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- metadata/train/scene0006_01_metadata.json +198 -0
- metadata/train/scene0009_01_metadata.json +198 -0
- metadata/train/scene0010_00_metadata.json +198 -0
- metadata/train/scene0012_02_metadata.json +198 -0
- metadata/train/scene0047_00_metadata.json +198 -0
- metadata/train/scene0059_00_metadata.json +198 -0
- metadata/train/scene0062_02_metadata.json +199 -0
- metadata/train/scene0065_00_metadata.json +199 -0
- metadata/train/scene0068_00_metadata.json +198 -0
- metadata/train/scene0080_01_metadata.json +198 -0
- metadata/train/scene0111_00_metadata.json +199 -0
- metadata/train/scene0114_01_metadata.json +198 -0
- metadata/train/scene0123_01_metadata.json +198 -0
- metadata/train/scene0126_00_metadata.json +198 -0
- metadata/train/scene0136_00_metadata.json +198 -0
- metadata/train/scene0155_02_metadata.json +198 -0
- metadata/train/scene0157_01_metadata.json +199 -0
- metadata/train/scene0158_02_metadata.json +199 -0
- metadata/train/scene0191_02_metadata.json +198 -0
- metadata/train/scene0197_01_metadata.json +198 -0
- metadata/train/scene0200_02_metadata.json +199 -0
- metadata/train/scene0211_00_metadata.json +199 -0
- metadata/train/scene0216_00_metadata.json +198 -0
- metadata/train/scene0224_00_metadata.json +198 -0
- metadata/train/scene0236_00_metadata.json +199 -0
- metadata/train/scene0239_01_metadata.json +198 -0
- metadata/train/scene0241_00_metadata.json +198 -0
- metadata/train/scene0242_00_metadata.json +198 -0
- metadata/train/scene0252_00_metadata.json +198 -0
- metadata/train/scene0261_03_metadata.json +198 -0
- metadata/train/scene0263_00_metadata.json +198 -0
- metadata/train/scene0264_02_metadata.json +198 -0
- metadata/train/scene0269_00_metadata.json +199 -0
- metadata/train/scene0275_00_metadata.json +199 -0
- metadata/train/scene0276_01_metadata.json +198 -0
- metadata/train/scene0283_00_metadata.json +198 -0
- metadata/train/scene0298_00_metadata.json +199 -0
- metadata/train/scene0323_00_metadata.json +199 -0
- metadata/train/scene0325_01_metadata.json +198 -0
- metadata/train/scene0326_00_metadata.json +198 -0
- metadata/train/scene0348_02_metadata.json +199 -0
- metadata/train/scene0350_00_metadata.json +198 -0
- metadata/train/scene0352_02_metadata.json +198 -0
- metadata/train/scene0374_00_metadata.json +198 -0
- metadata/train/scene0392_01_metadata.json +199 -0
- metadata/train/scene0393_02_metadata.json +198 -0
- metadata/train/scene0399_00_metadata.json +198 -0
- metadata/train/scene0439_00_metadata.json +198 -0
- metadata/train/scene0446_01_metadata.json +199 -0
- metadata/train/scene0449_01_metadata.json +198 -0
metadata/train/scene0006_01_metadata.json
ADDED
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| 1 |
+
{
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| 2 |
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"scene_name": "scene0006_01",
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| 3 |
+
"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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| 7 |
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32,
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| 8 |
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432,
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| 9 |
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432,
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| 10 |
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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 |
+
"valid_indices_dtype": "int32",
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| 17 |
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"pointcloud_file": "scene0006_01.pt",
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| 18 |
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"indices_file": "scene0006_01_indices.pt",
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| 19 |
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"transform_to_world_file": "scene0006_01_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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| 27 |
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432
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| 28 |
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],
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| 29 |
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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": "000138"
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| 45 |
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},
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{
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"index": 3,
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| 48 |
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"frame_id": "000208"
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| 49 |
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},
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| 50 |
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{
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| 51 |
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"index": 4,
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| 52 |
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"frame_id": "000277"
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| 53 |
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},
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| 54 |
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{
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"index": 5,
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| 56 |
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"frame_id": "000347"
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| 57 |
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},
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| 58 |
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{
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| 59 |
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"index": 6,
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| 60 |
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"frame_id": "000416"
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},
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{
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"index": 7,
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| 64 |
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"frame_id": "000486"
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},
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{
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"index": 8,
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"frame_id": "000555"
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},
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{
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"index": 9,
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| 72 |
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"frame_id": "000625"
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| 73 |
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},
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| 74 |
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{
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| 75 |
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"index": 10,
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| 76 |
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"frame_id": "000694"
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| 77 |
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| 78 |
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{
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"index": 11,
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| 80 |
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"frame_id": "000764"
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| 81 |
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},
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| 82 |
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{
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| 83 |
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"index": 12,
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| 84 |
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"frame_id": "000833"
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| 85 |
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| 86 |
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| 87 |
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"index": 13,
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| 88 |
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"frame_id": "000903"
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| 89 |
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| 90 |
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"index": 14,
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| 92 |
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"frame_id": "000972"
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| 93 |
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| 94 |
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{
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| 95 |
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"index": 15,
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| 96 |
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"frame_id": "001042"
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| 97 |
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| 98 |
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| 99 |
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"index": 16,
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| 100 |
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"frame_id": "001111"
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| 101 |
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| 102 |
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"index": 17,
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| 104 |
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"frame_id": "001181"
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| 105 |
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| 106 |
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"index": 18,
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| 108 |
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"frame_id": "001250"
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| 109 |
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| 110 |
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| 111 |
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"index": 19,
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| 112 |
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"frame_id": "001320"
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| 114 |
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| 115 |
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"index": 20,
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| 116 |
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"frame_id": "001389"
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| 117 |
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| 118 |
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| 119 |
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"index": 21,
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| 120 |
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"frame_id": "001459"
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| 121 |
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| 122 |
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"index": 22,
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| 124 |
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"frame_id": "001528"
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| 125 |
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| 126 |
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| 127 |
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| 128 |
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"frame_id": "001598"
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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": "001667"
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| 133 |
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| 134 |
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"index": 25,
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| 136 |
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"frame_id": "001737"
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| 137 |
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| 138 |
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{
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| 139 |
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"index": 26,
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| 140 |
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"frame_id": "001806"
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| 141 |
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| 142 |
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{
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| 143 |
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"index": 27,
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| 144 |
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"frame_id": "001876"
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| 145 |
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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": "001945"
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| 149 |
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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": "002015"
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| 153 |
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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": "002084"
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| 157 |
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| 158 |
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{
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| 159 |
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"index": 31,
|
| 160 |
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"frame_id": "002154"
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| 161 |
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}
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| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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"000000",
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| 166 |
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"000069",
|
| 167 |
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"000138",
|
| 168 |
+
"000208",
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| 169 |
+
"000277",
|
| 170 |
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"000347",
|
| 171 |
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"000416",
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| 172 |
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"000486",
|
| 173 |
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"000555",
|
| 174 |
+
"000625",
|
| 175 |
+
"000694",
|
| 176 |
+
"000764",
|
| 177 |
+
"000833",
|
| 178 |
+
"000903",
|
| 179 |
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"000972",
|
| 180 |
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"001042",
|
| 181 |
+
"001111",
|
| 182 |
+
"001181",
|
| 183 |
+
"001250",
|
| 184 |
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"001320",
|
| 185 |
+
"001389",
|
| 186 |
+
"001459",
|
| 187 |
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"001528",
|
| 188 |
+
"001598",
|
| 189 |
+
"001667",
|
| 190 |
+
"001737",
|
| 191 |
+
"001806",
|
| 192 |
+
"001876",
|
| 193 |
+
"001945",
|
| 194 |
+
"002015",
|
| 195 |
+
"002084",
|
| 196 |
+
"002154"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0009_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
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|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0009_01",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
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| 14 |
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|
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| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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| 24 |
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| 28 |
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| 30 |
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|
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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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| 50 |
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| 51 |
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| 55 |
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| 71 |
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| 73 |
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| 74 |
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| 75 |
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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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| 103 |
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| 106 |
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| 111 |
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| 114 |
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| 115 |
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| 116 |
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|
| 117 |
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| 119 |
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|
| 121 |
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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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| 131 |
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| 139 |
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|
| 141 |
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| 142 |
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| 143 |
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|
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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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| 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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|
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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/scene0010_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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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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|
| 11 |
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],
|
| 12 |
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"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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"pointcloud_file": "scene0010_00.pt",
|
| 18 |
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"indices_file": "scene0010_00_indices.pt",
|
| 19 |
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"transform_to_world_file": "scene0010_00_to_world.npy",
|
| 20 |
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|
| 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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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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{
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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{
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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| 83 |
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|
| 84 |
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|
| 85 |
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|
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| 87 |
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|
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| 89 |
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|
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|
| 93 |
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| 94 |
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|
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|
| 97 |
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|
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|
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|
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|
| 109 |
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|
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|
| 113 |
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|
| 114 |
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|
| 116 |
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|
| 117 |
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|
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|
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| 125 |
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|
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|
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|
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|
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|
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|
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|
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|
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"000567",
|
| 173 |
+
"000648",
|
| 174 |
+
"000729",
|
| 175 |
+
"000810",
|
| 176 |
+
"000891",
|
| 177 |
+
"000972",
|
| 178 |
+
"001053",
|
| 179 |
+
"001134",
|
| 180 |
+
"001215",
|
| 181 |
+
"001296",
|
| 182 |
+
"001377",
|
| 183 |
+
"001458",
|
| 184 |
+
"001539",
|
| 185 |
+
"001620",
|
| 186 |
+
"001701",
|
| 187 |
+
"001782",
|
| 188 |
+
"001863",
|
| 189 |
+
"001944",
|
| 190 |
+
"002025",
|
| 191 |
+
"002106",
|
| 192 |
+
"002187",
|
| 193 |
+
"002268",
|
| 194 |
+
"002349",
|
| 195 |
+
"002430",
|
| 196 |
+
"002512"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0012_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0012_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": "scene0012_02.pt",
|
| 18 |
+
"indices_file": "scene0012_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0012_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": "000145"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000290"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000435"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000580"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000725"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000870"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "001015"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "001160"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "001305"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "001450"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "001596"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "001741"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "001886"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "002031"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "002176"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "002321"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "002466"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "002611"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "002756"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "002901"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "003047"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "003192"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "003337"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "003482"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "003627"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "003772"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "003917"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "004062"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "004207"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "004352"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "004498"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000145",
|
| 167 |
+
"000290",
|
| 168 |
+
"000435",
|
| 169 |
+
"000580",
|
| 170 |
+
"000725",
|
