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- metadata/train/scene0000_00_metadata.json +198 -0
- metadata/train/scene0001_00_metadata.json +199 -0
- metadata/train/scene0013_00_metadata.json +198 -0
- metadata/train/scene0023_00_metadata.json +198 -0
- metadata/train/scene0027_02_metadata.json +198 -0
- metadata/train/scene0037_00_metadata.json +198 -0
- metadata/train/scene0042_02_metadata.json +198 -0
- metadata/train/scene0051_00_metadata.json +199 -0
- metadata/train/scene0052_00_metadata.json +199 -0
- metadata/train/scene0066_00_metadata.json +198 -0
- metadata/train/scene0072_01_metadata.json +198 -0
- metadata/train/scene0073_01_metadata.json +199 -0
- metadata/train/scene0082_00_metadata.json +199 -0
- metadata/train/scene0089_02_metadata.json +198 -0
- metadata/train/scene0106_02_metadata.json +199 -0
- metadata/train/scene0121_00_metadata.json +198 -0
- metadata/train/scene0137_02_metadata.json +198 -0
- metadata/train/scene0160_03_metadata.json +198 -0
- metadata/train/scene0181_03_metadata.json +198 -0
- metadata/train/scene0195_02_metadata.json +198 -0
- metadata/train/scene0206_00_metadata.json +198 -0
- metadata/train/scene0209_00_metadata.json +198 -0
- metadata/train/scene0226_01_metadata.json +198 -0
- metadata/train/scene0229_01_metadata.json +198 -0
- metadata/train/scene0244_01_metadata.json +198 -0
- metadata/train/scene0247_00_metadata.json +198 -0
- metadata/train/scene0250_02_metadata.json +198 -0
- metadata/train/scene0259_00_metadata.json +198 -0
- metadata/train/scene0259_01_metadata.json +198 -0
- metadata/train/scene0261_02_metadata.json +198 -0
- metadata/train/scene0280_01_metadata.json +198 -0
- metadata/train/scene0282_02_metadata.json +198 -0
- metadata/train/scene0291_02_metadata.json +199 -0
- metadata/train/scene0294_01_metadata.json +198 -0
- metadata/train/scene0299_00_metadata.json +198 -0
- metadata/train/scene0305_01_metadata.json +198 -0
- metadata/train/scene0306_00_metadata.json +198 -0
- metadata/train/scene0320_02_metadata.json +198 -0
- metadata/train/scene0321_00_metadata.json +198 -0
- metadata/train/scene0332_00_metadata.json +198 -0
- metadata/train/scene0348_00_metadata.json +198 -0
- metadata/train/scene0409_01_metadata.json +198 -0
- metadata/train/scene0415_01_metadata.json +199 -0
- metadata/train/scene0415_02_metadata.json +198 -0
- metadata/train/scene0416_00_metadata.json +199 -0
- metadata/train/scene0419_02_metadata.json +198 -0
- metadata/train/scene0422_00_metadata.json +198 -0
- metadata/train/scene0436_00_metadata.json +198 -0
- metadata/train/scene0444_00_metadata.json +198 -0
- metadata/train/scene0448_00_metadata.json +198 -0
metadata/train/scene0000_00_metadata.json
ADDED
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| 1 |
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{
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| 2 |
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"scene_name": "scene0000_00",
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| 3 |
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"total_frames_in_dataset": 32,
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| 4 |
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"valid_frames_count": 32,
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| 5 |
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"invalid_frames_count": 0,
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| 6 |
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"output_shape": [
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32,
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432,
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432,
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3
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],
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"output_dtype": "bfloat16",
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| 13 |
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"valid_indices_shape": [
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32
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| 15 |
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],
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| 16 |
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"valid_indices_dtype": "int32",
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| 17 |
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"pointcloud_file": "scene0000_00.pt",
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| 18 |
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"indices_file": "scene0000_00_indices.pt",
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| 19 |
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"transform_to_world_file": "scene0000_00_to_world.npy",
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| 20 |
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"coordinate_system": "first_camera_frame",
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| 21 |
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"first_valid_frame": {
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"index": 0,
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"frame_id": "000000"
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},
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"image_size": [
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432,
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432
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],
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"original_image_size": [
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640,
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480
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],
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"valid_view_mapping": [
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{
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"index": 0,
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"frame_id": "000000"
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},
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{
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"index": 1,
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"frame_id": "000179"
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},
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{
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"index": 2,
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"frame_id": "000359"
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},
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{
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"index": 3,
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"frame_id": "000539"
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},
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{
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"index": 4,
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"frame_id": "000719"
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},
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{
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"index": 5,
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"frame_id": "000899"
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{
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"index": 6,
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"frame_id": "001079"
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{
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"index": 7,
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"frame_id": "001259"
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},
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{
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"index": 8,
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"frame_id": "001439"
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{
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"index": 9,
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"frame_id": "001619"
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},
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{
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"index": 10,
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"frame_id": "001799"
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},
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{
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"index": 11,
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"frame_id": "001978"
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{
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"index": 12,
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"frame_id": "002158"
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"index": 13,
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"frame_id": "002338"
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"frame_id": "002518"
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"index": 15,
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"frame_id": "002698"
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"frame_id": "002878"
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"index": 17,
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"frame_id": "003058"
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"index": 18,
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| 108 |
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"frame_id": "003238"
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"frame_id": "003418"
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"frame_id": "003598"
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"index": 21,
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"frame_id": "003777"
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"index": 22,
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| 124 |
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"frame_id": "003957"
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"index": 25,
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"frame_id": "004497"
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"index": 26,
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| 140 |
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"frame_id": "004677"
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},
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{
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"index": 27,
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"frame_id": "004857"
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{
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"index": 28,
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| 148 |
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"frame_id": "005037"
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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": "005217"
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| 153 |
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| 154 |
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{
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"index": 30,
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"frame_id": "005397"
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{
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"index": 31,
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| 160 |
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"frame_id": "005577"
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| 161 |
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}
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| 162 |
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],
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| 163 |
+
"invalid_views": [],
|
| 164 |
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"frame_order": [
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| 165 |
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"000000",
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| 166 |
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"000179",
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| 167 |
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"000359",
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| 168 |
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"000539",
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| 169 |
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"000719",
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| 170 |
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"000899",
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| 171 |
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"001079",
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| 172 |
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"001259",
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| 173 |
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"001439",
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| 174 |
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"001619",
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| 175 |
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"001799",
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| 176 |
+
"001978",
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| 177 |
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"002158",
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| 178 |
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"002338",
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| 179 |
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"002518",
|
| 180 |
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"002698",
|
| 181 |
+
"002878",
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| 182 |
+
"003058",
|
| 183 |
+
"003238",
|
| 184 |
+
"003418",
|
| 185 |
+
"003598",
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| 186 |
+
"003777",
|
| 187 |
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"003957",
|
| 188 |
+
"004137",
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| 189 |
+
"004317",
|
| 190 |
+
"004497",
|
| 191 |
+
"004677",
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| 192 |
+
"004857",
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| 193 |
+
"005037",
|
| 194 |
+
"005217",
|
| 195 |
+
"005397",
|
| 196 |
+
"005577"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0001_00_metadata.json
ADDED
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|
| 1 |
+
{
|
| 2 |
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"scene_name": "scene0001_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"pointcloud_file": "scene0001_00.pt",
|
| 18 |
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"indices_file": "scene0001_00_indices.pt",
|
| 19 |
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"transform_to_world_file": "scene0001_00_to_world.npy",
|
| 20 |
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"coordinate_system": "first_camera_frame",
|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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{
|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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{
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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{
|
| 91 |
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|
| 92 |
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"frame_id": "000696"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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|
| 96 |
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"frame_id": "000746"
|
| 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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"frame_id": "001095",
|
| 144 |
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"reason": "invalid_pose"
|
| 145 |
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|
| 146 |
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{
|
| 147 |
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|
| 148 |
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"frame_id": "001144",
|
| 149 |
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"reason": "invalid_pose"
|
| 150 |
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|
| 151 |
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{
|
| 152 |
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|
| 153 |
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"frame_id": "001194",
|
| 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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"frame_id": "001244",
|
| 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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"frame_id": "001294",
|
| 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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"frame_id": "001343",
|
| 169 |
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"reason": "invalid_pose"
|
| 170 |
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|
| 171 |
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{
|
| 172 |
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|
| 173 |
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"frame_id": "001393",
|
| 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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"000199",
|
| 183 |
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|
| 184 |
+
"000298",
|
| 185 |
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"000348",
|
| 186 |
+
"000398",
|
| 187 |
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"000447",
|
| 188 |
+
"000497",
|
| 189 |
+
"000547",
|
| 190 |
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"000597",
|
| 191 |
+
"000647",
|
| 192 |
+
"000696",
|
| 193 |
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|
| 194 |
+
"000796",
|
| 195 |
+
"001443",
|
| 196 |
+
"001493",
|
| 197 |
+
"001543"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0013_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0013_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": "scene0013_00.pt",
|
| 18 |
+
"indices_file": "scene0013_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0013_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 |
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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 |
+
},
|
| 38 |
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{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000024"
|
| 41 |
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|
| 42 |
+
{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000048"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
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"frame_id": "000073"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000097"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000122"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000146"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000171"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000195"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000220"
|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000244"
|
| 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 |
+
"000073",
|
| 169 |
+
"000097",
|
| 170 |
+
"000122",
|
| 171 |
+
"000146",
|
| 172 |
+
"000171",
|
| 173 |
+
"000195",
|
| 174 |
+
"000220",
|
| 175 |
+
"000244",
|
| 176 |
+
"000269",
|
| 177 |
+
"000293",
|
| 178 |
+
"000318",
|
| 179 |
+
"000342",
|
| 180 |
+
"000367",
|
| 181 |
+
"000391",
|
| 182 |
+
"000416",
|
| 183 |
+
"000440",
|
| 184 |
+
"000465",
|
| 185 |
+
"000489",
|
| 186 |
+
"000514",
|
| 187 |
+
"000538",
|
| 188 |
+
"000563",
|
| 189 |
+
"000587",
|
| 190 |
+
"000612",
|
| 191 |
+
"000636",
|
| 192 |
+
"000661",
|
| 193 |
+
"000685",
|
| 194 |
+
"000710",
|
| 195 |
+
"000734",
|
| 196 |
+
"000759"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0023_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0023_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": "scene0023_00.pt",
|
| 18 |
+
"indices_file": "scene0023_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0023_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": "000036"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000073"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000110"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000146"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000183"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000220"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000257"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000293"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000330"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000367"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000404"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000440"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000477"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000514"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000551"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000587"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000624"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000661"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000698"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000734"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000771"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000808"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000845"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000881"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000918"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000955"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000992"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001028"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001065"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001102"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001139"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000036",
|
| 167 |
+
"000073",
|
| 168 |
+
"000110",
|
| 169 |
+
"000146",
|
| 170 |
+
"000183",
|
| 171 |
+
"000220",
|
| 172 |
+
"000257",
|
| 173 |
+
"000293",
|
| 174 |
+
"000330",
|
| 175 |
+
"000367",
|
| 176 |
+
"000404",
|
| 177 |
+
"000440",
|
| 178 |
+
"000477",
|
| 179 |
+
"000514",
|
| 180 |
+
"000551",
|
| 181 |
+
"000587",
|
| 182 |
+
"000624",
|
| 183 |
+
"000661",
|
| 184 |
+
"000698",
|
| 185 |
+
"000734",
|
| 186 |
+
"000771",
|
| 187 |
+
"000808",
|
| 188 |
