dtype": "bfloat16",
|
| 13 |
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|
| 14 |
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32
|
| 15 |
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|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
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"pointcloud_file": "scene0440_00.pt",
|
| 18 |
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"indices_file": "scene0440_00_indices.pt",
|
| 19 |
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"transform_to_world_file": "scene0440_00_to_world.npy",
|
| 20 |
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"coordinate_system": "first_camera_frame",
|
| 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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432,
|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 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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"frame_id": "000371"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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"frame_id": "000408"
|
| 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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"frame_id": "000817"
|
| 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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"frame_id": "001003"
|
| 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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"frame_id": "001077"
|
| 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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"000185",
|
| 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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"000594",
|
| 182 |
+
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|
| 183 |
+
"000668",
|
| 184 |
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"000706",
|
| 185 |
+
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|
| 186 |
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|
| 187 |
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|
| 188 |
+
"000854",
|
| 189 |
+
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|
| 190 |
+
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|
| 191 |
+
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|
| 192 |
+
"001003",
|
| 193 |
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|
| 194 |
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|
| 195 |
+
"001114",
|
| 196 |
+
"001152"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0447_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": "scene0447_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": "scene0447_00.pt",
|
| 18 |
+
"indices_file": "scene0447_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0447_00_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 |
+
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|
| 27 |
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432
|
| 28 |
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],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
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|
| 34 |
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{
|
| 35 |
+
"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000033"
|
| 41 |
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},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
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"frame_id": "000067"
|
| 45 |
+
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|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000100"
|
| 49 |
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},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
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"frame_id": "000134"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000167"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000201"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000234"
|
| 65 |
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|
| 66 |
+
{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000268"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000301"
|
| 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 |
+
"frame_id": "000938"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000971"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001005"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001039"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000033",
|
| 167 |
+
"000067",
|
| 168 |
+
"000100",
|
| 169 |
+
"000134",
|
| 170 |
+
"000167",
|
| 171 |
+
"000201",
|
| 172 |
+
"000234",
|
| 173 |
+
"000268",
|
| 174 |
+
"000301",
|
| 175 |
+
"000335",
|
| 176 |
+
"000368",
|
| 177 |
+
"000402",
|
| 178 |
+
"000435",
|
| 179 |
+
"000469",
|
| 180 |
+
"000502",
|
| 181 |
+
"000536",
|
| 182 |
+
"000569",
|
| 183 |
+
"000603",
|
| 184 |
+
"000636",
|
| 185 |
+
"000670",
|
| 186 |
+
"000703",
|
| 187 |
+
"000737",
|
| 188 |
+
"000770",
|
| 189 |
+
"000804",
|
| 190 |
+
"000837",
|
| 191 |
+
"000871",
|
| 192 |
+
"000904",
|
| 193 |
+
"000938",
|
| 194 |
+
"000971",
|
| 195 |
+
"001005",
|
| 196 |
+
"001039"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0451_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0451_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": "scene0451_01.pt",
|
| 18 |
+
"indices_file": "scene0451_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0451_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": "000062"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000124"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000187"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000249"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
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"index": 5,
|
| 56 |
+
"frame_id": "000312"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000374"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000436"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000499"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000561"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000624"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000686"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
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"frame_id": "000749"
|
| 85 |
+
},
|
| 86 |
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{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000811"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000873"
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
+
"index": 15,
|
| 96 |
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"frame_id": "000936"
|
| 97 |
+
},
|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000998"
|
| 101 |
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},
|
| 102 |
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{
|
| 103 |
+
"index": 17,
|
| 104 |
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"frame_id": "001061"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
+
"index": 18,
|
| 108 |
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"frame_id": "001123"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
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"frame_id": "001185"
|
| 113 |
+
},
|
| 114 |
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{