| 171 |
+
"000870",
|
| 172 |
+
"001015",
|
| 173 |
+
"001160",
|
| 174 |
+
"001305",
|
| 175 |
+
"001450",
|
| 176 |
+
"001596",
|
| 177 |
+
"001741",
|
| 178 |
+
"001886",
|
| 179 |
+
"002031",
|
| 180 |
+
"002176",
|
| 181 |
+
"002321",
|
| 182 |
+
"002466",
|
| 183 |
+
"002611",
|
| 184 |
+
"002756",
|
| 185 |
+
"002901",
|
| 186 |
+
"003047",
|
| 187 |
+
"003192",
|
| 188 |
+
"003337",
|
| 189 |
+
"003482",
|
| 190 |
+
"003627",
|
| 191 |
+
"003772",
|
| 192 |
+
"003917",
|
| 193 |
+
"004062",
|
| 194 |
+
"004207",
|
| 195 |
+
"004352",
|
| 196 |
+
"004498"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0047_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0047_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": "scene0047_00.pt",
|
| 18 |
+
"indices_file": "scene0047_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0047_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 |
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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": "000044"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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|
| 44 |
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"frame_id": "000088"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000132"
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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"frame_id": "000176"
|
| 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": "000308"
|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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"frame_id": "000352"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000396"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000440"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000484"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000528"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000572"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000616"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000660"
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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"frame_id": "000704"
|
| 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": "000836"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000880"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000924"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "000968"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "001012"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "001056"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "001100"
|
| 137 |
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|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "001144"
|
| 141 |
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},
|
| 142 |
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{
|
| 143 |
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"index": 27,
|
| 144 |
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"frame_id": "001188"
|
| 145 |
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},
|
| 146 |
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{
|
| 147 |
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"index": 28,
|
| 148 |
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"frame_id": "001232"
|
| 149 |
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},
|
| 150 |
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{
|
| 151 |
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"index": 29,
|
| 152 |
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"frame_id": "001276"
|
| 153 |
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},
|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "001320"
|
| 157 |
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},
|
| 158 |
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{
|
| 159 |
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"index": 31,
|
| 160 |
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"frame_id": "001365"
|
| 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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"000000",
|
| 166 |
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|
| 167 |
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|
| 168 |
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"000132",
|
| 169 |
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"000176",
|
| 170 |
+
"000220",
|
| 171 |
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"000264",
|
| 172 |
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"000308",
|
| 173 |
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"000352",
|
| 174 |
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"000396",
|
| 175 |
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"000440",
|
| 176 |
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"000484",
|
| 177 |
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"000528",
|
| 178 |
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"000572",
|
| 179 |
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"000616",
|
| 180 |
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"000660",
|
| 181 |
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"000704",
|
| 182 |
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"000748",
|
| 183 |
+
"000792",
|
| 184 |
+
"000836",
|
| 185 |
+
"000880",
|
| 186 |
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"000924",
|
| 187 |
+
"000968",
|
| 188 |
+
"001012",
|
| 189 |
+
"001056",
|
| 190 |
+
"001100",
|
| 191 |
+
"001144",
|
| 192 |
+
"001188",
|
| 193 |
+
"001232",
|
| 194 |
+
"001276",
|
| 195 |
+
"001320",
|
| 196 |
+
"001365"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0059_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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0059_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 |
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"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0059_00.pt",
|
| 18 |
+
"indices_file": "scene0059_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0059_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 |
+
},
|
| 38 |
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{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000058"
|
| 41 |
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},
|
| 42 |
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{
|
| 43 |
+
"index": 2,
|
| 44 |
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"frame_id": "000116"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
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"frame_id": "000174"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000233"
|
| 53 |
+
},
|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000291"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000349"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000407"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000466"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000524"
|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000582"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000640"
|
| 81 |
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},
|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000699"
|
| 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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"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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|
| 141 |
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|
| 142 |
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{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001572"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
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"frame_id": "001631"
|
| 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 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001747"
|
| 157 |
+
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|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001806"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
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"000058",
|
| 167 |
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"000116",
|
| 168 |
+
"000174",
|
| 169 |
+
"000233",
|
| 170 |
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"000291",
|
| 171 |
+
"000349",
|
| 172 |
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"000407",
|
| 173 |
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"000466",
|
| 174 |
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"000524",
|
| 175 |
+
"000582",
|
| 176 |
+
"000640",
|
| 177 |
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|
| 178 |
+
"000757",
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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"000990",
|
| 183 |
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"001048",
|
| 184 |
+
"001106",
|
| 185 |
+
"001165",
|
| 186 |
+
"001223",
|
| 187 |
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"001281",
|
| 188 |
+
"001339",
|
| 189 |
+
"001398",
|
| 190 |
+
"001456",
|
| 191 |
+
"001514",
|
| 192 |
+
"001572",
|
| 193 |
+
"001631",
|
| 194 |
+
"001689",
|
| 195 |
+
"001747",
|
| 196 |
+
"001806"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0062_02_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0062_02",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 31,
|
| 5 |
+
"invalid_frames_count": 1,
|
| 6 |
+
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|
| 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": "scene0062_02.pt",
|
| 18 |
+
"indices_file": "scene0062_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0062_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 |
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"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000024"
|
| 41 |
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},
|
| 42 |
+
{
|
| 43 |
+
"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": "000096"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000120"
|
| 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": "000169"
|
| 65 |
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},
|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000193"
|
| 69 |
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},
|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000217"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000241"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
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"frame_id": "000266"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
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"frame_id": "000290"
|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000314"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000338"
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000362"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000387"
|
| 101 |
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},
|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000411"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "000435"
|
| 109 |
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},
|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000459"
|
| 113 |
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},
|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000483"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000508"
|
| 121 |
+
},
|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
+
"frame_id": "000532"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
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"index": 23,
|
| 128 |
+
"frame_id": "000556"
|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000580"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000604"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000629"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000653"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000677"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000701"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
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"frame_id": "000725"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 31,
|
| 162 |
+
"frame_id": "000750",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000024",
|
| 169 |
+
"000048",
|
| 170 |
+
"000072",
|
| 171 |
+
"000096",
|
| 172 |
+
"000120",
|
| 173 |
+
"000145",
|
| 174 |
+
"000169",
|
| 175 |
+
"000193",
|
| 176 |
+
"000217",
|
| 177 |
+
"000241",
|
| 178 |
+
"000266",
|
| 179 |
+
"000290",
|
| 180 |
+
"000314",
|
| 181 |
+
"000338",
|
| 182 |
+
"000362",
|
| 183 |
+
"000387",
|
| 184 |
+
"000411",
|
| 185 |
+
"000435",
|
| 186 |
+
"000459",
|
| 187 |
+
"000483",
|
| 188 |
+
"000508",
|
| 189 |
+
"000532",
|
| 190 |
+
"000556",
|
| 191 |
+
"000580",
|
| 192 |
+
"000604",
|
| 193 |
+
"000629",
|
| 194 |
+
"000653",
|
| 195 |
+
"000677",
|
| 196 |
+
"000701",
|
| 197 |
+
"000725"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0065_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0065_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": "scene0065_00.pt",
|
| 18 |
+
"indices_file": "scene0065_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0065_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": "000033"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000066"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000099"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000132"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000165"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000198"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000231"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
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"frame_id": "000264"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000297"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000330"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000363"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000396"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000429"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000462"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000495"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000528"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000561"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "000594"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000627"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000660"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000693"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 23,
|
| 124 |
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"frame_id": "000759"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 24,
|
| 128 |
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"frame_id": "000792"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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|
| 132 |
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"frame_id": "000825"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 26,
|
| 136 |
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"frame_id": "000858"
|
| 137 |
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|
| 138 |
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{
|
| 139 |
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"index": 27,
|
| 140 |
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"frame_id": "000891"
|
| 141 |
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|
| 142 |
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{
|
| 143 |
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"index": 28,
|
| 144 |
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"frame_id": "000924"
|
| 145 |
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},
|
| 146 |
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{
|
| 147 |
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"index": 29,
|
| 148 |
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"frame_id": "000957"
|
| 149 |
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},
|
| 150 |
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{
|
| 151 |
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"index": 30,
|
| 152 |
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"frame_id": "000990"
|
| 153 |
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},
|
| 154 |
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{
|
| 155 |
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"index": 31,
|
| 156 |
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"frame_id": "001024"
|
| 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": 22,
|
| 162 |
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"frame_id": "000726",
|
| 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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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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"000132",
|
| 172 |
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"000165",
|
| 173 |
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|
| 174 |
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"000231",
|
| 175 |
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"000264",
|
| 176 |
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"000297",
|
| 177 |
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"000330",
|
| 178 |
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"000363",
|
| 179 |
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"000396",
|
| 180 |
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"000429",
|
| 181 |
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"000462",
|
| 182 |
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"000495",
|
| 183 |
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"000528",
|
| 184 |
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"000561",
|
| 185 |
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"000594",
|
| 186 |
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"000627",
|
| 187 |
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"000660",
|
| 188 |
+
"000693",
|
| 189 |
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"000759",
|
| 190 |
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"000792",
|
| 191 |
+
"000825",
|
| 192 |
+
"000858",
|
| 193 |
+
"000891",
|
| 194 |
+
"000924",
|
| 195 |
+
"000957",
|
| 196 |
+
"000990",
|
| 197 |
+
"001024"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0068_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": "scene0068_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 |
+
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": "scene0068_00.pt",
|
| 18 |
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"indices_file": "scene0068_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0068_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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"frame_id": "000000"
|
| 24 |
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|
| 25 |
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"image_size": [
|
| 26 |
+
432,
|
| 27 |
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432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
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{
|
| 35 |
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"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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},
|
| 38 |
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{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000035"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000071"
|
| 45 |
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},
|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000107"
|
| 49 |
+
},
|
| 50 |
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{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000143"
|
| 53 |
+
},
|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000179"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000215"
|
| 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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"frame_id": "000286"
|
| 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": "000358"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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"frame_id": "000394"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000430"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000465"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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|
| 92 |
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"frame_id": "000501"
|
| 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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"index": 19,
|
| 112 |
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"frame_id": "000680"
|
| 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": "000752"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "000788"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "000824"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "000860"
|
| 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": "000931"
|
| 141 |
+
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|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000967"
|
| 145 |
+
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|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001003"
|
| 149 |
+
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|
| 150 |
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{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001039"
|
| 153 |
+
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|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001075"
|
| 157 |
+
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|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001111"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
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"000035",
|
| 167 |
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"000071",
|
| 168 |
+
"000107",
|
| 169 |
+
"000143",
|
| 170 |
+
"000179",
|
| 171 |
+
"000215",
|
| 172 |
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"000250",
|
| 173 |
+
"000286",
|
| 174 |
+
"000322",
|
| 175 |
+
"000358",
|
| 176 |
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"000394",
|
| 177 |
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"000430",
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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"000573",
|
| 182 |
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|
| 183 |
+
"000645",
|
| 184 |
+
"000680",
|
| 185 |
+
"000716",
|
| 186 |
+
"000752",
|
| 187 |
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"000788",
|
| 188 |
+
"000824",
|
| 189 |
+
"000860",
|
| 190 |
+
"000895",
|
| 191 |
+
"000931",
|
| 192 |
+
"000967",
|
| 193 |
+
"001003",
|
| 194 |
+
"001039",
|
| 195 |
+
"001075",
|
| 196 |
+
"001111"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0080_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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0080_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 |
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|
| 9 |
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432,
|
| 10 |
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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": "scene0080_01.pt",
|
| 18 |
+
"indices_file": "scene0080_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0080_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
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|
| 25 |
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"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
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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": "000026"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000052"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000079"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000105"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000131"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000158"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000184"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000211"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000237"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000263"
|
| 77 |
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},
|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000290"
|
| 81 |
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},
|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000316"