+
"000845",
|
| 189 |
+
"000881",
|
| 190 |
+
"000918",
|
| 191 |
+
"000955",
|
| 192 |
+
"000992",
|
| 193 |
+
"001028",
|
| 194 |
+
"001065",
|
| 195 |
+
"001102",
|
| 196 |
+
"001139"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0027_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0027_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": "scene0027_02.pt",
|
| 18 |
+
"indices_file": "scene0027_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0027_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 |
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|
| 32 |
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| 33 |
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|
| 34 |
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| 35 |
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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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| 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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| 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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"000833"
|
| 197 |
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|
| 198 |
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}
|
metadata/train/scene0037_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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|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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],
|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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],
|
| 16 |
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|
| 17 |
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"pointcloud_file": "scene0037_00.pt",
|
| 18 |
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"indices_file": "scene0037_00_indices.pt",
|
| 19 |
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"transform_to_world_file": "scene0037_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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| 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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|
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| 106 |
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| 107 |
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| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
+
"001078"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0042_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
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|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
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|
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|
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|
|
|
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|
|
|
|
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|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
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|
|
|
|
|
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|
|
|
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|
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|
|
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|
|
|
|
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|
|
|
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|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0042_02",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
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|
| 6 |
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|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0042_02.pt",
|
| 18 |
+
"indices_file": "scene0042_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0042_02_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 |
+
],
|
| 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": "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": "000070"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000106"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000141"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000177"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000212"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000247"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000283"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000318"
|
| 73 |
+
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|
| 74 |
+
{
|
| 75 |
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"index": 10,
|
| 76 |
+
"frame_id": "000354"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
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"index": 11,
|
| 80 |
+
"frame_id": "000389"
|
| 81 |
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},
|
| 82 |
+
{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000425"
|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
+
"index": 13,
|
| 88 |
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"frame_id": "000460"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000495"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000531"
|
| 97 |
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},
|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000566"
|
| 101 |
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},
|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000602"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "000637"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000672"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000708"
|
| 117 |
+
},
|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000743"
|
| 121 |
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},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000779"
|
| 125 |
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},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
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"frame_id": "000814"
|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000850"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
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"frame_id": "000885"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000920"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000956"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000991"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001027"
|
| 153 |
+
},
|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "001062"
|
| 157 |
+
},
|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001098"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000035",
|
| 167 |
+
"000070",
|
| 168 |
+
"000106",
|
| 169 |
+
"000141",
|
| 170 |
+
"000177",
|
| 171 |
+
"000212",
|
| 172 |
+
"000247",
|
| 173 |
+
"000283",
|
| 174 |
+
"000318",
|
| 175 |
+
"000354",
|
| 176 |
+
"000389",
|
| 177 |
+
"000425",
|
| 178 |
+
"000460",
|
| 179 |
+
"000495",
|
| 180 |
+
"000531",
|
| 181 |
+
"000566",
|
| 182 |
+
"000602",
|
| 183 |
+
"000637",
|
| 184 |
+
"000672",
|
| 185 |
+
"000708",
|
| 186 |
+
"000743",
|
| 187 |
+
"000779",
|
| 188 |
+
"000814",
|
| 189 |
+
"000850",
|
| 190 |
+
"000885",
|
| 191 |
+
"000920",
|
| 192 |
+
"000956",
|
| 193 |
+
"000991",
|
| 194 |
+
"001027",
|
| 195 |
+
"001062",
|
| 196 |
+
"001098"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0051_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0051_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": "scene0051_00.pt",
|
| 18 |
+
"indices_file": "scene0051_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0051_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": "000049"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000099"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000149"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000199"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000249"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000299"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000349"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000398"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000448"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000498"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000548"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000598"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000648"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000698"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000748"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000797"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000847"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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|
| 108 |
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"frame_id": "000897"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000947"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000997"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "001047"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "001097"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "001147"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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|
| 132 |
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"frame_id": "001196"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "001246"
|
| 137 |
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|
| 138 |
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{
|
| 139 |
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"index": 27,
|
| 140 |
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"frame_id": "001346"
|
| 141 |
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|
| 142 |
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{
|
| 143 |
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"index": 28,
|
| 144 |
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"frame_id": "001396"
|
| 145 |
+
},
|
| 146 |
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{
|
| 147 |
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"index": 29,
|
| 148 |
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"frame_id": "001446"
|
| 149 |
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},
|
| 150 |
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{
|
| 151 |
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"index": 30,
|
| 152 |
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"frame_id": "001496"
|
| 153 |
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},
|
| 154 |
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{
|
| 155 |
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"index": 31,
|
| 156 |
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"frame_id": "001546"
|
| 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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|
| 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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"000897",
|
| 186 |
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"000947",
|
| 187 |
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"000997",
|
| 188 |
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"001047",
|
| 189 |
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"001097",
|
| 190 |
+
"001147",
|
| 191 |
+
"001196",
|
| 192 |
+
"001246",
|
| 193 |
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|
| 194 |
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"001396",
|
| 195 |
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"001446",
|
| 196 |
+
"001496",
|
| 197 |
+
"001546"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0052_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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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"scene_name": "scene0052_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 31,
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
+
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 |
+
],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
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"pointcloud_file": "scene0052_00.pt",
|
| 18 |
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"indices_file": "scene0052_00_indices.pt",
|
| 19 |
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"transform_to_world_file": "scene0052_00_to_world.npy",
|
| 20 |
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"coordinate_system": "first_camera_frame",
|
| 21 |
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"first_valid_frame": {
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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"image_size": [
|
| 26 |
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432,
|
| 27 |
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432
|
| 28 |
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],
|
| 29 |
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"original_image_size": [
|
| 30 |
+
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|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
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{
|
| 35 |
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"index": 0,
|
| 36 |
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|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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|
| 41 |
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},
|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000063"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000095"
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000127"
|
| 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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"index": 6,
|
| 60 |
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"frame_id": "000191"
|
| 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": "000255"
|
| 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": "000319"
|
| 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 |
+
"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 |
+
"index": 25,
|
| 136 |
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"frame_id": "000798"
|
| 137 |
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|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "000830"
|
| 141 |
+
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|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000862"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000894"
|
| 149 |
+
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|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
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|
| 153 |
+
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|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000958"
|
| 157 |
+
}
|
| 158 |
+
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|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
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|
| 162 |
+
"frame_id": "000990",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
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|
| 169 |
+
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|
| 170 |
+
"000095",
|
| 171 |
+
"000127",
|
| 172 |
+
"000159",
|
| 173 |
+
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|
| 174 |
+
"000223",
|
| 175 |
+
"000255",
|
| 176 |
+
"000287",
|
| 177 |
+
"000319",
|
| 178 |
+
"000351",
|
| 179 |
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"000383",
|
| 180 |
+
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|
| 181 |
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|
| 182 |
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|
| 183 |
+
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|
| 184 |
+
"000542",
|
| 185 |
+
"000574",
|
| 186 |
+
"000606",
|
| 187 |
+
"000638",
|
| 188 |
+
"000670",
|
| 189 |
+
"000702",
|
| 190 |
+
"000734",
|
| 191 |
+
"000766",
|
| 192 |
+
"000798",
|
| 193 |
+
"000830",
|
| 194 |
+
"000862",
|
| 195 |
+
"000894",
|
| 196 |
+
"000926",
|
| 197 |
+
"000958"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0066_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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0066_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": "scene0066_00.pt",
|
| 18 |
+
"indices_file": "scene0066_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0066_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": "000038"
|
| 41 |
+
},
|
| 42 |
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{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000077"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
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"frame_id": "000116"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000155"
|
| 53 |
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},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
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"frame_id": "000194"
|
| 57 |
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},
|
| 58 |
+
{
|
| 59 |
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"index": 6,
|
| 60 |
+
"frame_id": "000233"
|
| 61 |
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},
|
| 62 |
+
{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000272"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
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"frame_id": "000310"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000349"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000388"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000427"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000466"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000505"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000544"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000583"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000621"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000660"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000699"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000738"
|
| 113 |
+
},
|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
+
"frame_id": "000777"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
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"index": 21,
|
| 120 |
+
"frame_id": "000816"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000855"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000894"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000932"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000971"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001010"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001049"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001088"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001127"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001166"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001205"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000038",
|
| 167 |
+
"000077",
|
| 168 |
+
"000116",
|
| 169 |
+
"000155",
|
| 170 |
+
"000194",
|
| 171 |
+
"000233",
|
| 172 |
+
"000272",
|
| 173 |
+
"000310",
|
| 174 |
+
"000349",
|
| 175 |
+
"000388",
|
| 176 |
+
"000427",
|
| 177 |
+
"000466",
|
| 178 |
+
"000505",
|
| 179 |
+
"000544",
|
| 180 |
+
"000583",
|
| 181 |
+
"000621",
|
| 182 |
+
"000660",
|
| 183 |
+
"000699",
|
| 184 |
+
"000738",
|
| 185 |
+
"000777",
|
| 186 |
+
"000816",
|
| 187 |
+
"000855",
|
| 188 |
+
"000894",
|
| 189 |
+
"000932",
|
| 190 |
+
"000971",
|
| 191 |
+
"001010",
|
| 192 |
+
"001049",
|
| 193 |
+
"001088",
|
| 194 |
+
"001127",
|
| 195 |
+
"001166",
|
| 196 |
+
"001205"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0072_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0072_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": "scene0072_01.pt",
|
| 18 |
+
"indices_file": "scene0072_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0072_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000040"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000081"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000122"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000163"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000204"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000245"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000285"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000326"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000367"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000408"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000449"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000490"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000530"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000571"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000612"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000653"
|
| 101 |
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},
|
| 102 |
+
{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000694"
|
| 105 |
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},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000735"
|
| 109 |
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},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000775"
|
| 113 |
+
},
|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
+
"frame_id": "000816"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000857"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000898"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000939"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000980"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001020"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001061"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001102"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001143"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001184"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001225"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001266"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
+
"000040",
|
| 167 |
+
"000081",
|
| 168 |
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"000122",
|
| 169 |
+
"000163",
|
| 170 |
+
"000204",
|
| 171 |
+
"000245",
|
| 172 |
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"000285",
|
| 173 |
+
"000326",
|
| 174 |
+
"000367",
|
| 175 |
+
"000408",
|
| 176 |
+
"000449",
|
| 177 |
+
"000490",
|
| 178 |
+
"000530",
|
| 179 |
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"000571",
|
| 180 |
+
"000612",
|
| 181 |
+
"000653",
|
| 182 |
+
"000694",
|
| 183 |
+
"000735",
|
| 184 |
+
"000775",
|
| 185 |
+
"000816",
|
| 186 |
+
"000857",
|
| 187 |
+
"000898",
|
| 188 |
+
"000939",
|
| 189 |
+
"000980",
|
| 190 |