|
| 115 |
+
"index": 20,
|
| 116 |
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"frame_id": "001248"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001310"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001373"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001435"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001498"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001560"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001622"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001685"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001747"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001810"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001872"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001935"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000062",
|
| 167 |
+
"000124",
|
| 168 |
+
"000187",
|
| 169 |
+
"000249",
|
| 170 |
+
"000312",
|
| 171 |
+
"000374",
|
| 172 |
+
"000436",
|
| 173 |
+
"000499",
|
| 174 |
+
"000561",
|
| 175 |
+
"000624",
|
| 176 |
+
"000686",
|
| 177 |
+
"000749",
|
| 178 |
+
"000811",
|
| 179 |
+
"000873",
|
| 180 |
+
"000936",
|
| 181 |
+
"000998",
|
| 182 |
+
"001061",
|
| 183 |
+
"001123",
|
| 184 |
+
"001185",
|
| 185 |
+
"001248",
|
| 186 |
+
"001310",
|
| 187 |
+
"001373",
|
| 188 |
+
"001435",
|
| 189 |
+
"001498",
|
| 190 |
+
"001560",
|
| 191 |
+
"001622",
|
| 192 |
+
"001685",
|
| 193 |
+
"001747",
|
| 194 |
+
"001810",
|
| 195 |
+
"001872",
|
| 196 |
+
"001935"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0451_03_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0451_03",
|
| 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 |
+
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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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|
| 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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| 63 |
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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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| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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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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| 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/scene0460_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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|
|
|
|
|
|
|
|
|
| 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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|
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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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|
| 34 |
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|
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|
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|
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| 47 |
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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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|
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|
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| 67 |
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|
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|
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|
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|
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|
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|
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|
| 181 |
+
"000447",
|
| 182 |
+
"000479",
|
| 183 |
+
"000511",
|
| 184 |
+
"000543",
|
| 185 |
+
"000575",
|
| 186 |
+
"000607",
|
| 187 |
+
"000639",
|
| 188 |
+
"000671",
|
| 189 |
+
"000703",
|
| 190 |
+
"000735",
|
| 191 |
+
"000767",
|
| 192 |
+
"000799",
|
| 193 |
+
"000831",
|
| 194 |
+
"000863",
|
| 195 |
+
"000895",
|
| 196 |
+
"000959",
|
| 197 |
+
"000991"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0463_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0463_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": "scene0463_01.pt",
|
| 18 |
+
"indices_file": "scene0463_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0463_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": "000034"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000068"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000102"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000137"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000171"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000205"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000239"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000274"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000308"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000342"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000376"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000411"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000445"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000479"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000513"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000548"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000582"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000616"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000650"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000685"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000719"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000753"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000787"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000822"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000856"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000890"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000924"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000959"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000993"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001027"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001062"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000034",
|
| 167 |
+
"000068",
|
| 168 |
+
"000102",
|
| 169 |
+
"000137",
|
| 170 |
+
"000171",
|
| 171 |
+
"000205",
|
| 172 |
+
"000239",
|
| 173 |
+
"000274",
|
| 174 |
+
"000308",
|
| 175 |
+
"000342",
|
| 176 |
+
"000376",
|
| 177 |
+
"000411",
|
| 178 |
+
"000445",
|
| 179 |
+
"000479",
|
| 180 |
+
"000513",
|
| 181 |
+
"000548",
|
| 182 |
+
"000582",
|
| 183 |
+
"000616",
|
| 184 |
+
"000650",
|
| 185 |
+
"000685",
|
| 186 |
+
"000719",
|
| 187 |
+
"000753",
|
| 188 |
+
"000787",
|
| 189 |
+
"000822",
|
| 190 |
+
"000856",
|
| 191 |
+
"000890",
|
| 192 |
+
"000924",
|
| 193 |
+
"000959",
|
| 194 |
+
"000993",
|
| 195 |
+
"001027",
|
| 196 |
+
"001062"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0467_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0467_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": "scene0467_00.pt",
|
| 18 |
+
"indices_file": "scene0467_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0467_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": "000060"
|
| 41 |
+
},
|
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