|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000343"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000369"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000395"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000422"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000448"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "000474"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000501"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000527"
|
| 117 |
+
},
|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000554"
|
| 121 |
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},
|
| 122 |
+
{
|
| 123 |
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"index": 22,
|
| 124 |
+
"frame_id": "000580"
|
| 125 |
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},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
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"frame_id": "000606"
|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000633"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
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"frame_id": "000659"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000686"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000712"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000738"
|
| 149 |
+
},
|
| 150 |
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{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000765"
|
| 153 |
+
},
|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "000791"
|
| 157 |
+
},
|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000818"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
+
"000026",
|
| 167 |
+
"000052",
|
| 168 |
+
"000079",
|
| 169 |
+
"000105",
|
| 170 |
+
"000131",
|
| 171 |
+
"000158",
|
| 172 |
+
"000184",
|
| 173 |
+
"000211",
|
| 174 |
+
"000237",
|
| 175 |
+
"000263",
|
| 176 |
+
"000290",
|
| 177 |
+
"000316",
|
| 178 |
+
"000343",
|
| 179 |
+
"000369",
|
| 180 |
+
"000395",
|
| 181 |
+
"000422",
|
| 182 |
+
"000448",
|
| 183 |
+
"000474",
|
| 184 |
+
"000501",
|
| 185 |
+
"000527",
|
| 186 |
+
"000554",
|
| 187 |
+
"000580",
|
| 188 |
+
"000606",
|
| 189 |
+
"000633",
|
| 190 |
+
"000659",
|
| 191 |
+
"000686",
|
| 192 |
+
"000712",
|
| 193 |
+
"000738",
|
| 194 |
+
"000765",
|
| 195 |
+
"000791",
|
| 196 |
+
"000818"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0111_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0111_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": "scene0111_00.pt",
|
| 18 |
+
"indices_file": "scene0111_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0111_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": "000081"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000163"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000245"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000327"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000409"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000491"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000573"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 10,
|
| 68 |
+
"frame_id": "000819"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 11,
|
| 72 |
+
"frame_id": "000900"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 12,
|
| 76 |
+
"frame_id": "000982"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 13,
|
| 80 |
+
"frame_id": "001064"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 14,
|
| 84 |
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"frame_id": "001146"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 15,
|
| 88 |
+
"frame_id": "001228"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 16,
|
| 92 |
+
"frame_id": "001310"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 17,
|
| 96 |
+
"frame_id": "001392"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 18,
|
| 100 |
+
"frame_id": "001474"
|
| 101 |
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},
|
| 102 |
+
{
|
| 103 |
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"index": 19,
|
| 104 |
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"frame_id": "001556"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"index": 20,
|
| 108 |
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"frame_id": "001638"
|
| 109 |
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},
|
| 110 |
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{
|
| 111 |
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"index": 21,
|
| 112 |
+
"frame_id": "001719"
|
| 113 |
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},
|
| 114 |
+
{
|
| 115 |
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"index": 22,
|
| 116 |
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"frame_id": "001801"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 23,
|
| 120 |
+
"frame_id": "001883"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 24,
|
| 124 |
+
"frame_id": "001965"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 25,
|
| 128 |
+
"frame_id": "002047"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 26,
|
| 132 |
+
"frame_id": "002129"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 27,
|
| 136 |
+
"frame_id": "002211"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 28,
|
| 140 |
+
"frame_id": "002293"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 29,
|
| 144 |
+
"frame_id": "002375"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 30,
|
| 148 |
+
"frame_id": "002457"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 31,
|
| 152 |
+
"frame_id": "002539"
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
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"invalid_views": [
|
| 156 |
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{
|
| 157 |
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"index": 8,
|
| 158 |
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"frame_id": "000655",
|
| 159 |
+
"reason": "invalid_pose"
|
| 160 |
+
},
|
| 161 |
+
{
|
| 162 |
+
"index": 9,
|
| 163 |
+
"frame_id": "000737",
|
| 164 |
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"reason": "invalid_pose"
|
| 165 |
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|
| 166 |
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],
|
| 167 |
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"frame_order": [
|
| 168 |
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"000000",
|
| 169 |
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|
| 170 |
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|
| 171 |
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"000245",
|
| 172 |
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|
| 173 |
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"000409",
|
| 174 |
+
"000491",
|
| 175 |
+
"000573",
|
| 176 |
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"000819",
|
| 177 |
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"000900",
|
| 178 |
+
"000982",
|
| 179 |
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"001064",
|
| 180 |
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"001146",
|
| 181 |
+
"001228",
|
| 182 |
+
"001310",
|
| 183 |
+
"001392",
|
| 184 |
+
"001474",
|
| 185 |
+
"001556",
|
| 186 |
+
"001638",
|
| 187 |
+
"001719",
|
| 188 |
+
"001801",
|
| 189 |
+
"001883",
|
| 190 |
+
"001965",
|
| 191 |
+
"002047",
|
| 192 |
+
"002129",
|
| 193 |
+
"002211",
|
| 194 |
+
"002293",
|
| 195 |
+
"002375",
|
| 196 |
+
"002457",
|
| 197 |
+
"002539"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0114_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0114_01",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
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"invalid_frames_count": 0,
|
| 6 |
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"output_shape": [
|
| 7 |
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|
| 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": "scene0114_01.pt",
|
| 18 |
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"indices_file": "scene0114_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0114_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 |
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432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
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{
|
| 35 |
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"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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},
|
| 38 |
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{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000062"
|
| 41 |
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},
|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000125"
|
| 45 |
+
},
|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000187"
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
+
"index": 4,
|
| 52 |
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"frame_id": "000250"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000312"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000375"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000500"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 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": "000625"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000687"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000750"
|
| 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": "001000"
|
| 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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|
| 112 |
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"frame_id": "001187"
|
| 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": "001312"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "001375"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
+
"index": 23,
|
| 128 |
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"frame_id": "001437"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "001500"
|
| 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": "001625"
|
| 141 |
+
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|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001687"
|
| 145 |
+
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|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001750"
|
| 149 |
+
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|
| 150 |
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{
|
| 151 |
+
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|
| 152 |
+
"frame_id": "001812"
|
| 153 |
+
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|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001875"
|
| 157 |
+
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|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001938"
|
| 161 |
+
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|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
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|
| 167 |
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"000125",
|
| 168 |
+
"000187",
|
| 169 |
+
"000250",
|
| 170 |
+
"000312",
|
| 171 |
+
"000375",
|
| 172 |
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"000437",
|
| 173 |
+
"000500",
|
| 174 |
+
"000562",
|
| 175 |
+
"000625",
|
| 176 |
+
"000687",
|
| 177 |
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"000750",
|
| 178 |
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"000812",
|
| 179 |
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"000875",
|
| 180 |
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|
| 181 |
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"001000",
|
| 182 |
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"001062",
|
| 183 |
+
"001125",
|
| 184 |
+
"001187",
|
| 185 |
+
"001250",
|
| 186 |
+
"001312",
|
| 187 |
+
"001375",
|
| 188 |
+
"001437",
|
| 189 |
+
"001500",
|
| 190 |
+
"001562",
|
| 191 |
+
"001625",
|
| 192 |
+
"001687",
|
| 193 |
+
"001750",
|
| 194 |
+
"001812",
|
| 195 |
+
"001875",
|
| 196 |
+
"001938"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0123_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": "scene0123_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 |
+
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|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
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|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
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],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0123_01.pt",
|
| 18 |
+
"indices_file": "scene0123_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0123_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 |
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|
| 25 |
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"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
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": "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": "000049"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000074"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000098"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000123"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000148"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000172"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000197"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000222"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000246"
|
| 77 |
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},
|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000271"
|
| 81 |
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},
|
| 82 |
+
{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000296"
|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000320"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000345"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000370"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000394"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000419"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "000444"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000468"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000493"
|
| 117 |
+
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000518"
|
| 121 |
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},
|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "000542"
|
| 125 |
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},
|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "000567"
|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "000592"
|
| 133 |
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},
|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "000616"
|
| 137 |
+
},
|
| 138 |
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{
|
| 139 |
+
"index": 26,
|
| 140 |
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"frame_id": "000641"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000666"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000690"
|
| 149 |
+
},
|
| 150 |
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{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000715"
|
| 153 |
+
},
|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "000740"
|
| 157 |
+
},
|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000765"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
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"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
+
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|
| 167 |
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"000049",
|
| 168 |
+
"000074",
|
| 169 |
+
"000098",
|
| 170 |
+
"000123",
|
| 171 |
+
"000148",
|
| 172 |
+
"000172",
|
| 173 |
+
"000197",
|
| 174 |
+
"000222",
|
| 175 |
+
"000246",
|
| 176 |
+
"000271",
|
| 177 |
+
"000296",
|
| 178 |
+
"000320",
|
| 179 |
+
"000345",
|
| 180 |
+
"000370",
|
| 181 |
+
"000394",
|
| 182 |
+
"000419",
|
| 183 |
+
"000444",
|
| 184 |
+
"000468",
|
| 185 |
+
"000493",
|
| 186 |
+
"000518",
|
| 187 |
+
"000542",
|
| 188 |
+
"000567",
|
| 189 |
+
"000592",
|
| 190 |
+
"000616",
|
| 191 |
+
"000641",
|
| 192 |
+
"000666",
|
| 193 |
+
"000690",
|
| 194 |
+
"000715",
|
| 195 |
+
"000740",
|
| 196 |
+
"000765"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0126_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0126_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": "scene0126_00.pt",
|
| 18 |
+
"indices_file": "scene0126_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0126_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": "000053"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000107"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000160"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000214"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000268"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000321"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000375"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000428"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000482"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000536"
|
| 77 |
+
},
|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000589"
|
| 81 |
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|
| 82 |
+
{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000643"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
+
"index": 13,
|
| 88 |
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"frame_id": "000696"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000750"
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
+
"frame_id": "000804"
|
| 97 |
+
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|
| 98 |
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{
|
| 99 |
+
"index": 16,
|
| 100 |
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"frame_id": "000857"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000911"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "000965"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "001018"
|
| 113 |
+
},
|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "001072"
|
| 117 |
+
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|
| 118 |
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{
|
| 119 |
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|
| 120 |
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"frame_id": "001125"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "001179"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "001233"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "001286"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001340"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001393"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001447"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001501"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001554"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001608"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001662"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000053",
|
| 167 |
+
"000107",
|
| 168 |
+
"000160",
|
| 169 |
+
"000214",
|
| 170 |
+
"000268",
|
| 171 |
+
"000321",
|
| 172 |
+
"000375",
|
| 173 |
+
"000428",
|
| 174 |
+
"000482",
|
| 175 |
+
"000536",
|
| 176 |
+
"000589",
|
| 177 |
+
"000643",
|
| 178 |
+
"000696",
|
| 179 |
+
"000750",
|
| 180 |
+
"000804",
|
| 181 |
+
"000857",
|
| 182 |
+
"000911",
|
| 183 |
+
"000965",
|
| 184 |
+
"001018",
|
| 185 |
+
"001072",
|
| 186 |
+
"001125",
|
| 187 |
+
"001179",
|
| 188 |
+
"001233",
|
| 189 |
+
"001286",
|
| 190 |
+
"001340",
|
| 191 |
+
"001393",
|
| 192 |
+
"001447",
|
| 193 |
+
"001501",
|
| 194 |
+
"001554",
|
| 195 |
+
"001608",
|
| 196 |
+
"001662"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0136_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0136_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": "scene0136_00.pt",
|
| 18 |
+
"indices_file": "scene0136_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0136_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": "000032"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000065"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000097"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000130"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000162"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000195"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000227"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000260"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000292"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000325"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000357"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
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"frame_id": "000390"
|
| 85 |
+
},
|
| 86 |
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{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000422"
|
| 89 |
+
},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000455"
|
| 93 |
+
},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000487"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000520"
|
| 101 |
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},
|
| 102 |
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{
|
| 103 |
+
"index": 17,
|
| 104 |
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"frame_id": "000552"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "000585"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000617"
|
| 113 |
+
},
|
| 114 |
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{
|
| 115 |
+
"index": 20,
|
| 116 |
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"frame_id": "000650"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000682"
|
| 121 |
+
},
|
| 122 |
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{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000715"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000747"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000780"
|
| 133 |
+
},
|
| 134 |
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{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000812"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000845"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000877"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000910"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000942"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000975"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001008"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000032",
|
| 167 |
+
"000065",
|
| 168 |
+
"000097",
|
| 169 |
+
"000130",
|
| 170 |
+
"000162",
|
| 171 |
+
"000195",
|
| 172 |
+
"000227",
|
| 173 |
+
"000260",
|
| 174 |
+
"000292",
|
| 175 |
+
"000325",
|
| 176 |
+
"000357",
|
| 177 |
+
"000390",
|
| 178 |
+
"000422",
|
| 179 |
+
"000455",
|
| 180 |
+
"000487",
|
| 181 |
+
"000520",
|
| 182 |
+
"000552",
|
| 183 |
+
"000585",
|
| 184 |
+
"000617",
|
| 185 |
+
"000650",
|
| 186 |
+
"000682",
|
| 187 |
+
"000715",
|
| 188 |
+
"000747",
|
| 189 |
+
"000780",
|
| 190 |
+
"000812",
|
| 191 |
+
"000845",
|
| 192 |
+
"000877",
|
| 193 |
+
"000910",
|
| 194 |
+
"000942",
|
| 195 |
+
"000975",
|
| 196 |
+
"001008"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0155_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
| 1 |
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|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 7 |
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|
| 10 |
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|
| 11 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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| 24 |
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|
| 28 |
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| 29 |
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| 30 |
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|
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|
| 32 |
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| 33 |
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|
| 34 |
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| 35 |
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|
| 36 |
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| 37 |
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| 38 |
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| 39 |
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|
| 40 |
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|
| 41 |
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| 42 |
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| 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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| 53 |
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| 55 |
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| 56 |
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|
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| 58 |
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| 59 |