+
"001020",
|
| 191 |
+
"001061",
|
| 192 |
+
"001102",
|
| 193 |
+
"001143",
|
| 194 |
+
"001184",
|
| 195 |
+
"001225",
|
| 196 |
+
"001266"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0073_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0073_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 |
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"output_dtype": "bfloat16",
|
| 13 |
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"valid_indices_shape": [
|
| 14 |
+
31
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0073_01.pt",
|
| 18 |
+
"indices_file": "scene0073_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0073_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
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"index": 0,
|
| 23 |
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"frame_id": "000000"
|
| 24 |
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},
|
| 25 |
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"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
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"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
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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": "000053"
|
| 41 |
+
},
|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000107"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000161"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000215"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000269"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000323"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000376"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000430"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000484"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000538"
|
| 77 |
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},
|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000592"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000646"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000699"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 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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"frame_id": "001022"
|
| 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": 23,
|
| 124 |
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"frame_id": "001238"
|
| 125 |
+
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|
| 126 |
+
{
|
| 127 |
+
"index": 24,
|
| 128 |
+
"frame_id": "001292"
|
| 129 |
+
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|
| 130 |
+
{
|
| 131 |
+
"index": 25,
|
| 132 |
+
"frame_id": "001345"
|
| 133 |
+
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|
| 134 |
+
{
|
| 135 |
+
"index": 26,
|
| 136 |
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"frame_id": "001399"
|
| 137 |
+
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|
| 138 |
+
{
|
| 139 |
+
"index": 27,
|
| 140 |
+
"frame_id": "001453"
|
| 141 |
+
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|
| 142 |
+
{
|
| 143 |
+
"index": 28,
|
| 144 |
+
"frame_id": "001507"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 29,
|
| 148 |
+
"frame_id": "001561"
|
| 149 |
+
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|
| 150 |
+
{
|
| 151 |
+
"index": 30,
|
| 152 |
+
"frame_id": "001615"
|
| 153 |
+
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|
| 154 |
+
{
|
| 155 |
+
"index": 31,
|
| 156 |
+
"frame_id": "001669"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 21,
|
| 162 |
+
"frame_id": "001130",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
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|
| 169 |
+
"000107",
|
| 170 |
+
"000161",
|
| 171 |
+
"000215",
|
| 172 |
+
"000269",
|
| 173 |
+
"000323",
|
| 174 |
+
"000376",
|
| 175 |
+
"000430",
|
| 176 |
+
"000484",
|
| 177 |
+
"000538",
|
| 178 |
+
"000592",
|
| 179 |
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"000646",
|
| 180 |
+
"000699",
|
| 181 |
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|
| 182 |
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"000807",
|
| 183 |
+
"000861",
|
| 184 |
+
"000915",
|
| 185 |
+
"000969",
|
| 186 |
+
"001022",
|
| 187 |
+
"001076",
|
| 188 |
+
"001184",
|
| 189 |
+
"001238",
|
| 190 |
+
"001292",
|
| 191 |
+
"001345",
|
| 192 |
+
"001399",
|
| 193 |
+
"001453",
|
| 194 |
+
"001507",
|
| 195 |
+
"001561",
|
| 196 |
+
"001615",
|
| 197 |
+
"001669"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0082_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0082_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 17,
|
| 5 |
+
"invalid_frames_count": 15,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
17,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
17
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0082_00.pt",
|
| 18 |
+
"indices_file": "scene0082_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0082_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000027"
|
| 41 |
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},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000055"
|
| 45 |
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},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
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"frame_id": "000083"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
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"frame_id": "000111"
|
| 53 |
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|
| 54 |
+
{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000138"
|
| 57 |
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|
| 58 |
+
{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000166"
|
| 61 |
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},
|
| 62 |
+
{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000194"
|
| 65 |
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},
|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000222"
|
| 69 |
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},
|
| 70 |
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{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000249"
|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
+
"frame_id": "000277"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000305"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000333"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000361"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000388"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000416"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000444"
|
| 101 |
+
}
|
| 102 |
+
],
|
| 103 |
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"invalid_views": [
|
| 104 |
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{
|
| 105 |
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"index": 17,
|
| 106 |
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"frame_id": "000472",
|
| 107 |
+
"reason": "invalid_pose"
|
| 108 |
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},
|
| 109 |
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{
|
| 110 |
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"index": 18,
|
| 111 |
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"frame_id": "000499",
|
| 112 |
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"reason": "invalid_pose"
|
| 113 |
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},
|
| 114 |
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{
|
| 115 |
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"index": 19,
|
| 116 |
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"frame_id": "000527",
|
| 117 |
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"reason": "invalid_pose"
|
| 118 |
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|
| 119 |
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{
|
| 120 |
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"index": 20,
|
| 121 |
+
"frame_id": "000555",
|
| 122 |
+
"reason": "invalid_pose"
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"index": 21,
|
| 126 |
+
"frame_id": "000583",
|
| 127 |
+
"reason": "invalid_pose"
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"index": 22,
|
| 131 |
+
"frame_id": "000611",
|
| 132 |
+
"reason": "invalid_pose"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 23,
|
| 136 |
+
"frame_id": "000638",
|
| 137 |
+
"reason": "invalid_pose"
|
| 138 |
+
},
|
| 139 |
+
{
|
| 140 |
+
"index": 24,
|
| 141 |
+
"frame_id": "000666",
|
| 142 |
+
"reason": "invalid_pose"
|
| 143 |
+
},
|
| 144 |
+
{
|
| 145 |
+
"index": 25,
|
| 146 |
+
"frame_id": "000694",
|
| 147 |
+
"reason": "invalid_pose"
|
| 148 |
+
},
|
| 149 |
+
{
|
| 150 |
+
"index": 26,
|
| 151 |
+
"frame_id": "000722",
|
| 152 |
+
"reason": "invalid_pose"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 27,
|
| 156 |
+
"frame_id": "000749",
|
| 157 |
+
"reason": "invalid_pose"
|
| 158 |
+
},
|
| 159 |
+
{
|
| 160 |
+
"index": 28,
|
| 161 |
+
"frame_id": "000777",
|
| 162 |
+
"reason": "invalid_pose"
|
| 163 |
+
},
|
| 164 |
+
{
|
| 165 |
+
"index": 29,
|
| 166 |
+
"frame_id": "000805",
|
| 167 |
+
"reason": "invalid_pose"
|
| 168 |
+
},
|
| 169 |
+
{
|
| 170 |
+
"index": 30,
|
| 171 |
+
"frame_id": "000833",
|
| 172 |
+
"reason": "invalid_pose"
|
| 173 |
+
},
|
| 174 |
+
{
|
| 175 |
+
"index": 31,
|
| 176 |
+
"frame_id": "000861",
|
| 177 |
+
"reason": "invalid_pose"
|
| 178 |
+
}
|
| 179 |
+
],
|
| 180 |
+
"frame_order": [
|
| 181 |
+
"000000",
|
| 182 |
+
"000027",
|
| 183 |
+
"000055",
|
| 184 |
+
"000083",
|
| 185 |
+
"000111",
|
| 186 |
+
"000138",
|
| 187 |
+
"000166",
|
| 188 |
+
"000194",
|
| 189 |
+
"000222",
|
| 190 |
+
"000249",
|
| 191 |
+
"000277",
|
| 192 |
+
"000305",
|
| 193 |
+
"000333",
|
| 194 |
+
"000361",
|
| 195 |
+
"000388",
|
| 196 |
+
"000416",
|
| 197 |
+
"000444"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0089_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0089_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": "scene0089_02.pt",
|
| 18 |
+
"indices_file": "scene0089_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0089_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": "000038"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000077"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000115"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000154"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000193"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000231"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000270"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000309"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000347"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000386"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000425"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000463"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000502"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000541"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000579"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000618"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000656"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000695"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000734"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000772"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000811"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000850"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000888"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000927"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000966"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001004"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001043"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001082"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001120"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001159"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001198"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000038",
|
| 167 |
+
"000077",
|
| 168 |
+
"000115",
|
| 169 |
+
"000154",
|
| 170 |
+
"000193",
|
| 171 |
+
"000231",
|
| 172 |
+
"000270",
|
| 173 |
+
"000309",
|
| 174 |
+
"000347",
|
| 175 |
+
"000386",
|
| 176 |
+
"000425",
|
| 177 |
+
"000463",
|
| 178 |
+
"000502",
|
| 179 |
+
"000541",
|
| 180 |
+
"000579",
|
| 181 |
+
"000618",
|
| 182 |
+
"000656",
|
| 183 |
+
"000695",
|
| 184 |
+
"000734",
|
| 185 |
+
"000772",
|
| 186 |
+
"000811",
|
| 187 |
+
"000850",
|
| 188 |
+
"000888",
|
| 189 |
+
"000927",
|
| 190 |
+
"000966",
|
| 191 |
+
"001004",
|
| 192 |
+
"001043",
|
| 193 |
+
"001082",
|
| 194 |
+
"001120",
|
| 195 |
+
"001159",
|
| 196 |
+
"001198"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0106_02_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0106_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": "scene0106_02.pt",
|
| 18 |
+
"indices_file": "scene0106_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0106_02_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
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"index": 0,
|
| 23 |
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"frame_id": "000000"
|
| 24 |
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},
|
| 25 |
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"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
+
{
|
| 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": "000028"
|
| 41 |
+
},
|
| 42 |
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{
|
| 43 |
+
"index": 2,
|
| 44 |
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"frame_id": "000057"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000085"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
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"frame_id": "000114"
|
| 53 |
+
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000143"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000171"
|
| 61 |
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},
|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000200"
|
| 65 |
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},
|
| 66 |
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{
|
| 67 |
+
"index": 8,
|
| 68 |
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"frame_id": "000229"
|
| 69 |
+
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000257"
|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000286"
|
| 77 |
+
},
|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000315"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000401"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000429"
|
| 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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"index": 19,
|
| 108 |
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"frame_id": "000544"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 20,
|
| 112 |
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"frame_id": "000572"
|
| 113 |
+
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|
| 114 |
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{
|
| 115 |
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"index": 21,
|
| 116 |
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|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 22,
|
| 120 |
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|
| 121 |
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},
|
| 122 |
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{
|
| 123 |
+
"index": 23,
|
| 124 |
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"frame_id": "000658"
|
| 125 |
+
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|
| 126 |
+
{
|
| 127 |
+
"index": 24,
|
| 128 |
+
"frame_id": "000687"
|
| 129 |
+
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|
| 130 |
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{
|
| 131 |
+
"index": 25,
|
| 132 |
+
"frame_id": "000716"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 26,
|
| 136 |
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"frame_id": "000744"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 27,
|
| 140 |
+
"frame_id": "000773"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 28,
|
| 144 |
+
"frame_id": "000802"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 29,
|
| 148 |
+
"frame_id": "000830"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 30,
|
| 152 |
+
"frame_id": "000859"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 31,
|
| 156 |
+
"frame_id": "000888"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 17,
|
| 162 |
+
"frame_id": "000486",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000028",
|
| 169 |
+
"000057",
|
| 170 |
+
"000085",
|
| 171 |
+
"000114",
|
| 172 |
+
"000143",
|
| 173 |
+
"000171",
|
| 174 |
+
"000200",
|
| 175 |
+
"000229",
|
| 176 |
+
"000257",
|
| 177 |
+
"000286",
|
| 178 |
+
"000315",
|
| 179 |
+
"000343",
|
| 180 |
+
"000372",
|
| 181 |
+
"000401",
|
| 182 |
+
"000429",
|
| 183 |
+
"000458",
|
| 184 |
+
"000515",
|
| 185 |
+
"000544",
|
| 186 |
+
"000572",
|
| 187 |
+
"000601",
|
| 188 |
+
"000630",
|
| 189 |
+
"000658",
|
| 190 |
+
"000687",
|
| 191 |
+
"000716",
|
| 192 |
+
"000744",
|
| 193 |
+
"000773",
|
| 194 |
+
"000802",
|
| 195 |
+
"000830",
|
| 196 |
+
"000859",
|
| 197 |
+
"000888"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0121_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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|
| 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": "scene0121_00.pt",
|
| 18 |
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"indices_file": "scene0121_00_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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| 54 |
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| 55 |
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|
| 56 |
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|
| 57 |
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| 58 |
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| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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{
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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{
|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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{
|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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{
|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
+
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|
| 196 |
+
"001795"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0137_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0137_02",
|
| 3 |
+
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|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
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|
| 6 |
+
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|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0137_02.pt",
|
| 18 |
+
"indices_file": "scene0137_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0137_02_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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432
|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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480
|
| 32 |
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|
| 33 |
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|
| 34 |
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{
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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{
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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{
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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{
|
| 51 |
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|
| 52 |
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"frame_id": "000322"
|
| 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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"index": 6,
|
| 60 |
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|
| 61 |
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|
| 62 |
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{
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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{
|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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{
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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{
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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| 123 |
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|
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
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|
| 129 |
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|
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
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|
| 137 |
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|
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|
| 140 |
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|
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|
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| 143 |
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|
| 144 |
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|
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|
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|
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|
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|
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|
| 153 |
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|
| 154 |
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"index": 30,
|
| 156 |
+
"frame_id": "002420"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "002501"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000080",
|
| 167 |
+
"000161",
|
| 168 |
+
"000242",
|
| 169 |
+
"000322",
|
| 170 |
+
"000403",
|
| 171 |
+
"000484",
|
| 172 |
+
"000564",
|
| 173 |
+
"000645",
|
| 174 |
+
"000726",
|
| 175 |
+
"000806",
|
| 176 |
+
"000887",
|
| 177 |
+
"000968",
|
| 178 |
+
"001048",
|
| 179 |
+
"001129",
|
| 180 |
+
"001210",
|
| 181 |
+
"001290",
|
| 182 |
+
"001371",
|
| 183 |
+
"001452",
|
| 184 |
+
"001532",
|
| 185 |
+
"001613",
|
| 186 |
+
"001694",
|
| 187 |
+
"001774",
|
| 188 |
+
"001855",
|
| 189 |
+
"001936",
|
| 190 |
+
"002016",
|
| 191 |
+
"002097",
|
| 192 |
+
"002178",
|
| 193 |
+
"002258",
|
| 194 |
+
"002339",
|
| 195 |
+
"002420",
|
| 196 |
+
"002501"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0160_03_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0160_03",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
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"invalid_frames_count": 0,
|
| 6 |
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"output_shape": [
|
| 7 |
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32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0160_03.pt",
|
| 18 |
+
"indices_file": "scene0160_03_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0160_03_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 |
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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": "000017"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000035"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000052"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000070"
|
| 53 |
+
},
|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000088"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000105"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000123"
|
| 65 |
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},
|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000141"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000158"
|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000176"
|
| 77 |
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},
|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000194"
|
| 81 |
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},
|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000211"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000229"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000247"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 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": "000335"
|
| 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": "000370"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "000388"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "000405"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "000423"
|
| 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": "000458"
|
| 141 |
+
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|
| 142 |
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{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000476"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
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"frame_id": "000494"
|
| 149 |
+
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|
| 150 |
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{
|
| 151 |
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|
| 152 |
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"frame_id": "000511"
|
| 153 |
+
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|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "000529"
|
| 157 |
+
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|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000547"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
+
"000052",
|
| 169 |
+
"000070",
|
| 170 |
+
"000088",
|
| 171 |
+
"000105",
|
| 172 |
+
"000123",
|
| 173 |
+
"000141",
|
| 174 |
+
"000158",
|
| 175 |
+
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|
| 176 |
+
"000194",
|
| 177 |
+
"000211",
|
| 178 |
+
"000229",
|
| 179 |
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"000247",
|
| 180 |
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"000264",
|
| 181 |
+
"000282",
|
| 182 |
+
"000299",
|
| 183 |
+
"000317",
|
| 184 |
+
"000335",
|
| 185 |
+
"000352",
|
| 186 |
+
"000370",
|
| 187 |
+
"000388",
|
| 188 |
+
"000405",
|
| 189 |
+
"000423",
|
| 190 |
+
"000441",
|
| 191 |
+
"000458",
|
| 192 |
+
"000476",
|
| 193 |
+
"000494",
|
| 194 |
+
"000511",
|
| 195 |
+
"000529",
|
| 196 |
+
"000547"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0181_03_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0181_03",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0181_03.pt",
|
| 18 |
+
"indices_file": "scene0181_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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| 27 |
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|
| 28 |
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| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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| 37 |
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| 38 |
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| 39 |
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|
| 40 |
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|
| 41 |
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| 42 |
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| 43 |
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|
| 45 |
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| 46 |
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| 47 |
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|
| 48 |
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| 50 |
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| 51 |
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| 55 |
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| 63 |
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| 71 |
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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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| 111 |
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| 115 |
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| 116 |
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| 117 |
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| 119 |
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|
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| 121 |
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| 122 |
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| 123 |
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| 125 |
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| 127 |
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|
| 129 |
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| 130 |
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| 131 |
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| 135 |
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| 139 |
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|
| 141 |
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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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| 151 |
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|
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| 155 |
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|
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| 157 |
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| 159 |
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|
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|
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| 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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| 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/scene0195_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
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|
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|
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|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
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|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
| 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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|
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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| 24 |
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| 25 |
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| 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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|
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|
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|
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|
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| 189 |
+
"001159",
|
| 190 |
+
"001208",
|
| 191 |
+
"001256",
|
| 192 |
+
"001304",
|
| 193 |
+
"001353",
|
| 194 |
+
"001401",
|
| 195 |
+
"001449",
|
| 196 |
+
"001498"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0206_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0206_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": "scene0206_00.pt",
|
| 18 |
+
"indices_file": "scene0206_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0206_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000058"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000117"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000175"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000234"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000293"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000351"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000410"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000468"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000527"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000586"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000644"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000703"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000761"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000820"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000879"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000937"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000996"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "001055"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "001113"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "001172"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001230"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001289"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001348"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001406"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001465"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001523"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001582"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001641"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001699"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001758"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001817"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000058",
|
| 167 |
+
"000117",
|
| 168 |
+
"000175",
|
| 169 |
+
"000234",
|
| 170 |
+
"000293",
|
| 171 |
+
"000351",
|
| 172 |
+
"000410",
|
| 173 |
+
"000468",
|
| 174 |
+
"000527",
|
| 175 |
+
"000586",
|
| 176 |
+
"000644",
|
| 177 |
+
"000703",
|
| 178 |
+
"000761",
|
| 179 |
+
"000820",
|
| 180 |
+
"000879",
|
| 181 |
+
"000937",
|
| 182 |
+
"000996",
|
| 183 |
+
"001055",
|
| 184 |
+
"001113",
|
| 185 |
+
"001172",
|
| 186 |
+
"001230",
|
| 187 |
+
"001289",
|
| 188 |
+
"001348",
|
| 189 |
+
"001406",
|
| 190 |
+
"001465",
|
| 191 |
+
"001523",
|
| 192 |
+
"001582",
|
| 193 |
+
"001641",
|
| 194 |
+
"001699",
|
| 195 |
+
"001758",
|
| 196 |
+
"001817"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0209_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0209_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": "scene0209_00.pt",
|
| 18 |
+
"indices_file": "scene0209_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0209_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": "000065"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000131"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000197"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 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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"frame_id": "000593"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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|
| 76 |
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"frame_id": "000659"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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"frame_id": "000725"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000791"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000857"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000923"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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|
| 96 |
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"frame_id": "000989"
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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"frame_id": "001055"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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|
| 104 |
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"frame_id": "001121"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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|
| 108 |
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"frame_id": "001187"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "001253"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "001319"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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|
| 120 |
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"frame_id": "001385"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "001451"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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{
|
| 131 |
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|
| 132 |
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"frame_id": "001583"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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|
| 136 |
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"frame_id": "001649"
|
| 137 |
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|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "001715"
|
| 141 |
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|
| 142 |
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{
|
| 143 |
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"index": 27,
|
| 144 |
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"frame_id": "001781"
|
| 145 |
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|
| 146 |
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{
|
| 147 |
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"index": 28,
|
| 148 |
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"frame_id": "001847"
|
| 149 |
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|
| 150 |
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{
|
| 151 |
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|
| 152 |
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"frame_id": "001913"
|
| 153 |
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|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "001979"
|
| 157 |
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|
| 158 |
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{
|
| 159 |
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"index": 31,
|
| 160 |
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"frame_id": "002045"
|
| 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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"000593",
|
| 175 |
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|
| 176 |
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"000725",
|
| 177 |
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"000791",
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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"001055",
|
| 182 |
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"001121",
|
| 183 |
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"001187",
|
| 184 |
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"001253",
|
| 185 |
+
"001319",
|
| 186 |
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"001385",
|
| 187 |
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"001451",
|
| 188 |
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"001517",
|
| 189 |
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"001583",
|
| 190 |
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"001649",
|
| 191 |
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"001715",
|
| 192 |
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"001781",
|
| 193 |
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"001847",
|
| 194 |
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"001913",
|
| 195 |
+
"001979",
|
| 196 |
+
"002045"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0226_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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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
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|
| 6 |
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|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
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],
|
| 12 |
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"output_dtype": "bfloat16",
|
| 13 |
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"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
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],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0226_01.pt",
|
| 18 |
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"indices_file": "scene0226_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0226_01_to_world.npy",
|
| 20 |
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"coordinate_system": "first_camera_frame",
|
| 21 |
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"first_valid_frame": {
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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"image_size": [
|
| 26 |
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432,
|
| 27 |
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432
|
| 28 |
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],
|
| 29 |
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"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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"valid_view_mapping": [
|
| 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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"index": 1,
|
| 40 |
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|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000065"
|
| 45 |
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},
|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000098"
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000130"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000163"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000196"
|
| 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": "000261"
|
| 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 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "000980"
|
| 157 |
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|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001013"
|
| 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 |
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"000098",
|
| 169 |
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"000130",
|
| 170 |
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"000163",
|
| 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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"000620",
|
| 185 |
+
"000653",
|
| 186 |
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"000686",
|
| 187 |
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|
| 188 |
+
"000751",
|
| 189 |
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"000784",
|
| 190 |
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"000816",
|
| 191 |
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"000849",
|
| 192 |
+
"000882",
|
| 193 |
+
"000914",
|
| 194 |
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"000947",
|
| 195 |
+
"000980",
|
| 196 |
+
"001013"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0229_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
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|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
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|
|
|
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|
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|
|
|
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|
|
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|
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|
|
|
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|
|
|
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|
|
|
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|
|
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|
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|
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|
|
|
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|
|
|
|
|
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|
|
|
|
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|
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|
|
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|
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|
|
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|
|
|
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|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0229_01",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
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|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0229_01.pt",
|
| 18 |
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"indices_file": "scene0229_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0229_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
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},
|
| 38 |
+
{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000033"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000066"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000100"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000133"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000166"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000200"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000233"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000266"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000300"
|
| 73 |
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|
| 74 |
+
{
|
| 75 |
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"index": 10,
|
| 76 |
+