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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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|
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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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|
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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| 150 |
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| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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| 155 |
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|
| 156 |
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|
| 157 |
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| 158 |
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| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
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|
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|
| 169 |
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| 170 |
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|
| 171 |
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|
| 172 |
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| 173 |
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| 174 |
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|
| 175 |
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|
| 176 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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| 186 |
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| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
+
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|
| 197 |
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|
| 198 |
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}
|
metadata/train/scene0157_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
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|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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432,
|
| 9 |
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432,
|
| 10 |
+
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|
| 11 |
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],
|
| 12 |
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"output_dtype": "bfloat16",
|
| 13 |
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|
| 14 |
+
31
|
| 15 |
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],
|
| 16 |
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|
| 17 |
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"pointcloud_file": "scene0157_01.pt",
|
| 18 |
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"indices_file": "scene0157_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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480
|
| 32 |
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|
| 33 |
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|
| 34 |
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{
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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{
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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| 83 |
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|
| 85 |
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|
| 86 |
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| 87 |
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|
| 88 |
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|
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|
| 90 |
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|
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|
| 93 |
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|
| 94 |
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|
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|
| 97 |
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|
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|
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|
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|
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|
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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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| 121 |
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|
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|
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| 129 |
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|
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|
| 133 |
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|
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|
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|
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|
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|
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|
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| 157 |
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|
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|
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|
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|
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"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000022",
|
| 169 |
+
"000044",
|
| 170 |
+
"000066",
|
| 171 |
+
"000089",
|
| 172 |
+
"000111",
|
| 173 |
+
"000133",
|
| 174 |
+
"000156",
|
| 175 |
+
"000178",
|
| 176 |
+
"000200",
|
| 177 |
+
"000223",
|
| 178 |
+
"000245",
|
| 179 |
+
"000267",
|
| 180 |
+
"000290",
|
| 181 |
+
"000312",
|
| 182 |
+
"000334",
|
| 183 |
+
"000357",
|
| 184 |
+
"000379",
|
| 185 |
+
"000401",
|
| 186 |
+
"000424",
|
| 187 |
+
"000446",
|
| 188 |
+
"000468",
|
| 189 |
+
"000491",
|
| 190 |
+
"000513",
|
| 191 |
+
"000535",
|
| 192 |
+
"000558",
|
| 193 |
+
"000580",
|
| 194 |
+
"000602",
|
| 195 |
+
"000625",
|
| 196 |
+
"000669",
|
| 197 |
+
"000692"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0158_02_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
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|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0158_02",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 31,
|
| 5 |
+
"invalid_frames_count": 1,
|
| 6 |
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"output_shape": [
|
| 7 |
+
31,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
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"valid_indices_shape": [
|
| 14 |
+
31
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0158_02.pt",
|
| 18 |
+
"indices_file": "scene0158_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0158_02_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 |
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"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000049"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000098"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
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"frame_id": "000148"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000197"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000246"
|
| 57 |
+
},
|
| 58 |
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{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000296"
|
| 61 |
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},
|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000345"
|
| 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": "000444"
|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000493"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000542"
|
| 81 |
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},
|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000592"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000641"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000690"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000740"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000789"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000839"
|
| 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": "000937"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000987"
|
| 117 |
+
},
|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "001036"
|
| 121 |
+
},
|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "001085"
|
| 125 |
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|
| 126 |
+
{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "001135"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "001184"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "001233"
|
| 137 |
+
},
|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "001283"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001332"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001381"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001431"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001480"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 31,
|
| 162 |
+
"frame_id": "001530",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000049",
|
| 169 |
+
"000098",
|
| 170 |
+
"000148",
|
| 171 |
+
"000197",
|
| 172 |
+
"000246",
|
| 173 |
+
"000296",
|
| 174 |
+
"000345",
|
| 175 |
+
"000394",
|
| 176 |
+
"000444",
|
| 177 |
+
"000493",
|
| 178 |
+
"000542",
|
| 179 |
+
"000592",
|
| 180 |
+
"000641",
|
| 181 |
+
"000690",
|
| 182 |
+
"000740",
|
| 183 |
+
"000789",
|
| 184 |
+
"000839",
|
| 185 |
+
"000888",
|
| 186 |
+
"000937",
|
| 187 |
+
"000987",
|
| 188 |
+
"001036",
|
| 189 |
+
"001085",
|
| 190 |
+
"001135",
|
| 191 |
+
"001184",
|
| 192 |
+
"001233",
|
| 193 |
+
"001283",
|
| 194 |
+
"001332",
|
| 195 |
+
"001381",
|
| 196 |
+
"001431",
|
| 197 |
+
"001480"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0191_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0191_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": "scene0191_02.pt",
|
| 18 |
+
"indices_file": "scene0191_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0191_02_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
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"image_size": [
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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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|
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|
| 32 |
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| 34 |
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| 35 |
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| 38 |
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| 39 |
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| 40 |
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|
| 41 |
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| 42 |
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| 45 |
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| 50 |
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| 51 |
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| 55 |
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| 73 |
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| 75 |
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|
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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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| 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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| 101 |
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| 103 |
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| 111 |
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| 115 |
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|
| 117 |
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| 119 |
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|
| 120 |
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|
| 121 |
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| 123 |
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|
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|
| 125 |
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| 127 |
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|
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|
| 129 |
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| 130 |
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| 131 |
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|
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| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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| 147 |
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| 148 |
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|
| 149 |
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| 151 |
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|
| 152 |
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|
| 153 |
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|
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| 155 |
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|
| 156 |
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|
| 157 |
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|
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| 159 |
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|
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|
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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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| 183 |
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| 185 |
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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/scene0197_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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|
|
| 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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|
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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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|
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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| 24 |
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| 28 |
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| 29 |
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| 30 |
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| 32 |
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|
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| 42 |
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| 43 |
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|
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| 47 |
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|
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|
| 50 |
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| 51 |
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|
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|
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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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|
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|
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]
|
| 198 |
+
}
|
metadata/train/scene0200_02_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
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|
|
|
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|
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|
|
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|
|
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|
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|
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|
|
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|
|
|
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|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
|
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|
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|
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|
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|
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|
|
|
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|
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|
|
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|
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|
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|
|
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|
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|
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|
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|
|
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|
|
|
|
|
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|
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|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0200_02",
|
| 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": "scene0200_02.pt",
|
| 18 |
+
"indices_file": "scene0200_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0200_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": 2,
|
| 40 |
+
"frame_id": "000056"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 3,
|
| 44 |
+
"frame_id": "000085"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 4,
|
| 48 |
+
"frame_id": "000113"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 5,
|
| 52 |
+
"frame_id": "000142"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 6,
|
| 56 |
+
"frame_id": "000170"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 7,
|
| 60 |
+
"frame_id": "000198"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 8,
|
| 64 |
+
"frame_id": "000227"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 9,
|
| 68 |
+
"frame_id": "000255"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 10,
|
| 72 |
+
"frame_id": "000284"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 11,
|
| 76 |
+
"frame_id": "000312"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 12,
|
| 80 |
+
"frame_id": "000341"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 13,
|
| 84 |
+
"frame_id": "000369"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 14,
|
| 88 |
+
"frame_id": "000397"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 15,
|
| 92 |
+
"frame_id": "000426"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 16,
|
| 96 |
+
"frame_id": "000454"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 17,
|
| 100 |
+
"frame_id": "000483"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 18,
|
| 104 |
+
"frame_id": "000511"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 19,
|
| 108 |
+
"frame_id": "000539"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 20,
|
| 112 |
+
"frame_id": "000568"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 21,
|
| 116 |
+
"frame_id": "000596"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 22,
|
| 120 |
+
"frame_id": "000625"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 23,
|
| 124 |
+
"frame_id": "000653"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 24,
|
| 128 |
+
"frame_id": "000682"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 25,
|
| 132 |
+
"frame_id": "000710"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 26,
|
| 136 |
+
"frame_id": "000738"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 27,
|
| 140 |
+
"frame_id": "000767"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 28,
|
| 144 |
+
"frame_id": "000795"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 29,
|
| 148 |
+
"frame_id": "000824"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 30,
|
| 152 |
+
"frame_id": "000852"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 31,
|
| 156 |
+
"frame_id": "000881"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 1,
|
| 162 |
+
"frame_id": "000028",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000056",
|
| 169 |
+
"000085",
|
| 170 |
+
"000113",
|
| 171 |
+
"000142",
|
| 172 |
+
"000170",
|
| 173 |
+
"000198",
|
| 174 |
+
"000227",
|
| 175 |
+
"000255",
|
| 176 |
+
"000284",
|
| 177 |
+
"000312",
|
| 178 |
+
"000341",
|
| 179 |
+
"000369",
|
| 180 |
+
"000397",
|
| 181 |
+
"000426",
|
| 182 |
+
"000454",
|
| 183 |
+
"000483",
|
| 184 |
+
"000511",
|
| 185 |
+
"000539",
|
| 186 |
+
"000568",
|
| 187 |
+
"000596",
|
| 188 |
+
"000625",
|
| 189 |
+
"000653",
|
| 190 |
+
"000682",
|
| 191 |
+
"000710",
|
| 192 |
+
"000738",
|
| 193 |
+
"000767",
|
| 194 |
+
"000795",
|
| 195 |
+
"000824",
|
| 196 |
+
"000852",
|
| 197 |
+
"000881"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0211_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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0211_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": "scene0211_00.pt",
|
| 18 |
+
"indices_file": "scene0211_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0211_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": "000074"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000149"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000224"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000299"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000374"
|
| 57 |
+
},
|
| 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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|
| 64 |
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"frame_id": "000523"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000598"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000673"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000748"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000823"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000898"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000972"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "001047"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "001122"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "001197"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "001272"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "001347"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "001421"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "001496"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "001571"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "001646"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "001721"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "001796"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "001870"
|
| 137 |
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|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "001945"
|
| 141 |
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},
|
| 142 |
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{
|
| 143 |
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"index": 27,
|
| 144 |
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"frame_id": "002020"
|
| 145 |
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},
|
| 146 |
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{
|
| 147 |
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"index": 28,
|
| 148 |
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"frame_id": "002095"
|
| 149 |
+
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|
| 150 |
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{
|
| 151 |
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"index": 29,
|
| 152 |
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"frame_id": "002170"
|
| 153 |
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},
|
| 154 |
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{
|
| 155 |
+
"index": 30,
|
| 156 |
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"frame_id": "002245"
|
| 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": 31,
|
| 162 |
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"frame_id": "002320",
|
| 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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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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"000299",
|
| 172 |
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|
| 173 |
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"000449",
|
| 174 |
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"000523",
|
| 175 |
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"000598",
|
| 176 |
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"000673",
|
| 177 |
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"000748",
|
| 178 |
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"000823",
|
| 179 |
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"000898",
|
| 180 |
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"000972",
|
| 181 |
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"001047",
|
| 182 |