"frame_id": "000333"
|
| 77 |
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},
|
| 78 |
+
{
|
| 79 |
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"index": 11,
|
| 80 |
+
"frame_id": "000366"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000400"
|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000433"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000466"
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000500"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000533"
|
| 101 |
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},
|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000567"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "000600"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000633"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000667"
|
| 117 |
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},
|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000700"
|
| 121 |
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},
|
| 122 |
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{
|
| 123 |
+
"index": 22,
|
| 124 |
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"frame_id": "000733"
|
| 125 |
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},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000767"
|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000800"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
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"frame_id": "000833"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000867"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000900"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000933"
|
| 149 |
+
},
|
| 150 |
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{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000967"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "001000"
|
| 157 |
+
},
|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001034"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
+
"000033",
|
| 167 |
+
"000066",
|
| 168 |
+
"000100",
|
| 169 |
+
"000133",
|
| 170 |
+
"000166",
|
| 171 |
+
"000200",
|
| 172 |
+
"000233",
|
| 173 |
+
"000266",
|
| 174 |
+
"000300",
|
| 175 |
+
"000333",
|
| 176 |
+
"000366",
|
| 177 |
+
"000400",
|
| 178 |
+
"000433",
|
| 179 |
+
"000466",
|
| 180 |
+
"000500",
|
| 181 |
+
"000533",
|
| 182 |
+
"000567",
|
| 183 |
+
"000600",
|
| 184 |
+
"000633",
|
| 185 |
+
"000667",
|
| 186 |
+
"000700",
|
| 187 |
+
"000733",
|
| 188 |
+
"000767",
|
| 189 |
+
"000800",
|
| 190 |
+
"000833",
|
| 191 |
+
"000867",
|
| 192 |
+
"000900",
|
| 193 |
+
"000933",
|
| 194 |
+
"000967",
|
| 195 |
+
"001000",
|
| 196 |
+
"001034"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0244_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0244_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": "scene0244_01.pt",
|
| 18 |
+
"indices_file": "scene0244_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0244_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000022"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000045"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000068"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000091"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000114"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000137"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000160"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000182"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000205"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000228"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000251"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000274"
|
| 85 |
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},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000297"
|
| 89 |
+
},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000320"
|
| 93 |
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},
|
| 94 |
+
{
|
| 95 |
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"index": 15,
|
| 96 |
+
"frame_id": "000343"
|
| 97 |
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},
|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000365"
|
| 101 |
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},
|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000388"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "000411"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000434"
|
| 113 |
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},
|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
+
"frame_id": "000457"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000480"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000503"
|
| 125 |
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},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000526"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000548"
|
| 133 |
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},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000571"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000594"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000617"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000640"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000663"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000686"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000709"
|
| 161 |
+
}
|
| 162 |
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],
|
| 163 |
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"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
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|
| 167 |
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"000045",
|
| 168 |
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"000068",
|
| 169 |
+
"000091",
|
| 170 |
+
"000114",
|
| 171 |
+
"000137",
|
| 172 |
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"000160",
|
| 173 |
+
"000182",
|
| 174 |
+
"000205",
|
| 175 |
+
"000228",
|
| 176 |
+
"000251",
|
| 177 |
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"000274",
|
| 178 |
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"000297",
|
| 179 |
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"000320",
|
| 180 |
+
"000343",
|
| 181 |
+
"000365",
|
| 182 |
+
"000388",
|
| 183 |
+
"000411",
|
| 184 |
+
"000434",
|
| 185 |
+
"000457",
|
| 186 |
+
"000480",
|
| 187 |
+
"000503",
|
| 188 |
+
"000526",
|
| 189 |
+
"000548",
|
| 190 |
+
"000571",
|
| 191 |
+
"000594",
|
| 192 |
+
"000617",
|
| 193 |
+
"000640",
|
| 194 |
+
"000663",
|
| 195 |
+
"000686",
|
| 196 |
+
"000709"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0247_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0247_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
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"invalid_frames_count": 0,
|
| 6 |
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"output_shape": [
|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
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"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0247_00.pt",
|
| 18 |
+
"indices_file": "scene0247_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0247_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
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"index": 0,
|
| 23 |
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"frame_id": "000000"
|
| 24 |
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},
|
| 25 |
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"image_size": [
|
| 26 |
+
432,
|
| 27 |
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432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
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{
|
| 35 |
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"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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},
|
| 38 |
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{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000136"
|
| 41 |
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},
|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000273"
|
| 45 |
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},
|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000410"
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000546"
|
| 53 |
+
},
|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000683"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000820"
|
| 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": "001093"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "001230"
|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "001367"
|
| 77 |
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},
|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "001503"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "001640"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "001777"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "002050"
|
| 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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"frame_id": "002870"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "003007"
|
| 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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|
| 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": "003554"
|
| 141 |
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|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "003691"
|
| 145 |
+
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|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
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"frame_id": "003827"
|
| 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 |
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"index": 30,
|
| 156 |
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"frame_id": "004101"
|
| 157 |
+
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|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "004238"
|
| 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 |
+
"000410",
|
| 169 |
+
"000546",
|
| 170 |
+
"000683",
|
| 171 |
+
"000820",
|
| 172 |
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"000956",
|
| 173 |
+
"001093",
|
| 174 |
+
"001230",
|
| 175 |
+
"001367",
|
| 176 |
+
"001503",
|
| 177 |
+
"001640",
|
| 178 |
+
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|
| 179 |
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|
| 180 |
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|
| 181 |
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"002187",
|
| 182 |
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"002324",
|
| 183 |
+
"002460",
|
| 184 |
+
"002597",
|
| 185 |
+
"002734",
|
| 186 |
+
"002870",
|
| 187 |
+
"003007",
|
| 188 |
+
"003144",
|
| 189 |
+
"003281",
|
| 190 |
+
"003417",
|
| 191 |
+
"003554",
|
| 192 |
+
"003691",
|
| 193 |
+
"003827",
|
| 194 |
+
"003964",
|
| 195 |
+
"004101",
|
| 196 |
+
"004238"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0250_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0250_02",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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32,
|
| 8 |
+
432,
|
| 9 |
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432,
|
| 10 |
+
3
|
| 11 |
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|
| 12 |
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"output_dtype": "bfloat16",
|
| 13 |
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"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
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],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0250_02.pt",
|
| 18 |
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"indices_file": "scene0250_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0250_02_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
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|
| 23 |
+
"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 |
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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": "000104"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000209"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000314"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000419"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000524"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000629"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000734"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000839"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000944"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "001049"
|
| 77 |
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},
|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "001154"
|
| 81 |
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},
|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "001259"
|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "001364"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "001469"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "001574"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "001678"
|
| 101 |
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},
|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "001783"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "001888"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "001993"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "002098"
|
| 117 |
+
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "002203"
|
| 121 |
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},
|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "002308"
|
| 125 |
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},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
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"frame_id": "002413"
|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "002518"
|
| 133 |
+
},
|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "002623"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
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"frame_id": "002728"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "002833"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "002938"
|
| 149 |
+
},
|
| 150 |
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{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "003043"
|
| 153 |
+
},
|
| 154 |
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{
|
| 155 |
+
"index": 30,
|
| 156 |
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"frame_id": "003148"
|
| 157 |
+
},
|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "003253"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
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"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
+
"000104",
|
| 167 |
+
"000209",
|
| 168 |
+
"000314",
|
| 169 |
+
"000419",
|
| 170 |
+
"000524",
|
| 171 |
+
"000629",
|
| 172 |
+
"000734",
|
| 173 |
+
"000839",
|
| 174 |
+
"000944",
|
| 175 |
+
"001049",
|
| 176 |
+
"001154",
|
| 177 |
+
"001259",
|
| 178 |
+
"001364",
|
| 179 |
+
"001469",
|
| 180 |
+
"001574",
|
| 181 |
+
"001678",
|
| 182 |
+
"001783",
|
| 183 |
+
"001888",
|
| 184 |
+
"001993",
|
| 185 |
+
"002098",
|
| 186 |
+
"002203",
|
| 187 |
+
"002308",
|
| 188 |
+
"002413",
|
| 189 |
+
"002518",
|
| 190 |
+
"002623",
|
| 191 |
+
"002728",
|
| 192 |
+
"002833",
|
| 193 |
+
"002938",
|
| 194 |
+
"003043",
|
| 195 |
+
"003148",
|
| 196 |
+
"003253"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0259_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0259_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": "scene0259_00.pt",
|
| 18 |
+
"indices_file": "scene0259_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0259_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": "000100"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000133"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000167"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000200"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000233"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000267"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000300"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000334"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
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"frame_id": "000367"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
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"frame_id": "000401"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
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"frame_id": "000434"
|
| 89 |
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|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000467"
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000501"
|
| 97 |
+
},
|
| 98 |
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{
|
| 99 |
+
"index": 16,
|
| 100 |
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"frame_id": "000534"
|
| 101 |
+
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|
| 102 |
+
{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000568"
|
| 105 |
+
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|
| 106 |
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{
|
| 107 |
+
"index": 18,
|
| 108 |
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"frame_id": "000601"
|
| 109 |
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|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000634"
|
| 113 |
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},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000668"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000701"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000735"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000768"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000802"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000835"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000868"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000902"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000935"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000969"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001002"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001036"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000033",
|
| 167 |
+
"000066",
|
| 168 |
+
"000100",
|
| 169 |
+
"000133",
|
| 170 |
+
"000167",
|
| 171 |
+
"000200",
|
| 172 |
+
"000233",
|
| 173 |
+
"000267",
|
| 174 |
+
"000300",
|
| 175 |
+
"000334",
|
| 176 |
+
"000367",
|
| 177 |
+
"000401",
|
| 178 |
+
"000434",
|
| 179 |
+
"000467",
|
| 180 |
+
"000501",
|
| 181 |
+
"000534",
|
| 182 |
+
"000568",
|
| 183 |
+
"000601",
|
| 184 |
+
"000634",
|
| 185 |
+
"000668",
|
| 186 |
+
"000701",
|
| 187 |
+
"000735",
|
| 188 |
+
"000768",
|
| 189 |
+
"000802",
|
| 190 |
+
"000835",
|
| 191 |
+
"000868",
|
| 192 |
+
"000902",
|
| 193 |
+
"000935",
|
| 194 |
+
"000969",
|
| 195 |
+
"001002",
|
| 196 |
+
"001036"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0259_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0259_01",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
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"output_shape": [
|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0259_01.pt",
|
| 18 |
+
"indices_file": "scene0259_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0259_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 |
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{
|
| 35 |
+
"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
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"frame_id": "000013"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000027"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
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"frame_id": "000041"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000055"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000069"
|
| 57 |
+
},
|
| 58 |
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{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000083"
|
| 61 |
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},
|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000097"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000111"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
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"index": 9,
|
| 72 |
+
"frame_id": "000125"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000139"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
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"frame_id": "000153"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000167"
|
| 85 |
+
},
|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000181"
|
| 89 |
+
},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000195"
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000209"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000222"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000236"
|
| 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": "000264"
|
| 113 |
+
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000278"
|
| 117 |
+
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000292"
|
| 121 |
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},
|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "000306"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000320"
|
| 129 |
+
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|
| 130 |
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{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000334"
|
| 133 |
+
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|
| 134 |
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{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000348"
|
| 137 |
+
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|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000362"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000376"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000390"
|
| 149 |
+
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|
| 150 |
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{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000404"
|
| 153 |
+
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|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000418"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000432"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000013",
|
| 167 |
+
"000027",
|
| 168 |
+
"000041",
|
| 169 |
+
"000055",
|
| 170 |
+
"000069",
|
| 171 |
+
"000083",
|
| 172 |
+
"000097",
|
| 173 |
+
"000111",
|
| 174 |
+
"000125",
|
| 175 |
+
"000139",
|
| 176 |
+
"000153",
|
| 177 |
+
"000167",
|
| 178 |
+
"000181",
|
| 179 |
+
"000195",
|
| 180 |
+
"000209",
|
| 181 |
+
"000222",
|
| 182 |
+
"000236",
|
| 183 |
+
"000250",
|
| 184 |
+
"000264",
|
| 185 |
+
"000278",
|
| 186 |
+
"000292",
|
| 187 |
+
"000306",
|
| 188 |
+
"000320",
|
| 189 |
+
"000334",
|
| 190 |
+
"000348",
|
| 191 |
+
"000362",
|
| 192 |
+
"000376",
|
| 193 |
+
"000390",
|
| 194 |
+
"000404",
|
| 195 |
+
"000418",
|
| 196 |
+
"000432"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0261_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
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|
|
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|
|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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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"indices_file": "scene0261_02_indices.pt",
|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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| 43 |
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| 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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| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
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|
| 165 |
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|
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 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 |
+
"002866"
|
| 197 |
+
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|
| 198 |
+
}
|
metadata/train/scene0280_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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0280_01",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
+
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|
| 6 |
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|
| 7 |
+
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|
| 8 |
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|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
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|
| 14 |
+
32
|
| 15 |
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],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0280_01.pt",
|
| 18 |
+
"indices_file": "scene0280_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0280_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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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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432
|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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480
|
| 32 |
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|
| 33 |
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|
| 34 |
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{
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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{
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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{
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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{
|
| 51 |
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|
| 52 |
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|
| 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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|
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|
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
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|
| 137 |
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|
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|
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|
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| 143 |
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|
| 144 |
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|
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|
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|
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|
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|
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"frame_id": "001692"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001750"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001809"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000058",
|
| 167 |
+
"000116",
|
| 168 |
+
"000175",
|
| 169 |
+
"000233",
|
| 170 |
+
"000291",
|
| 171 |
+
"000350",
|
| 172 |
+
"000408",
|
| 173 |
+
"000466",
|
| 174 |
+
"000525",
|
| 175 |
+
"000583",
|
| 176 |
+
"000641",
|
| 177 |
+
"000700",
|
| 178 |
+
"000758",
|
| 179 |
+
"000816",
|
| 180 |
+
"000875",
|
| 181 |
+
"000933",
|
| 182 |
+
"000992",
|
| 183 |
+
"001050",
|
| 184 |
+
"001108",
|
| 185 |
+
"001167",
|
| 186 |
+
"001225",
|
| 187 |
+
"001283",
|
| 188 |
+
"001342",
|
| 189 |
+
"001400",
|
| 190 |
+
"001458",
|
| 191 |
+
"001517",
|
| 192 |
+
"001575",
|
| 193 |
+
"001633",
|
| 194 |
+
"001692",
|
| 195 |
+
"001750",
|
| 196 |
+
"001809"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0282_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0282_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": "scene0282_02.pt",
|
| 18 |
+
"indices_file": "scene0282_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0282_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 |
+
"index": 1,
|
| 40 |
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"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 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000182"
|
| 57 |
+
},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000219"
|
| 61 |
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},
|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000256"
|
| 65 |
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},
|
| 66 |
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{
|
| 67 |
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"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": "000329"
|
| 73 |
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},
|
| 74 |
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{
|
| 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 |
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},
|
| 82 |
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{
|
| 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": "000512"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 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": "000695"
|
| 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": "000768"
|
| 121 |
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|
| 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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|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "000877"
|
| 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 |
+
"index": 26,
|
| 140 |
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"frame_id": "000951"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000987"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001024"
|
| 149 |
+
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|
| 150 |
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{
|
| 151 |
+
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|
| 152 |
+
"frame_id": "001060"
|
| 153 |
+
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|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001097"
|
| 157 |
+
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|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001134"
|
| 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 |
+
"000109",
|
| 169 |
+
"000146",
|
| 170 |
+
"000182",
|
| 171 |
+
"000219",
|
| 172 |
+
"000256",
|
| 173 |
+
"000292",
|
| 174 |
+
"000329",
|
| 175 |
+
"000365",
|
| 176 |
+
"000402",
|
| 177 |
+
"000438",
|
| 178 |
+
"000475",
|
| 179 |
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"000512",
|
| 180 |
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|
| 181 |
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"000585",
|
| 182 |
+
"000621",
|
| 183 |
+
"000658",
|
| 184 |
+
"000695",
|
| 185 |
+
"000731",
|
| 186 |
+
"000768",
|
| 187 |
+
"000804",
|
| 188 |
+
"000841",
|
| 189 |
+
"000877",
|
| 190 |
+
"000914",
|
| 191 |
+
"000951",
|
| 192 |
+
"000987",
|
| 193 |
+
"001024",
|
| 194 |
+
"001060",
|
| 195 |
+
"001097",
|
| 196 |
+
"001134"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0291_02_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0291_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": "scene0291_02.pt",
|
| 18 |
+
"indices_file": "scene0291_02_indices.pt",
|
| 19 |
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"transform_to_world_file": "scene0291_02_to_world.npy",
|
| 20 |
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"coordinate_system": "first_camera_frame",
|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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"image_size": [
|
| 26 |
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|
| 27 |
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432
|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 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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|
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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 |
+
"001412"
|
| 198 |
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|
| 199 |
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}
|
metadata/train/scene0294_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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],
|
| 12 |
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|
| 13 |
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|
| 14 |
+
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|
| 15 |
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],
|
| 16 |
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|
| 17 |
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"pointcloud_file": "scene0294_01.pt",
|
| 18 |
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"indices_file": "scene0294_01_indices.pt",
|
| 19 |
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"transform_to_world_file": "scene0294_01_to_world.npy",
|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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| 37 |
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|
| 38 |
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|
| 39 |
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|
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|
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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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|
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|
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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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| 79 |
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| 81 |
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|
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| 85 |
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| 87 |
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| 90 |
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| 94 |
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| 95 |
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|
| 97 |
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| 99 |
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|
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|
| 101 |
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| 102 |
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| 105 |
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| 109 |
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| 110 |
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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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| 121 |
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|
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| 125 |
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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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|
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|
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|
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"001592",
|
| 185 |
+
"001676",
|
| 186 |
+
"001759",
|
| 187 |
+
"001843",
|
| 188 |
+
"001927",
|
| 189 |
+
"002011",
|
| 190 |
+
"002095",
|
| 191 |
+
"002178",
|
| 192 |
+
"002262",
|
| 193 |
+
"002346",
|
| 194 |
+
"002430",
|
| 195 |
+
"002514",
|
| 196 |
+
"002598"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0299_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0299_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": "scene0299_00.pt",
|
| 18 |
+
"indices_file": "scene0299_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0299_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": "000041"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000083"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000125"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000167"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000209"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000251"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000293"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000335"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000377"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000419"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000460"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000502"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000544"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000586"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000628"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000670"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000712"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000754"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000796"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000838"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000879"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000921"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000963"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001005"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001047"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001089"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001131"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001173"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001215"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001257"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001299"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000041",
|
| 167 |
+
"000083",
|
| 168 |
+
"000125",
|
| 169 |
+
"000167",
|
| 170 |
+
"000209",
|
| 171 |
+
"000251",
|
| 172 |
+
"000293",
|
| 173 |
+
"000335",
|
| 174 |
+
"000377",
|
| 175 |
+
"000419",
|
| 176 |
+
"000460",
|
| 177 |
+
"000502",
|
| 178 |
+
"000544",
|
| 179 |
+
"000586",
|
| 180 |
+
"000628",
|
| 181 |
+
"000670",
|
| 182 |
+
"000712",
|
| 183 |
+
"000754",
|
| 184 |
+
"000796",
|
| 185 |
+
"000838",
|
| 186 |
+
"000879",
|
| 187 |
+
"000921",
|
| 188 |
+
"000963",
|
| 189 |
+
"001005",
|
| 190 |
+
"001047",
|
| 191 |
+
"001089",
|
| 192 |
+
"001131",
|
| 193 |
+
"001173",
|
| 194 |
+
"001215",
|
| 195 |
+
"001257",
|
| 196 |
+
"001299"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0305_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0305_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": "scene0305_01.pt",
|
| 18 |
+
"indices_file": "scene0305_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0305_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": "000055"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000110"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000165"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 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": "000442"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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|
| 72 |
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"frame_id": "000497"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000552"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000608"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000663"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000718"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000774"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000829"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000884"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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|
| 104 |
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"frame_id": "000939"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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|
| 108 |
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"frame_id": "000995"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "001050"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "001105"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "001161"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "001216"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "001271"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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|
| 132 |
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"frame_id": "001326"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "001382"
|
| 137 |
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|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "001437"
|
| 141 |
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|
| 142 |
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{
|
| 143 |
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"index": 27,
|
| 144 |
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"frame_id": "001492"
|
| 145 |
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|
| 146 |
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{
|
| 147 |
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"index": 28,
|
| 148 |
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"frame_id": "001548"
|
| 149 |
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|
| 150 |
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{
|
| 151 |
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"index": 29,
|
| 152 |
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"frame_id": "001603"
|
| 153 |
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|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "001658"
|
| 157 |
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|
| 158 |
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{
|
| 159 |
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"index": 31,
|
| 160 |
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"frame_id": "001714"
|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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"frame_order": [
|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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"000221",
|
| 170 |
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"000276",
|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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"000497",
|
| 175 |
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"000552",
|
| 176 |
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"000608",
|
| 177 |
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"000663",
|
| 178 |
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"000718",
|
| 179 |
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|
| 180 |
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"000829",
|
| 181 |
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"000884",
|
| 182 |
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"000939",
|
| 183 |
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"000995",
|
| 184 |
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"001050",
|
| 185 |
+
"001105",
|
| 186 |
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"001161",
|
| 187 |
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"001216",
|
| 188 |
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"001271",
|
| 189 |
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"001326",
|
| 190 |
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"001382",
|
| 191 |
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"001437",
|
| 192 |
+
"001492",
|
| 193 |
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"001548",
|
| 194 |
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"001603",
|
| 195 |
+
"001658",
|
| 196 |
+
"001714"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0306_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0306_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
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|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
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"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0306_00.pt",
|
| 18 |
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"indices_file": "scene0306_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0306_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 |
+
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": "000034"
|
| 41 |
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},
|
| 42 |
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{
|
| 43 |
+
"index": 2,
|
| 44 |
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"frame_id": "000068"
|
| 45 |
+
},
|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000103"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000137"
|
| 53 |
+
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000172"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000206"
|
| 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": "000275"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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|
| 72 |
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"frame_id": "000309"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000344"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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"frame_id": "000378"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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|
| 85 |
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|
| 86 |
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{