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"001122",
|
| 183 |
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"001197",
|
| 184 |
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"001272",
|
| 185 |
+
"001347",
|
| 186 |
+
"001421",
|
| 187 |
+
"001496",
|
| 188 |
+
"001571",
|
| 189 |
+
"001646",
|
| 190 |
+
"001721",
|
| 191 |
+
"001796",
|
| 192 |
+
"001870",
|
| 193 |
+
"001945",
|
| 194 |
+
"002020",
|
| 195 |
+
"002095",
|
| 196 |
+
"002170",
|
| 197 |
+
"002245"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0216_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 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
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|
| 5 |
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"invalid_frames_count": 0,
|
| 6 |
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|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
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"output_dtype": "bfloat16",
|
| 13 |
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"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0216_00.pt",
|
| 18 |
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"indices_file": "scene0216_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0216_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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"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": "000027"
|
| 41 |
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},
|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000055"
|
| 45 |
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},
|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000083"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000110"
|
| 53 |
+
},
|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000138"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000166"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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|
| 64 |
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"frame_id": "000193"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000221"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000249"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000276"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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"frame_id": "000304"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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|
| 84 |
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"frame_id": "000332"
|
| 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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"frame_id": "000387"
|
| 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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"index": 19,
|
| 112 |
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"frame_id": "000525"
|
| 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": "000581"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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|
| 124 |
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"frame_id": "000608"
|
| 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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"frame_id": "000719"
|
| 141 |
+
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|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000747"
|
| 145 |
+
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|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
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"frame_id": "000774"
|
| 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 |
+
"index": 30,
|
| 156 |
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"frame_id": "000830"
|
| 157 |
+
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|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000858"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
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|
| 167 |
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|
| 168 |
+
"000083",
|
| 169 |
+
"000110",
|
| 170 |
+
"000138",
|
| 171 |
+
"000166",
|
| 172 |
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"000193",
|
| 173 |
+
"000221",
|
| 174 |
+
"000249",
|
| 175 |
+
"000276",
|
| 176 |
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"000304",
|
| 177 |
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"000332",
|
| 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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"000498",
|
| 184 |
+
"000525",
|
| 185 |
+
"000553",
|
| 186 |
+
"000581",
|
| 187 |
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"000608",
|
| 188 |
+
"000636",
|
| 189 |
+
"000664",
|
| 190 |
+
"000691",
|
| 191 |
+
"000719",
|
| 192 |
+
"000747",
|
| 193 |
+
"000774",
|
| 194 |
+
"000802",
|
| 195 |
+
"000830",
|
| 196 |
+
"000858"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0224_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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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0224_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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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": "scene0224_00.pt",
|
| 18 |
+
"indices_file": "scene0224_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0224_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
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|
| 25 |
+
"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": "000036"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000072"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000108"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000145"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000181"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000217"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000254"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000290"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000326"
|
| 73 |
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|
| 74 |
+
{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000363"
|
| 77 |
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},
|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000399"
|
| 81 |
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},
|
| 82 |
+
{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000435"
|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000472"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000508"
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000544"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000581"
|
| 101 |
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},
|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000617"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
+
"index": 18,
|
| 108 |
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"frame_id": "000653"
|
| 109 |
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},
|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000690"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000726"
|
| 117 |
+
},
|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000762"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
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"index": 22,
|
| 124 |
+
"frame_id": "000799"
|
| 125 |
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},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000835"
|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000871"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
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"frame_id": "000908"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000944"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000980"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001017"
|
| 149 |
+
},
|
| 150 |
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{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001053"
|
| 153 |
+
},
|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "001089"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001126"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
+
"000036",
|
| 167 |
+
"000072",
|
| 168 |
+
"000108",
|
| 169 |
+
"000145",
|
| 170 |
+
"000181",
|
| 171 |
+
"000217",
|
| 172 |
+
"000254",
|
| 173 |
+
"000290",
|
| 174 |
+
"000326",
|
| 175 |
+
"000363",
|
| 176 |
+
"000399",
|
| 177 |
+
"000435",
|
| 178 |
+
"000472",
|
| 179 |
+
"000508",
|
| 180 |
+
"000544",
|
| 181 |
+
"000581",
|
| 182 |
+
"000617",
|
| 183 |
+
"000653",
|
| 184 |
+
"000690",
|
| 185 |
+
"000726",
|
| 186 |
+
"000762",
|
| 187 |
+
"000799",
|
| 188 |
+
"000835",
|
| 189 |
+
"000871",
|
| 190 |
+
"000908",
|
| 191 |
+
"000944",
|
| 192 |
+
"000980",
|
| 193 |
+
"001017",
|
| 194 |
+
"001053",
|
| 195 |
+
"001089",
|
| 196 |
+
"001126"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0236_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0236_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": "scene0236_00.pt",
|
| 18 |
+
"indices_file": "scene0236_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0236_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 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000228"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000285"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000342"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000399"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000457"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000514"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000571"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000628"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000685"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000742"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000799"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
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"frame_id": "000856"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
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"frame_id": "000914"
|
| 101 |
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},
|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000971"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "001028"
|
| 109 |
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},
|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "001085"
|
| 113 |
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},
|
| 114 |
+
{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "001142"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001199"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001256"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001313"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001371"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
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"frame_id": "001428"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 28,
|
| 140 |
+
"frame_id": "001599"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 29,
|
| 144 |
+
"frame_id": "001656"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 30,
|
| 148 |
+
"frame_id": "001713"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 31,
|
| 152 |
+
"frame_id": "001771"
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
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"invalid_views": [
|
| 156 |
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{
|
| 157 |
+
"index": 26,
|
| 158 |
+
"frame_id": "001485",
|
| 159 |
+
"reason": "invalid_pose"
|
| 160 |
+
},
|
| 161 |
+
{
|
| 162 |
+
"index": 27,
|
| 163 |
+
"frame_id": "001542",
|
| 164 |
+
"reason": "invalid_pose"
|
| 165 |
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}
|
| 166 |
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],
|
| 167 |
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"frame_order": [
|
| 168 |
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"000000",
|
| 169 |
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|
| 170 |
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|
| 171 |
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"000171",
|
| 172 |
+
"000228",
|
| 173 |
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"000285",
|
| 174 |
+
"000342",
|
| 175 |
+
"000399",
|
| 176 |
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"000457",
|
| 177 |
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"000514",
|
| 178 |
+
"000571",
|
| 179 |
+
"000628",
|
| 180 |
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"000685",
|
| 181 |
+
"000742",
|
| 182 |
+
"000799",
|
| 183 |
+
"000856",
|
| 184 |
+
"000914",
|
| 185 |
+
"000971",
|
| 186 |
+
"001028",
|
| 187 |
+
"001085",
|
| 188 |
+
"001142",
|
| 189 |
+
"001199",
|
| 190 |
+
"001256",
|
| 191 |
+
"001313",
|
| 192 |
+
"001371",
|
| 193 |
+
"001428",
|
| 194 |
+
"001599",
|
| 195 |
+
"001656",
|
| 196 |
+
"001713",
|
| 197 |
+
"001771"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0239_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0239_01",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
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"invalid_frames_count": 0,
|
| 6 |
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"output_shape": [
|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0239_01.pt",
|
| 18 |
+
"indices_file": "scene0239_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0239_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 |
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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 |
+
{
|
| 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 |
+
"index": 2,
|
| 44 |
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"frame_id": "000050"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000075"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000100"
|
| 53 |
+
},
|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000125"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000151"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000176"
|
| 65 |
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},
|
| 66 |
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{
|
| 67 |
+
"index": 8,
|
| 68 |
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"frame_id": "000201"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000226"
|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000251"
|
| 77 |
+
},
|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000277"
|
| 81 |
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},
|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000302"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000327"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000352"
|
| 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": "000403"
|
| 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": "000478"
|
| 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": "000529"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "000554"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000579"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
+
"index": 24,
|
| 132 |
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"frame_id": "000604"
|
| 133 |
+
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|
| 134 |
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{
|
| 135 |
+
"index": 25,
|
| 136 |
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"frame_id": "000629"
|
| 137 |
+
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|
| 138 |
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{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000655"
|
| 141 |
+
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|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000680"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000705"
|
| 149 |
+
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|
| 150 |
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{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000730"
|
| 153 |
+
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|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000755"
|
| 157 |
+
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|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000781"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
+
"000025",
|
| 167 |
+
"000050",
|
| 168 |
+
"000075",
|
| 169 |
+
"000100",
|
| 170 |
+
"000125",
|
| 171 |
+
"000151",
|
| 172 |
+
"000176",
|
| 173 |
+
"000201",
|
| 174 |
+
"000226",
|
| 175 |
+
"000251",
|
| 176 |
+
"000277",
|
| 177 |
+
"000302",
|
| 178 |
+
"000327",
|
| 179 |
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"000352",
|
| 180 |
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"000377",
|
| 181 |
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"000403",
|
| 182 |
+
"000428",
|
| 183 |
+
"000453",
|
| 184 |
+
"000478",
|
| 185 |
+
"000503",
|
| 186 |
+
"000529",
|
| 187 |
+
"000554",
|
| 188 |
+
"000579",
|
| 189 |
+
"000604",
|
| 190 |
+
"000629",
|
| 191 |
+
"000655",
|
| 192 |
+
"000680",
|
| 193 |
+
"000705",
|
| 194 |
+
"000730",
|
| 195 |
+
"000755",
|
| 196 |
+
"000781"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0241_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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0241_00",
|
| 3 |
+
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|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
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|
| 6 |
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|
| 7 |
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32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
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|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0241_00.pt",
|
| 18 |
+
"indices_file": "scene0241_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0241_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
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|
| 25 |
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"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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},
|
| 38 |
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{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000064"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000128"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000192"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000256"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000320"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000384"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000449"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000513"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000577"
|
| 73 |
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|
| 74 |
+
{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000641"
|
| 77 |
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},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000705"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000769"
|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000834"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000898"
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000962"
|
| 97 |
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},
|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "001026"
|
| 101 |
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},
|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "001090"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "001154"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "001219"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "001283"
|
| 117 |
+
},
|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "001347"
|
| 121 |
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},
|
| 122 |
+
{
|
| 123 |
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"index": 22,
|
| 124 |
+
"frame_id": "001411"
|
| 125 |
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},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001475"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001539"
|
| 133 |
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},
|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "001604"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
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"frame_id": "001668"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001732"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001796"
|
| 149 |
+
},
|
| 150 |
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{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001860"
|
| 153 |
+
},
|
| 154 |
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{
|
| 155 |
+
"index": 30,
|
| 156 |
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"frame_id": "001924"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001989"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
+
"000064",
|
| 167 |
+
"000128",
|
| 168 |
+
"000192",
|
| 169 |
+
"000256",
|
| 170 |
+
"000320",
|
| 171 |
+
"000384",
|
| 172 |
+
"000449",
|
| 173 |
+
"000513",
|
| 174 |
+
"000577",
|
| 175 |
+
"000641",
|
| 176 |
+
"000705",
|
| 177 |
+
"000769",
|
| 178 |
+
"000834",
|
| 179 |
+
"000898",
|
| 180 |
+
"000962",
|
| 181 |
+
"001026",
|
| 182 |
+
"001090",
|
| 183 |
+
"001154",
|
| 184 |
+
"001219",
|
| 185 |
+
"001283",
|
| 186 |
+
"001347",
|
| 187 |
+
"001411",
|
| 188 |
+
"001475",
|
| 189 |
+
"001539",
|
| 190 |
+
"001604",
|
| 191 |
+
"001668",
|
| 192 |
+
"001732",
|
| 193 |
+
"001796",
|
| 194 |
+
"001860",
|
| 195 |
+
"001924",
|
| 196 |
+
"001989"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0242_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0242_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": "scene0242_00.pt",
|
| 18 |
+
"indices_file": "scene0242_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0242_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": "000043"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000087"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000131"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000175"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000219"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000263"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000307"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000351"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000395"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000439"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000483"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
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"frame_id": "000527"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000571"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000615"
|
| 93 |
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},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000659"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000703"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
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"frame_id": "000747"
|
| 105 |
+
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|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
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"frame_id": "000791"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000835"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000879"
|
| 117 |
+
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|
| 118 |
+
{
|
| 119 |
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"index": 21,
|
| 120 |
+
"frame_id": "000923"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000967"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001011"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001055"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001099"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001143"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001187"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001231"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001275"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001319"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001363"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000043",
|
| 167 |
+
"000087",
|
| 168 |
+
"000131",
|
| 169 |
+
"000175",
|
| 170 |
+
"000219",
|
| 171 |
+
"000263",
|
| 172 |
+
"000307",
|
| 173 |
+
"000351",
|
| 174 |
+
"000395",
|
| 175 |
+
"000439",
|
| 176 |
+
"000483",
|
| 177 |
+
"000527",
|
| 178 |
+
"000571",
|
| 179 |
+
"000615",
|
| 180 |
+
"000659",
|
| 181 |
+
"000703",
|
| 182 |
+
"000747",
|
| 183 |
+
"000791",
|
| 184 |
+
"000835",
|
| 185 |
+
"000879",
|
| 186 |
+
"000923",
|
| 187 |
+
"000967",
|
| 188 |
+
"001011",
|
| 189 |
+
"001055",
|
| 190 |
+
"001099",
|
| 191 |
+