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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{
|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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{
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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{
|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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{
|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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{
|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000929"
|
| 145 |
+
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|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
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"frame_id": "000963"
|
| 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": "001032"
|
| 157 |
+
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|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001067"
|
| 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 |
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"000103",
|
| 169 |
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"000137",
|
| 170 |
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"000172",
|
| 171 |
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"000206",
|
| 172 |
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"000240",
|
| 173 |
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"000275",
|
| 174 |
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"000309",
|
| 175 |
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|
| 176 |
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"000378",
|
| 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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"000653",
|
| 185 |
+
"000688",
|
| 186 |
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"000722",
|
| 187 |
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"000757",
|
| 188 |
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"000791",
|
| 189 |
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"000826",
|
| 190 |
+
"000860",
|
| 191 |
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"000894",
|
| 192 |
+
"000929",
|
| 193 |
+
"000963",
|
| 194 |
+
"000998",
|
| 195 |
+
"001032",
|
| 196 |
+
"001067"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0320_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0320_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": "scene0320_02.pt",
|
| 18 |
+
"indices_file": "scene0320_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0320_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": "000084"
|
| 41 |
+
},
|
| 42 |
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{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000169"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000254"
|
| 49 |
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},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
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"frame_id": "000339"
|
| 53 |
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|
| 54 |
+
{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000424"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
+
"index": 6,
|
| 60 |
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"frame_id": "000509"
|
| 61 |
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},
|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000594"
|
| 65 |
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},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
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"frame_id": "000679"
|
| 69 |
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|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
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"frame_id": "000764"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000849"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000933"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "001018"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "001103"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
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"frame_id": "001188"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "001273"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "001358"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "001443"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "001528"
|
| 109 |
+
},
|
| 110 |
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{
|
| 111 |
+
"index": 19,
|
| 112 |
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"frame_id": "001613"
|
| 113 |
+
},
|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "001698"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
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"index": 21,
|
| 120 |
+
"frame_id": "001782"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001867"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001952"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "002037"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "002122"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "002207"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "002292"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "002377"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "002462"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "002547"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "002632"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000084",
|
| 167 |
+
"000169",
|
| 168 |
+
"000254",
|
| 169 |
+
"000339",
|
| 170 |
+
"000424",
|
| 171 |
+
"000509",
|
| 172 |
+
"000594",
|
| 173 |
+
"000679",
|
| 174 |
+
"000764",
|
| 175 |
+
"000849",
|
| 176 |
+
"000933",
|
| 177 |
+
"001018",
|
| 178 |
+
"001103",
|
| 179 |
+
"001188",
|
| 180 |
+
"001273",
|
| 181 |
+
"001358",
|
| 182 |
+
"001443",
|
| 183 |
+
"001528",
|
| 184 |
+
"001613",
|
| 185 |
+
"001698",
|
| 186 |
+
"001782",
|
| 187 |
+
"001867",
|
| 188 |
+
"001952",
|
| 189 |
+
"002037",
|
| 190 |
+
"002122",
|
| 191 |
+
"002207",
|
| 192 |
+
"002292",
|
| 193 |
+
"002377",
|
| 194 |
+
"002462",
|
| 195 |
+
"002547",
|
| 196 |
+
"002632"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0321_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0321_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": "scene0321_00.pt",
|
| 18 |
+
"indices_file": "scene0321_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0321_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": "000031"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000062"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000093"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000125"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000156"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000187"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000219"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000250"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000281"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000313"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000344"
|
| 81 |
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},
|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000375"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000407"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000438"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000469"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000501"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000532"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "000563"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000595"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000626"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000657"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
+
"frame_id": "000689"
|
| 125 |
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},
|
| 126 |
+
{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "000720"
|
| 129 |
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},
|
| 130 |
+
{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "000751"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "000783"
|
| 137 |
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},
|
| 138 |
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{
|
| 139 |
+
"index": 26,
|
| 140 |
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"frame_id": "000814"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
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"index": 27,
|
| 144 |
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"frame_id": "000845"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
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"frame_id": "000877"
|
| 149 |
+
},
|
| 150 |
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{
|
| 151 |
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"index": 29,
|
| 152 |
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"frame_id": "000908"
|
| 153 |
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},
|
| 154 |
+
{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "000939"
|
| 157 |
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},
|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
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"frame_id": "000971"
|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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"frame_order": [
|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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"000125",
|
| 170 |
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"000156",
|
| 171 |
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|
| 172 |
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"000219",
|
| 173 |
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"000250",
|
| 174 |
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"000281",
|
| 175 |
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"000313",
|
| 176 |
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"000344",
|
| 177 |
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"000375",
|
| 178 |
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"000407",
|
| 179 |
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"000438",
|
| 180 |
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"000469",
|
| 181 |
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"000501",
|
| 182 |
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"000532",
|
| 183 |
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"000563",
|
| 184 |
+
"000595",
|
| 185 |
+
"000626",
|
| 186 |
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"000657",
|
| 187 |
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"000689",
|
| 188 |
+
"000720",
|
| 189 |
+
"000751",
|
| 190 |
+
"000783",
|
| 191 |
+
"000814",
|
| 192 |
+
"000845",
|
| 193 |
+
"000877",
|
| 194 |
+
"000908",
|
| 195 |
+
"000939",
|
| 196 |
+
"000971"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0332_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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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
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|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
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"invalid_frames_count": 0,
|
| 6 |
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|
| 7 |
+
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|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
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"output_dtype": "bfloat16",
|
| 13 |
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"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0332_00.pt",
|
| 18 |
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"indices_file": "scene0332_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0332_00_to_world.npy",
|
| 20 |
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"coordinate_system": "first_camera_frame",
|
| 21 |
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"first_valid_frame": {
|
| 22 |
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"index": 0,
|
| 23 |
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|
| 24 |
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|
| 25 |
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"image_size": [
|
| 26 |
+
432,
|
| 27 |
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432
|
| 28 |
+
],
|
| 29 |
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"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
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{
|
| 35 |
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"index": 0,
|
| 36 |
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"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": "000056"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000112"
|
| 45 |
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},
|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000169"
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000225"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000282"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000338"
|
| 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": "000451"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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|
| 72 |
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"frame_id": "000507"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000564"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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"frame_id": "000620"
|
| 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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"frame_id": "000733"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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{
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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"index": 24,
|
| 132 |
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|
| 133 |
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|
| 134 |
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{
|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
+
"index": 27,
|
| 144 |
+
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|
| 145 |
+
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|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "001692"
|
| 157 |
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|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001749"
|
| 161 |
+
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|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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"000169",
|
| 169 |
+
"000225",
|
| 170 |
+
"000282",
|
| 171 |
+
"000338",
|
| 172 |
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"000394",
|
| 173 |
+
"000451",
|
| 174 |
+
"000507",
|
| 175 |
+
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|
| 176 |
+
"000620",
|
| 177 |
+
"000677",
|
| 178 |
+
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|
| 179 |
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|
| 180 |
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|
| 181 |
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"000902",
|
| 182 |
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|
| 183 |
+
"001015",
|
| 184 |
+
"001071",
|
| 185 |
+
"001128",
|
| 186 |
+
"001184",
|
| 187 |
+
"001241",
|
| 188 |
+
"001297",
|
| 189 |
+
"001354",
|
| 190 |
+
"001410",
|
| 191 |
+
"001466",
|
| 192 |
+
"001523",
|
| 193 |
+
"001579",
|
| 194 |
+
"001636",
|
| 195 |
+
"001692",
|
| 196 |
+
"001749"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0348_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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0348_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": "scene0348_00.pt",
|
| 18 |
+
"indices_file": "scene0348_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0348_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000042"
|
| 41 |
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},
|
| 42 |
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{
|
| 43 |
+
"index": 2,
|
| 44 |
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"frame_id": "000085"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000128"
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
+
"index": 4,
|
| 52 |
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"frame_id": "000171"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000214"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000257"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000300"
|
| 65 |
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},
|
| 66 |
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{
|
| 67 |
+
"index": 8,
|
| 68 |
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"frame_id": "000342"
|
| 69 |
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},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
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"frame_id": "000385"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000428"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000471"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000514"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000557"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000600"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000643"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000685"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
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"frame_id": "000728"
|
| 105 |
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},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000771"
|
| 109 |
+
},
|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000814"
|
| 113 |
+
},
|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
+
"frame_id": "000857"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
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"index": 21,
|
| 120 |
+
"frame_id": "000900"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000943"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000986"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001028"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001071"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001114"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001157"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001200"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001243"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001286"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001329"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000042",
|
| 167 |
+
"000085",
|
| 168 |
+
"000128",
|
| 169 |
+
"000171",
|
| 170 |
+
"000214",
|
| 171 |
+
"000257",
|
| 172 |
+
"000300",
|
| 173 |
+
"000342",
|
| 174 |
+
"000385",
|
| 175 |
+
"000428",
|
| 176 |
+
"000471",
|
| 177 |
+
"000514",
|
| 178 |
+
"000557",
|
| 179 |
+
"000600",
|
| 180 |
+
"000643",
|
| 181 |
+
"000685",
|
| 182 |
+
"000728",
|
| 183 |
+
"000771",
|
| 184 |
+
"000814",
|
| 185 |
+
"000857",
|
| 186 |
+
"000900",
|
| 187 |
+
"000943",
|
| 188 |
+
"000986",
|
| 189 |
+
"001028",
|
| 190 |
+
"001071",
|
| 191 |
+
"001114",
|
| 192 |
+
"001157",
|
| 193 |
+
"001200",
|
| 194 |
+
"001243",
|
| 195 |
+
"001286",
|
| 196 |
+
"001329"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0409_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0409_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": "scene0409_01.pt",
|
| 18 |
+
"indices_file": "scene0409_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0409_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000040"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000080"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000120"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000160"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000200"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000240"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000280"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000320"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000360"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000400"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000441"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000481"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000521"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000561"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000601"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000641"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000681"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000721"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000761"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000801"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000842"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000882"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000922"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000962"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001002"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001042"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001082"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001122"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001162"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001202"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001243"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000040",
|
| 167 |
+
"000080",
|
| 168 |
+
"000120",
|
| 169 |
+
"000160",
|
| 170 |
+
"000200",
|
| 171 |
+
"000240",
|
| 172 |
+
"000280",
|
| 173 |
+
"000320",
|
| 174 |
+
"000360",
|
| 175 |
+
"000400",
|
| 176 |
+
"000441",
|
| 177 |
+
"000481",
|
| 178 |
+
"000521",
|
| 179 |
+
"000561",
|
| 180 |
+
"000601",
|
| 181 |
+
"000641",
|
| 182 |
+
"000681",
|
| 183 |
+
"000721",
|
| 184 |
+
"000761",
|
| 185 |
+
"000801",
|
| 186 |
+
"000842",
|
| 187 |
+
"000882",
|
| 188 |
+
"000922",
|
| 189 |
+
"000962",
|
| 190 |
+
"001002",
|
| 191 |
+
"001042",
|
| 192 |
+
"001082",
|
| 193 |
+
"001122",
|
| 194 |
+
"001162",
|
| 195 |
+
"001202",
|
| 196 |
+
"001243"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0415_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0415_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": "scene0415_01.pt",
|
| 18 |
+