"001143",
|
| 192 |
+
"001187",
|
| 193 |
+
"001231",
|
| 194 |
+
"001275",
|
| 195 |
+
"001319",
|
| 196 |
+
"001363"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0252_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0252_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": "scene0252_00.pt",
|
| 18 |
+
"indices_file": "scene0252_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0252_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
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"frame_id": "000047"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000095"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000143"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000191"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000238"
|
| 57 |
+
},
|
| 58 |
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{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000286"
|
| 61 |
+
},
|
| 62 |
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{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000334"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000382"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000429"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
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"frame_id": "000477"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000525"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
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"frame_id": "000573"
|
| 85 |
+
},
|
| 86 |
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{
|
| 87 |
+
"index": 13,
|
| 88 |
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"frame_id": "000621"
|
| 89 |
+
},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000668"
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
+
"index": 15,
|
| 96 |
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"frame_id": "000716"
|
| 97 |
+
},
|
| 98 |
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{
|
| 99 |
+
"index": 16,
|
| 100 |
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"frame_id": "000764"
|
| 101 |
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},
|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000812"
|
| 105 |
+
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|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "000859"
|
| 109 |
+
},
|
| 110 |
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{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000907"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000955"
|
| 117 |
+
},
|
| 118 |
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{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001003"
|
| 121 |
+
},
|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "001051"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001098"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001146"
|
| 133 |
+
},
|
| 134 |
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{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001194"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001242"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001289"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001337"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001385"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001433"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001481"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000047",
|
| 167 |
+
"000095",
|
| 168 |
+
"000143",
|
| 169 |
+
"000191",
|
| 170 |
+
"000238",
|
| 171 |
+
"000286",
|
| 172 |
+
"000334",
|
| 173 |
+
"000382",
|
| 174 |
+
"000429",
|
| 175 |
+
"000477",
|
| 176 |
+
"000525",
|
| 177 |
+
"000573",
|
| 178 |
+
"000621",
|
| 179 |
+
"000668",
|
| 180 |
+
"000716",
|
| 181 |
+
"000764",
|
| 182 |
+
"000812",
|
| 183 |
+
"000859",
|
| 184 |
+
"000907",
|
| 185 |
+
"000955",
|
| 186 |
+
"001003",
|
| 187 |
+
"001051",
|
| 188 |
+
"001098",
|
| 189 |
+
"001146",
|
| 190 |
+
"001194",
|
| 191 |
+
"001242",
|
| 192 |
+
"001289",
|
| 193 |
+
"001337",
|
| 194 |
+
"001385",
|
| 195 |
+
"001433",
|
| 196 |
+
"001481"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0261_03_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 |
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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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32
|
| 15 |
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|
| 16 |
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|
| 17 |
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"pointcloud_file": "scene0261_03.pt",
|
| 18 |
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"indices_file": "scene0261_03_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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432,
|
| 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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|
| 56 |
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|
| 57 |
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| 58 |
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| 59 |
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|
| 60 |
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|
| 61 |
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| 62 |
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| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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{
|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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{
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| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
+
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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"001777",
|
| 196 |
+
"001837"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0263_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": "scene0263_00",
|
| 3 |
+
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|
| 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": "scene0263_00.pt",
|
| 18 |
+
"indices_file": "scene0263_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0263_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
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|
| 24 |
+
},
|
| 25 |
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"image_size": [
|
| 26 |
+
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|
| 27 |
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432
|
| 28 |
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],
|
| 29 |
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"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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|
| 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": "000033"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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|
| 44 |
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"frame_id": "000067"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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|
| 48 |
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"frame_id": "000101"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000135"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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|
| 56 |
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"frame_id": "000169"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000203"
|
| 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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|
| 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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|
| 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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|
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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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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
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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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|
| 148 |
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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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| 155 |
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|
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"frame_id": "001019"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001053"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000033",
|
| 167 |
+
"000067",
|
| 168 |
+
"000101",
|
| 169 |
+
"000135",
|
| 170 |
+
"000169",
|
| 171 |
+
"000203",
|
| 172 |
+
"000237",
|
| 173 |
+
"000271",
|
| 174 |
+
"000305",
|
| 175 |
+
"000339",
|
| 176 |
+
"000373",
|
| 177 |
+
"000407",
|
| 178 |
+
"000441",
|
| 179 |
+
"000475",
|
| 180 |
+
"000509",
|
| 181 |
+
"000543",
|
| 182 |
+
"000577",
|
| 183 |
+
"000611",
|
| 184 |
+
"000645",
|
| 185 |
+
"000679",
|
| 186 |
+
"000713",
|
| 187 |
+
"000747",
|
| 188 |
+
"000781",
|
| 189 |
+
"000815",
|
| 190 |
+
"000849",
|
| 191 |
+
"000883",
|
| 192 |
+
"000917",
|
| 193 |
+
"000951",
|
| 194 |
+
"000985",
|
| 195 |
+
"001019",
|
| 196 |
+
"001053"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0264_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0264_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 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0264_02.pt",
|
| 18 |
+
"indices_file": "scene0264_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0264_02_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
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"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000036"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000073"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
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"frame_id": "000109"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000146"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000182"
|
| 57 |
+
},
|
| 58 |
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{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000219"
|
| 61 |
+
},
|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000255"
|
| 65 |
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},
|
| 66 |
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{
|
| 67 |
+
"index": 8,
|
| 68 |
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"frame_id": "000292"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000328"
|
| 73 |
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},
|
| 74 |
+
{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000365"
|
| 77 |
+
},
|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000402"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000438"
|
| 85 |
+
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000475"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000511"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000548"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000584"
|
| 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": "000694"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000730"
|
| 117 |
+
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000767"
|
| 121 |
+
},
|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "000804"
|
| 125 |
+
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|
| 126 |
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{
|
| 127 |
+
"index": 23,
|
| 128 |
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"frame_id": "000840"
|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000877"
|
| 133 |
+
},
|
| 134 |
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{
|
| 135 |
+
"index": 25,
|
| 136 |
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"frame_id": "000913"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000950"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000986"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001023"
|
| 149 |
+
},
|
| 150 |
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{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001059"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001096"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001133"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000036",
|
| 167 |
+
"000073",
|
| 168 |
+
"000109",
|
| 169 |
+
"000146",
|
| 170 |
+
"000182",
|
| 171 |
+
"000219",
|
| 172 |
+
"000255",
|
| 173 |
+
"000292",
|
| 174 |
+
"000328",
|
| 175 |
+
"000365",
|
| 176 |
+
"000402",
|
| 177 |
+
"000438",
|
| 178 |
+
"000475",
|
| 179 |
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"000511",
|
| 180 |
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"000548",
|
| 181 |
+
"000584",
|
| 182 |
+
"000621",
|
| 183 |
+
"000657",
|
| 184 |
+
"000694",
|
| 185 |
+
"000730",
|
| 186 |
+
"000767",
|
| 187 |
+
"000804",
|
| 188 |
+
"000840",
|
| 189 |
+
"000877",
|
| 190 |
+
"000913",
|
| 191 |
+
"000950",
|
| 192 |
+
"000986",
|
| 193 |
+
"001023",
|
| 194 |
+
"001059",
|
| 195 |
+
"001096",
|
| 196 |
+
"001133"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0269_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0269_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 23,
|
| 5 |
+
"invalid_frames_count": 9,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
23,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
23
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0269_00.pt",
|
| 18 |
+
"indices_file": "scene0269_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0269_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 |
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],
|
| 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 |
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"index": 1,
|
| 40 |
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"frame_id": "000044"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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|
| 44 |
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"frame_id": "000088"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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|
| 48 |
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"frame_id": "000133"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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{
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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{
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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"frame_id": "000488"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000533"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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|
| 88 |
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"frame_id": "000577"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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|
| 92 |
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"frame_id": "000622"
|
| 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": "000711"
|
| 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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"frame_id": "000933"
|
| 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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"index": 26,
|
| 145 |
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"frame_id": "001155",
|
| 146 |
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|
| 147 |
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|
| 148 |
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{
|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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{
|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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{
|
| 164 |
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|
| 165 |
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"frame_id": "001333",
|
| 166 |
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|
| 167 |
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|
| 168 |
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{
|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
+
"000400",
|
| 185 |
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"000444",
|
| 186 |
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"000488",
|
| 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 |
+
"000933",
|
| 197 |
+
"000977"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0275_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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0275_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 20,
|
| 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 |
+
],
|
| 12 |
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"output_dtype": "bfloat16",
|
| 13 |
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"valid_indices_shape": [
|
| 14 |
+
20
|
| 15 |
+
],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
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"pointcloud_file": "scene0275_00.pt",
|
| 18 |
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"indices_file": "scene0275_00_indices.pt",
|
| 19 |
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"transform_to_world_file": "scene0275_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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|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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"original_image_size": [
|
| 30 |
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|
| 31 |
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480
|
| 32 |
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],
|
| 33 |
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|
| 34 |
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{
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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{
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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{
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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{
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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{
|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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{
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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{
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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{
|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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{
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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{
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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{
|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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{
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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{
|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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{
|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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{
|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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{
|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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{
|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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{
|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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{
|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
+
"000386",
|
| 184 |
+
"000463",
|
| 185 |
+
"000540",
|
| 186 |
+
"000618",
|
| 187 |
+
"000695",
|
| 188 |
+
"000772",
|
| 189 |
+
"000849",
|
| 190 |
+
"000927",
|
| 191 |
+
"001004",
|
| 192 |
+
"001081",
|
| 193 |
+
"001158",
|
| 194 |
+
"001236",
|
| 195 |
+
"001313",
|
| 196 |
+
"001390",
|
| 197 |
+
"001467"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0276_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0276_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": "scene0276_01.pt",
|
| 18 |
+
"indices_file": "scene0276_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0276_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": "000082"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000165"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000247"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000330"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000413"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000495"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000578"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000660"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000743"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000826"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000908"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000991"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "001073"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "001156"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "001239"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "001321"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "001404"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "001487"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "001569"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "001652"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001734"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001817"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001900"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001982"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "002065"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "002147"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "002230"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "002313"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "002395"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "002478"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "002561"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000082",
|
| 167 |
+
"000165",
|
| 168 |
+
"000247",
|
| 169 |
+
"000330",
|
| 170 |
+
"000413",
|
| 171 |
+
"000495",
|
| 172 |
+
"000578",
|
| 173 |
+
"000660",
|
| 174 |
+
"000743",
|
| 175 |
+
"000826",
|
| 176 |
+
"000908",
|
| 177 |
+
"000991",
|
| 178 |
+
"001073",
|
| 179 |
+
"001156",
|
| 180 |
+
"001239",
|
| 181 |
+
"001321",
|
| 182 |
+
"001404",
|
| 183 |
+
"001487",
|
| 184 |
+
"001569",
|
| 185 |
+
"001652",
|
| 186 |
+
"001734",
|
| 187 |
+
"001817",
|
| 188 |
+
"001900",
|
| 189 |
+
"001982",
|
| 190 |
+
"002065",
|
| 191 |
+
"002147",
|
| 192 |
+
"002230",
|
| 193 |
+
"002313",
|
| 194 |
+
"002395",
|
| 195 |
+
"002478",
|
| 196 |
+
"002561"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0283_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0283_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": "scene0283_00.pt",
|
| 18 |
+
"indices_file": "scene0283_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0283_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": "000030"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000060"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000090"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000121"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000151"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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|
| 60 |
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"frame_id": "000181"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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|
| 64 |
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"frame_id": "000211"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000242"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000272"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000302"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000332"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000363"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000393"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000423"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000453"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000484"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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|
| 104 |
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"frame_id": "000514"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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|