"indices_file": "scene0415_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0415_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 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000032"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000065"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
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"frame_id": "000098"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000131"
|
| 53 |
+
},
|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000164"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
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"index": 6,
|
| 60 |
+
"frame_id": "000197"
|
| 61 |
+
},
|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000230"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000263"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000296"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
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"frame_id": "000329"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000361"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000394"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000427"
|
| 89 |
+
},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000460"
|
| 93 |
+
},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000493"
|
| 97 |
+
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000526"
|
| 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 |
+
"index": 18,
|
| 108 |
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"frame_id": "000592"
|
| 109 |
+
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|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000625"
|
| 113 |
+
},
|
| 114 |
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{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000658"
|
| 117 |
+
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|
| 118 |
+
{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000690"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000723"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000756"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000789"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000822"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000855"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000888"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000921"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000954"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000987"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 31,
|
| 162 |
+
"frame_id": "001020",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000032",
|
| 169 |
+
"000065",
|
| 170 |
+
"000098",
|
| 171 |
+
"000131",
|
| 172 |
+
"000164",
|
| 173 |
+
"000197",
|
| 174 |
+
"000230",
|
| 175 |
+
"000263",
|
| 176 |
+
"000296",
|
| 177 |
+
"000329",
|
| 178 |
+
"000361",
|
| 179 |
+
"000394",
|
| 180 |
+
"000427",
|
| 181 |
+
"000460",
|
| 182 |
+
"000493",
|
| 183 |
+
"000526",
|
| 184 |
+
"000559",
|
| 185 |
+
"000592",
|
| 186 |
+
"000625",
|
| 187 |
+
"000658",
|
| 188 |
+
"000690",
|
| 189 |
+
"000723",
|
| 190 |
+
"000756",
|
| 191 |
+
"000789",
|
| 192 |
+
"000822",
|
| 193 |
+
"000855",
|
| 194 |
+
"000888",
|
| 195 |
+
"000921",
|
| 196 |
+
"000954",
|
| 197 |
+
"000987"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0415_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0415_02",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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32,
|
| 8 |
+
432,
|
| 9 |
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432,
|
| 10 |
+
3
|
| 11 |
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|
| 12 |
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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": "scene0415_02.pt",
|
| 18 |
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"indices_file": "scene0415_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0415_02_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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"image_size": [
|
| 26 |
+
432,
|
| 27 |
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432
|
| 28 |
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|
| 29 |
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"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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|
| 33 |
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"valid_view_mapping": [
|
| 34 |
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{
|
| 35 |
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"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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"frame_id": "000039"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000079"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000119"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000159"
|
| 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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"index": 8,
|
| 68 |
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"frame_id": "000319"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000359"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000399"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000439"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000479"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000519"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000559"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000599"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000638"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000678"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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|
| 108 |
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"frame_id": "000718"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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|
| 112 |
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"frame_id": "000758"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000798"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000838"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "000878"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "000918"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "000958"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "000998"
|
| 137 |
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|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "001038"
|
| 141 |
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},
|
| 142 |
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{
|
| 143 |
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"index": 27,
|
| 144 |
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"frame_id": "001078"
|
| 145 |
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},
|
| 146 |
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{
|
| 147 |
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"index": 28,
|
| 148 |
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"frame_id": "001118"
|
| 149 |
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|
| 150 |
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{
|
| 151 |
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"index": 29,
|
| 152 |
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"frame_id": "001158"
|
| 153 |
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},
|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "001198"
|
| 157 |
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|
| 158 |
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{
|
| 159 |
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"index": 31,
|
| 160 |
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"frame_id": "001238"
|
| 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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"000119",
|
| 169 |
+
"000159",
|
| 170 |
+
"000199",
|
| 171 |
+
"000239",
|
| 172 |
+
"000279",
|
| 173 |
+
"000319",
|
| 174 |
+
"000359",
|
| 175 |
+
"000399",
|
| 176 |
+
"000439",
|
| 177 |
+
"000479",
|
| 178 |
+
"000519",
|
| 179 |
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"000559",
|
| 180 |
+
"000599",
|
| 181 |
+
"000638",
|
| 182 |
+
"000678",
|
| 183 |
+
"000718",
|
| 184 |
+
"000758",
|
| 185 |
+
"000798",
|
| 186 |
+
"000838",
|
| 187 |
+
"000878",
|
| 188 |
+
"000918",
|
| 189 |
+
"000958",
|
| 190 |
+
"000998",
|
| 191 |
+
"001038",
|
| 192 |
+
"001078",
|
| 193 |
+
"001118",
|
| 194 |
+
"001158",
|
| 195 |
+
"001198",
|
| 196 |
+
"001238"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0416_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": "scene0416_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": "scene0416_00.pt",
|
| 18 |
+
"indices_file": "scene0416_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0416_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": "000068"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000136"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
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"frame_id": "000204"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000272"
|
| 53 |
+
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|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000340"
|
| 57 |
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},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000408"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000476"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000544"
|
| 69 |
+
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|
| 70 |
+
{
|
| 71 |
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"index": 9,
|
| 72 |
+
"frame_id": "000612"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000680"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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"frame_id": "000748"
|
| 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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"frame_id": "001089"
|
| 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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"frame_id": "001225"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "001293"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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|
| 116 |
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"frame_id": "001361"
|
| 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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"frame_id": "001633"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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|
| 136 |
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"frame_id": "001701"
|
| 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 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001905"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001973"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "002041"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 31,
|
| 162 |
+
"frame_id": "002110",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000068",
|
| 169 |
+
"000136",
|
| 170 |
+
"000204",
|
| 171 |
+
"000272",
|
| 172 |
+
"000340",
|
| 173 |
+
"000408",
|
| 174 |
+
"000476",
|
| 175 |
+
"000544",
|
| 176 |
+
"000612",
|
| 177 |
+
"000680",
|
| 178 |
+
"000748",
|
| 179 |
+
"000816",
|
| 180 |
+
"000884",
|
| 181 |
+
"000952",
|
| 182 |
+
"001020",
|
| 183 |
+
"001089",
|
| 184 |
+
"001157",
|
| 185 |
+
"001225",
|
| 186 |
+
"001293",
|
| 187 |
+
"001361",
|
| 188 |
+
"001429",
|
| 189 |
+
"001497",
|
| 190 |
+
"001565",
|
| 191 |
+
"001633",
|
| 192 |
+
"001701",
|
| 193 |
+
"001769",
|
| 194 |
+
"001837",
|
| 195 |
+
"001905",
|
| 196 |
+
"001973",
|
| 197 |
+
"002041"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0419_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0419_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": "scene0419_02.pt",
|
| 18 |
+
"indices_file": "scene0419_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0419_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": "000112"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000224"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000336"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000448"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000561"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000673"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000785"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000897"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "001010"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "001122"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "001234"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "001346"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "001458"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "001571"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "001683"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "001795"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "001907"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "002020"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "002132"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "002244"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "002356"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "002468"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "002581"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "002693"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "002805"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "002917"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "003030"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "003142"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "003254"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "003366"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "003479"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000112",
|
| 167 |
+
"000224",
|
| 168 |
+
"000336",
|
| 169 |
+
"000448",
|
| 170 |
+
"000561",
|
| 171 |
+
"000673",
|
| 172 |
+
"000785",
|
| 173 |
+
"000897",
|
| 174 |
+
"001010",
|
| 175 |
+
"001122",
|
| 176 |
+
"001234",
|
| 177 |
+
"001346",
|
| 178 |
+
"001458",
|
| 179 |
+
"001571",
|
| 180 |
+
"001683",
|
| 181 |
+
"001795",
|
| 182 |
+
"001907",
|
| 183 |
+
"002020",
|
| 184 |
+
"002132",
|
| 185 |
+
"002244",
|
| 186 |
+
"002356",
|
| 187 |
+
"002468",
|
| 188 |
+
"002581",
|
| 189 |
+
"002693",
|
| 190 |
+
"002805",
|
| 191 |
+
"002917",
|
| 192 |
+
"003030",
|
| 193 |
+
"003142",
|
| 194 |
+
"003254",
|
| 195 |
+
"003366",
|
| 196 |
+
"003479"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0422_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0422_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 |
+
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| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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| 25 |
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| 26 |
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|
| 27 |
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|
| 28 |
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| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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| 33 |
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|
| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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|
| 40 |
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|
| 41 |
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| 42 |
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| 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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| 55 |
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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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| 103 |
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| 106 |
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| 107 |
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| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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| 119 |
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|
| 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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| 135 |
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|
| 137 |
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| 139 |
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| 140 |
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|
| 141 |
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| 142 |
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| 143 |
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|
| 144 |
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|
| 145 |
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| 146 |
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| 147 |
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| 148 |
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|
| 149 |
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| 151 |
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|
| 152 |
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|
| 153 |
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| 154 |
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| 155 |
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|
| 156 |
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|
| 157 |
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| 159 |
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|
| 160 |
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|
| 161 |
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| 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 |
+
"002239"
|
| 197 |
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|
| 198 |
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}
|
metadata/train/scene0436_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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|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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],
|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
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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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|
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| 35 |
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|
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|
| 45 |
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| 46 |
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|
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|
| 49 |
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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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| 67 |
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|
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|
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| 179 |
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"000607",
|
| 180 |
+
"000651",
|
| 181 |
+
"000694",
|
| 182 |
+
"000738",
|
| 183 |
+
"000781",
|
| 184 |
+
"000824",
|
| 185 |
+
"000868",
|
| 186 |
+
"000911",
|
| 187 |
+
"000955",
|
| 188 |
+
"000998",
|
| 189 |
+
"001042",
|
| 190 |
+
"001085",
|
| 191 |
+
"001128",
|
| 192 |
+
"001172",
|
| 193 |
+
"001215",
|
| 194 |
+
"001259",
|
| 195 |
+
"001302",
|
| 196 |
+
"001346"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0444_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0444_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": "scene0444_00.pt",
|
| 18 |
+
"indices_file": "scene0444_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0444_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": "000013"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000026"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000040"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000053"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000067"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000080"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000094"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000107"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000121"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000134"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000147"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000161"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000174"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000188"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000201"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000215"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000228"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000242"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000255"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000269"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000282"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000295"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000309"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000322"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000336"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000349"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000363"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000376"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000390"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000403"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000417"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000013",
|
| 167 |
+
"000026",
|
| 168 |
+
"000040",
|
| 169 |
+
"000053",
|
| 170 |
+
"000067",
|
| 171 |
+
"000080",
|
| 172 |
+
"000094",
|
| 173 |
+
"000107",
|
| 174 |
+
"000121",
|
| 175 |
+
"000134",
|
| 176 |
+
"000147",
|
| 177 |
+
"000161",
|
| 178 |
+
"000174",
|
| 179 |
+
"000188",
|
| 180 |
+
"000201",
|
| 181 |
+
"000215",
|
| 182 |
+
"000228",
|
| 183 |
+
"000242",
|
| 184 |
+
"000255",
|
| 185 |
+
"000269",
|
| 186 |
+
"000282",
|
| 187 |
+
"000295",
|
| 188 |
+
"000309",
|
| 189 |
+
"000322",
|
| 190 |
+
"000336",
|
| 191 |
+
"000349",
|
| 192 |
+
"000363",
|
| 193 |
+
"000376",
|
| 194 |
+
"000390",
|
| 195 |
+
"000403",
|
| 196 |
+
"000417"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0448_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0448_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": "scene0448_00.pt",
|
| 18 |
+
"indices_file": "scene0448_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0448_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": "000097"
|
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