| 108 |
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"frame_id": "000544"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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|
| 112 |
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"frame_id": "000574"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000605"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000635"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "000665"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "000695"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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|
| 132 |
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"frame_id": "000726"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "000756"
|
| 137 |
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|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "000786"
|
| 141 |
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|
| 142 |
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{
|
| 143 |
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"index": 27,
|
| 144 |
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"frame_id": "000816"
|
| 145 |
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|
| 146 |
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{
|
| 147 |
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"index": 28,
|
| 148 |
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"frame_id": "000847"
|
| 149 |
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},
|
| 150 |
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{
|
| 151 |
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"index": 29,
|
| 152 |
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"frame_id": "000877"
|
| 153 |
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},
|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "000907"
|
| 157 |
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|
| 158 |
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{
|
| 159 |
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"index": 31,
|
| 160 |
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"frame_id": "000938"
|
| 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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"000090",
|
| 169 |
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|
| 170 |
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"000151",
|
| 171 |
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"000181",
|
| 172 |
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"000211",
|
| 173 |
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"000242",
|
| 174 |
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"000272",
|
| 175 |
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"000302",
|
| 176 |
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"000332",
|
| 177 |
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|
| 178 |
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"000393",
|
| 179 |
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|
| 180 |
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|
| 181 |
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"000484",
|
| 182 |
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"000514",
|
| 183 |
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"000544",
|
| 184 |
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"000574",
|
| 185 |
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"000605",
|
| 186 |
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"000635",
|
| 187 |
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"000665",
|
| 188 |
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"000695",
|
| 189 |
+
"000726",
|
| 190 |
+
"000756",
|
| 191 |
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"000786",
|
| 192 |
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"000816",
|
| 193 |
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"000847",
|
| 194 |
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"000877",
|
| 195 |
+
"000907",
|
| 196 |
+
"000938"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0298_00_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": "scene0298_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 30,
|
| 5 |
+
"invalid_frames_count": 2,
|
| 6 |
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"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": "scene0298_00.pt",
|
| 18 |
+
"indices_file": "scene0298_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0298_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 |
+
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": "000026"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
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"frame_id": "000052"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000078"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
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"frame_id": "000104"
|
| 53 |
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},
|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000130"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000156"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000182"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000208"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 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": "000260"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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"frame_id": "000286"
|
| 81 |
+
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000312"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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|
| 88 |
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"frame_id": "000338"
|
| 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": 24,
|
| 124 |
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"frame_id": "000624"
|
| 125 |
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|
| 126 |
+
{
|
| 127 |
+
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|
| 128 |
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"frame_id": "000650"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 26,
|
| 132 |
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|
| 133 |
+
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|
| 134 |
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{
|
| 135 |
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"index": 27,
|
| 136 |
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"frame_id": "000702"
|
| 137 |
+
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|
| 138 |
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{
|
| 139 |
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"index": 28,
|
| 140 |
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"frame_id": "000728"
|
| 141 |
+
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|
| 142 |
+
{
|
| 143 |
+
"index": 29,
|
| 144 |
+
"frame_id": "000754"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 30,
|
| 148 |
+
"frame_id": "000780"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 31,
|
| 152 |
+
"frame_id": "000806"
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"invalid_views": [
|
| 156 |
+
{
|
| 157 |
+
"index": 18,
|
| 158 |
+
"frame_id": "000468",
|
| 159 |
+
"reason": "invalid_pose"
|
| 160 |
+
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|
| 161 |
+
{
|
| 162 |
+
"index": 19,
|
| 163 |
+
"frame_id": "000494",
|
| 164 |
+
"reason": "invalid_pose"
|
| 165 |
+
}
|
| 166 |
+
],
|
| 167 |
+
"frame_order": [
|
| 168 |
+
"000000",
|
| 169 |
+
"000026",
|
| 170 |
+
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|
| 171 |
+
"000078",
|
| 172 |
+
"000104",
|
| 173 |
+
"000130",
|
| 174 |
+
"000156",
|
| 175 |
+
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|
| 176 |
+
"000208",
|
| 177 |
+
"000234",
|
| 178 |
+
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|
| 179 |
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|
| 180 |
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"000312",
|
| 181 |
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|
| 182 |
+
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|
| 183 |
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"000390",
|
| 184 |
+
"000416",
|
| 185 |
+
"000442",
|
| 186 |
+
"000520",
|
| 187 |
+
"000546",
|
| 188 |
+
"000572",
|
| 189 |
+
"000598",
|
| 190 |
+
"000624",
|
| 191 |
+
"000650",
|
| 192 |
+
"000676",
|
| 193 |
+
"000702",
|
| 194 |
+
"000728",
|
| 195 |
+
"000754",
|
| 196 |
+
"000780",
|
| 197 |
+
"000806"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0323_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
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|
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|
|
|
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|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
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|
|
|
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|
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|
|
|
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|
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|
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|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0323_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": "scene0323_00.pt",
|
| 18 |
+
"indices_file": "scene0323_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0323_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": "000030"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000061"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
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"frame_id": "000092"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000122"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000153"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
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"frame_id": "000184"
|
| 61 |
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},
|
| 62 |
+
{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000215"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000245"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000276"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000307"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000338"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000368"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000399"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000430"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000461"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000491"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000522"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000553"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000584"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
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"frame_id": "000614"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
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"frame_id": "000645"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000676"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000707"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000737"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000768"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000799"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000830"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 29,
|
| 148 |
+
"frame_id": "000891"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 30,
|
| 152 |
+
"frame_id": "000922"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 31,
|
| 156 |
+
"frame_id": "000953"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 28,
|
| 162 |
+
"frame_id": "000860",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000030",
|
| 169 |
+
"000061",
|
| 170 |
+
"000092",
|
| 171 |
+
"000122",
|
| 172 |
+
"000153",
|
| 173 |
+
"000184",
|
| 174 |
+
"000215",
|
| 175 |
+
"000245",
|
| 176 |
+
"000276",
|
| 177 |
+
"000307",
|
| 178 |
+
"000338",
|
| 179 |
+
"000368",
|
| 180 |
+
"000399",
|
| 181 |
+
"000430",
|
| 182 |
+
"000461",
|
| 183 |
+
"000491",
|
| 184 |
+
"000522",
|
| 185 |
+
"000553",
|
| 186 |
+
"000584",
|
| 187 |
+
"000614",
|
| 188 |
+
"000645",
|
| 189 |
+
"000676",
|
| 190 |
+
"000707",
|
| 191 |
+
"000737",
|
| 192 |
+
"000768",
|
| 193 |
+
"000799",
|
| 194 |
+
"000830",
|
| 195 |
+
"000891",
|
| 196 |
+
"000922",
|
| 197 |
+
"000953"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0325_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0325_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": "scene0325_01.pt",
|
| 18 |
+
"indices_file": "scene0325_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0325_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": "000136"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000170"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000204"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000238"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000272"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000306"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
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"index": 10,
|
| 76 |
+
"frame_id": "000340"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000374"
|
| 81 |
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},
|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000408"
|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000442"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000476"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000510"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000544"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000578"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "000612"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000646"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000680"
|
| 117 |
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},
|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000714"
|
| 121 |
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},
|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
+
"frame_id": "000748"
|
| 125 |
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},
|
| 126 |
+
{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "000782"
|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000816"
|
| 133 |
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},
|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "000850"
|
| 137 |
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},
|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "000884"
|
| 141 |
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},
|
| 142 |
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{
|
| 143 |
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"index": 27,
|
| 144 |
+
"frame_id": "000918"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
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"frame_id": "000952"
|
| 149 |
+
},
|
| 150 |
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{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000986"
|
| 153 |
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},
|
| 154 |
+
{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "001020"
|
| 157 |
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},
|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001054"
|
| 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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"000102",
|
| 169 |
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"000136",
|
| 170 |
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"000170",
|
| 171 |
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"000204",
|
| 172 |
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"000238",
|
| 173 |
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"000272",
|
| 174 |
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"000306",
|
| 175 |
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"000340",
|
| 176 |
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"000374",
|
| 177 |
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"000408",
|
| 178 |
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"000442",
|
| 179 |
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"000476",
|
| 180 |
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"000510",
|
| 181 |
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"000544",
|
| 182 |
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"000578",
|
| 183 |
+
"000612",
|
| 184 |
+
"000646",
|
| 185 |
+
"000680",
|
| 186 |
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"000714",
|
| 187 |
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"000748",
|
| 188 |
+
"000782",
|
| 189 |
+
"000816",
|
| 190 |
+
"000850",
|
| 191 |
+
"000884",
|
| 192 |
+
"000918",
|
| 193 |
+
"000952",
|
| 194 |
+
"000986",
|
| 195 |
+
"001020",
|
| 196 |
+
"001054"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0326_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0326_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": "scene0326_00.pt",
|
| 18 |
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"indices_file": "scene0326_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0326_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
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"index": 0,
|
| 23 |
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|
| 24 |
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},
|
| 25 |
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"image_size": [
|
| 26 |
+
432,
|
| 27 |
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432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
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{
|
| 35 |
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"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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},
|
| 38 |
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{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000021"
|
| 41 |
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},
|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000043"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000064"
|
| 49 |
+
},
|
| 50 |
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{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000086"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000108"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000129"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000173"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000194"
|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000216"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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"frame_id": "000238"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000259"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000281"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000303"
|
| 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": "000411"
|
| 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": "000476"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
+
"index": 23,
|
| 128 |
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|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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|
| 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": "000562"
|
| 141 |
+
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|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000584"
|
| 145 |
+
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|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
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"frame_id": "000606"
|
| 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": "000649"
|
| 157 |
+
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|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000671"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
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"000021",
|
| 167 |
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|
| 168 |
+
"000064",
|
| 169 |
+
"000086",
|
| 170 |
+
"000108",
|
| 171 |
+
"000129",
|
| 172 |
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"000151",
|
| 173 |
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"000173",
|
| 174 |
+
"000194",
|
| 175 |
+
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|
| 176 |
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"000238",
|
| 177 |
+
"000259",
|
| 178 |
+
"000281",
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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"000367",
|
| 183 |
+
"000389",
|
| 184 |
+
"000411",
|
| 185 |
+
"000432",
|
| 186 |
+
"000454",
|
| 187 |
+
"000476",
|
| 188 |
+
"000497",
|
| 189 |
+
"000519",
|
| 190 |
+
"000541",
|
| 191 |
+
"000562",
|
| 192 |
+
"000584",
|
| 193 |
+
"000606",
|
| 194 |
+
"000627",
|
| 195 |
+
"000649",
|
| 196 |
+
"000671"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0348_02_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
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|
|
|
|
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|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0348_02",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 31,
|
| 5 |
+
"invalid_frames_count": 1,
|
| 6 |
+
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|
| 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": "scene0348_02.pt",
|
| 18 |
+
"indices_file": "scene0348_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0348_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": "000061"
|
| 41 |
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},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
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"frame_id": "000122"
|
| 45 |
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},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
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"frame_id": "000183"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000245"
|
| 53 |
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|
| 54 |
+
{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000306"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000367"
|
| 61 |
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},
|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000429"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000490"
|
| 69 |
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},
|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000551"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000612"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000674"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000735"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
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"frame_id": "000796"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000858"
|
| 93 |
+
},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000919"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
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"frame_id": "000980"
|
| 101 |
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},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "001041"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "001103"
|
| 109 |
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},
|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
+
"frame_id": "001164"
|
| 113 |
+
},
|
| 114 |
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{
|
| 115 |
+
"index": 20,
|
| 116 |
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"frame_id": "001225"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
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"frame_id": "001287"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001348"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001409"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001470"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001532"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001593"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001654"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001716"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001777"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001838"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 31,
|
| 162 |
+
"frame_id": "001900",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000061",
|
| 169 |
+
"000122",
|
| 170 |
+
"000183",
|
| 171 |
+
"000245",
|
| 172 |
+
"000306",
|
| 173 |
+
"000367",
|
| 174 |
+
"000429",
|
| 175 |
+
"000490",
|
| 176 |
+
"000551",
|
| 177 |
+
"000612",
|
| 178 |
+
"000674",
|
| 179 |
+
"000735",
|
| 180 |
+
"000796",
|
| 181 |
+
"000858",
|
| 182 |
+
"000919",
|
| 183 |
+
"000980",
|
| 184 |
+
"001041",
|
| 185 |
+
"001103",
|
| 186 |
+
"001164",
|
| 187 |
+
"001225",
|
| 188 |
+
"001287",
|
| 189 |
+
"001348",
|
| 190 |
+
"001409",
|
| 191 |
+
"001470",
|
| 192 |
+
"001532",
|
| 193 |
+
"001593",
|
| 194 |
+
"001654",
|
| 195 |
+
"001716",
|
| 196 |
+
"001777",
|
| 197 |
+
"001838"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0350_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0350_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": "scene0350_00.pt",
|
| 18 |
+
"indices_file": "scene0350_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0350_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": "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": "000230"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000276"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000322"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000368"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000414"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000460"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000506"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000552"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000598"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000644"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000690"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000737"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000783"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000829"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000875"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000921"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000967"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001013"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001059"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001105"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001151"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001197"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001243"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001289"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001335"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001381"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001428"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
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"000046",
|
| 167 |
+
"000092",
|
| 168 |
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"000138",
|
| 169 |
+
"000184",
|
| 170 |
+
"000230",
|
| 171 |
+
"000276",
|
| 172 |
+
"000322",
|
| 173 |
+
"000368",
|
| 174 |
+
"000414",
|
| 175 |
+
"000460",
|
| 176 |
+
"000506",
|
| 177 |
+
"000552",
|
| 178 |
+
"000598",
|
| 179 |
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"000644",
|
| 180 |
+
"000690",
|
| 181 |
+
"000737",
|
| 182 |
+
"000783",
|
| 183 |
+
"000829",
|
| 184 |
+
"000875",
|
| 185 |
+
"000921",
|
| 186 |
+
"000967",
|
| 187 |
+
"001013",
|
| 188 |
+
"001059",
|
| 189 |
+
"001105",
|
| 190 |
+
"001151",
|
| 191 |
+
"001197",
|
| 192 |
+
"001243",
|
| 193 |
+
"001289",
|
| 194 |
+
"001335",
|
| 195 |
+
"001381",
|
| 196 |
+
"001428"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0352_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0352_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 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0352_02.pt",
|
| 18 |
+
"indices_file": "scene0352_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0352_02_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 |
+
{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000026"
|
| 41 |
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},
|
| 42 |
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{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000053"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000079"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000106"
|
| 53 |
+
},
|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000132"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
+
"frame_id": "000159"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000185"
|
| 65 |
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},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
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"frame_id": "000212"
|
| 69 |
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},
|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000238"
|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000265"
|
| 77 |
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},
|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000291"
|
| 81 |
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},
|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000318"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000344"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000371"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000397"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000424"
|
| 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": "000503"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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|
| 116 |
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"frame_id": "000530"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000556"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "000583"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
+
"index": 23,
|
| 128 |
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"frame_id": "000609"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "000636"
|
| 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": "000689"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000715"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000742"
|
| 149 |
+
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|
| 150 |
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{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000768"
|
| 153 |
+
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|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
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"frame_id": "000795"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000822"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
+
"000026",
|
| 167 |
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"000053",
|
| 168 |
+
"000079",
|
| 169 |
+
"000106",
|
| 170 |
+
"000132",
|
| 171 |
+
"000159",
|
| 172 |
+
"000185",
|
| 173 |
+
"000212",
|
| 174 |
+
"000238",
|
| 175 |
+
"000265",
|
| 176 |
+
"000291",
|
| 177 |
+
"000318",
|
| 178 |
+
"000344",
|
| 179 |
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"000371",
|
| 180 |
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|
| 181 |
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"000424",
|
| 182 |
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"000450",
|
| 183 |
+
"000477",
|
| 184 |
+
"000503",
|
| 185 |
+
"000530",
|
| 186 |
+
"000556",
|
| 187 |
+
"000583",
|
| 188 |
+
"000609",
|
| 189 |
+
"000636",
|
| 190 |
+
"000662",
|
| 191 |
+
"000689",
|
| 192 |
+
"000715",
|
| 193 |
+
"000742",
|
| 194 |
+
"000768",
|
| 195 |
+
"000795",
|
| 196 |
+
"000822"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0374_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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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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|
| 11 |
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|
| 12 |
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"output_dtype": "bfloat16",
|
| 13 |
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"valid_indices_shape": [
|
| 14 |
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32
|
| 15 |
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|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0374_00.pt",
|
| 18 |
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"indices_file": "scene0374_00_indices.pt",
|
| 19 |
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"transform_to_world_file": "scene0374_00_to_world.npy",
|
| 20 |
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"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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|
| 26 |
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432,
|
| 27 |
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432
|
| 28 |
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|
| 29 |
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|
| 30 |
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640,
|
| 31 |
+
480
|
| 32 |
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|
| 33 |
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|
| 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": "000053"
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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"frame_id": "000106"
|
| 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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"frame_id": "000424"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000477"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000530"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000583"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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|
| 84 |
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"frame_id": "000636"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000689"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000742"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000795"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000848"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000901"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "000954"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "001007"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "001060"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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|
| 120 |
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"frame_id": "001113"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "001166"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "001272"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "001325"
|
| 137 |
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|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "001378"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
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"index": 27,
|
| 144 |
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"frame_id": "001431"
|
| 145 |
+
},
|
| 146 |
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{
|
| 147 |
+
"index": 28,
|
| 148 |
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"frame_id": "001484"
|
| 149 |
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},
|
| 150 |
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{
|
| 151 |
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"index": 29,
|
| 152 |
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"frame_id": "001537"
|
| 153 |
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|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "001590"
|
| 157 |
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|
| 158 |
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{
|
| 159 |
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"index": 31,
|
| 160 |
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"frame_id": "001643"
|
| 161 |
+
}
|
| 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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"000159",
|
| 169 |
+
"000212",
|
| 170 |
+
"000265",
|
| 171 |
+
"000318",
|
| 172 |
+
"000371",
|
| 173 |
+
"000424",
|
| 174 |
+
"000477",
|
| 175 |
+
"000530",
|
| 176 |
+
"000583",
|
| 177 |
+
"000636",
|
| 178 |
+
"000689",
|
| 179 |
+
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|
| 180 |
+
"000795",
|
| 181 |
+
"000848",
|
| 182 |
+
"000901",
|
| 183 |
+
"000954",
|
| 184 |
+
"001007",
|
| 185 |
+
"001060",
|
| 186 |
+
"001113",
|
| 187 |
+
"001166",
|
| 188 |
+
"001219",
|
| 189 |
+
"001272",
|
| 190 |
+
"001325",
|
| 191 |
+
"001378",
|
| 192 |
+
"001431",
|
| 193 |
+
"001484",
|
| 194 |
+
"001537",
|
| 195 |
+
"001590",
|
| 196 |
+
"001643"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0392_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0392_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": "scene0392_01.pt",
|
| 18 |
+
"indices_file": "scene0392_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0392_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 |
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},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000083"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000167"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000251"
|
| 49 |
+
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|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000335"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000418"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
+
"frame_id": "000502"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000586"
|
| 65 |
+
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|
| 66 |
+
{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000670"
|
| 69 |
+
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|
| 70 |
+
{
|
| 71 |
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"index": 9,
|
| 72 |
+
"frame_id": "000753"
|
| 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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|
| 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 |
+
"frame_id": "002261"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 28,
|
| 144 |
+
"frame_id": "002345"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 29,
|
| 148 |
+
"frame_id": "002429"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 30,
|
| 152 |
+
"frame_id": "002513"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 31,
|
| 156 |
+
"frame_id": "002597"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 16,
|
| 162 |
+
"frame_id": "001340",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000083",
|
| 169 |
+
"000167",
|
| 170 |
+
"000251",
|
| 171 |
+
"000335",
|
| 172 |
+
"000418",
|
| 173 |
+
"000502",
|
| 174 |
+
"000586",
|
| 175 |
+
"000670",
|
| 176 |
+
"000753",
|
| 177 |
+
"000837",
|
| 178 |
+
"000921",
|
| 179 |
+
"001005",
|
| 180 |
+
"001089",
|
| 181 |
+
"001172",
|
| 182 |
+
"001256",
|
| 183 |
+
"001424",
|
| 184 |
+
"001507",
|
| 185 |
+
"001591",
|
| 186 |
+
"001675",
|
| 187 |
+
"001759",
|
| 188 |
+
"001843",
|
| 189 |
+
"001926",
|
| 190 |
+
"002010",
|
| 191 |
+
"002094",
|
| 192 |
+
"002178",
|
| 193 |
+
"002261",
|
| 194 |
+
"002345",
|
| 195 |
+
"002429",
|
| 196 |
+
"002513",
|
| 197 |
+
"002597"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0393_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"scene_name": "scene0393_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 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0393_02.pt",
|
| 18 |
+
"indices_file": "scene0393_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0393_02_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
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"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
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"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
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{
|
| 35 |
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"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000042"
|
| 41 |
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},
|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000084"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000126"
|
| 49 |
+
},
|
| 50 |
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{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000168"
|
| 53 |
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},
|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000210"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000252"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000294"
|
| 65 |
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},
|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000336"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000378"
|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000420"
|
| 77 |
+
},
|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000462"
|
| 81 |
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},
|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000504"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000546"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000588"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000630"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000672"
|
| 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": "000798"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000840"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000882"
|
| 121 |
+
},
|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "000924"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
+
"index": 23,
|
| 128 |
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"frame_id": "000966"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001008"
|
| 133 |
+
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|
| 134 |
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{
|
| 135 |
+
"index": 25,
|
| 136 |
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"frame_id": "001050"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001092"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001134"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001176"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001218"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001260"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001302"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000042",
|
| 167 |
+
"000084",
|
| 168 |
+
"000126",
|
| 169 |
+
"000168",
|
| 170 |
+
"000210",
|
| 171 |
+
"000252",
|
| 172 |
+
"000294",
|
| 173 |
+
"000336",
|
| 174 |
+
"000378",
|
| 175 |
+
"000420",
|
| 176 |
+
"000462",
|
| 177 |
+
"000504",
|
| 178 |
+
"000546",
|
| 179 |
+
"000588",
|
| 180 |
+
"000630",
|
| 181 |
+
"000672",
|
| 182 |
+
"000714",
|
| 183 |
+
"000756",
|
| 184 |
+
"000798",
|
| 185 |
+
"000840",
|
| 186 |
+
"000882",
|
| 187 |
+
"000924",
|
| 188 |
+
"000966",
|
| 189 |
+
"001008",
|
| 190 |
+
"001050",
|
| 191 |
+
"001092",
|
| 192 |
+
"001134",
|
| 193 |
+
"001176",
|
| 194 |
+
"001218",
|
| 195 |
+
"001260",
|
| 196 |
+
"001302"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0399_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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0399_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
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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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| 40 |
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| 75 |
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| 83 |
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| 87 |
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| 91 |
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| 95 |
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| 97 |
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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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| 129 |
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| 131 |
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| 159 |
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|
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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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| 180 |
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| 183 |
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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/scene0439_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
|
|
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|
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|
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|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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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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"transform_to_world_file": "scene0439_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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|
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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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|
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"000276",
|
| 173 |
+
"000316",
|
| 174 |
+
"000355",
|
| 175 |
+
"000395",
|
| 176 |
+
"000434",
|
| 177 |
+
"000474",
|
| 178 |
+
"000513",
|
| 179 |
+
"000553",
|
| 180 |
+
"000592",
|
| 181 |
+
"000632",
|
| 182 |
+
"000671",
|
| 183 |
+
"000711",
|
| 184 |
+
"000750",
|
| 185 |
+
"000790",
|
| 186 |
+
"000829",
|
| 187 |
+
"000869",
|
| 188 |
+
"000908",
|
| 189 |
+
"000948",
|
| 190 |
+
"000987",
|
| 191 |
+
"001027",
|
| 192 |
+
"001066",
|
| 193 |
+
"001106",
|
| 194 |
+
"001145",
|
| 195 |
+
"001185",
|
| 196 |
+
"001225"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0446_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0446_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": "scene0446_01.pt",
|
| 18 |
+
"indices_file": "scene0446_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0446_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": "000065"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000131"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000196"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000262"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000327"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000393"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000459"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000524"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000590"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000655"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000721"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000786"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000852"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000918"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000983"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "001049"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "001114"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "001180"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "001246"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "001311"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001377"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001442"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001508"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001573"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001639"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001705"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001770"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 29,
|
| 148 |
+
"frame_id": "001901"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 30,
|
| 152 |
+
"frame_id": "001967"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 31,
|
| 156 |
+
"frame_id": "002033"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 28,
|
| 162 |
+
"frame_id": "001836",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000065",
|
| 169 |
+
"000131",
|
| 170 |
+
"000196",
|
| 171 |
+
"000262",
|
| 172 |
+
"000327",
|
| 173 |
+
"000393",
|
| 174 |
+
"000459",
|
| 175 |
+
"000524",
|
| 176 |
+
"000590",
|
| 177 |
+
"000655",
|
| 178 |
+
"000721",
|
| 179 |
+
"000786",
|
| 180 |
+
"000852",
|
| 181 |
+
"000918",
|
| 182 |
+
"000983",
|
| 183 |
+
"001049",
|
| 184 |
+
"001114",
|
| 185 |
+
"001180",
|
| 186 |
+
"001246",
|
| 187 |
+
"001311",
|
| 188 |
+
"001377",
|
| 189 |
+
"001442",
|
| 190 |
+
"001508",
|
| 191 |
+
"001573",
|
| 192 |
+
"001639",
|
| 193 |
+
"001705",
|
| 194 |
+
"001770",
|
| 195 |
+
"001901",
|
| 196 |
+
"001967",
|
| 197 |
+
"002033"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0449_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0449_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": "scene0449_01.pt",
|
| 18 |
+
"indices_file": "scene0449_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0449_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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