Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes.
See raw diff
- metadata/train/scene0002_00_metadata.json +198 -0
- metadata/train/scene0003_01_metadata.json +199 -0
- metadata/train/scene0003_02_metadata.json +198 -0
- metadata/train/scene0016_00_metadata.json +198 -0
- metadata/train/scene0020_01_metadata.json +199 -0
- metadata/train/scene0034_02_metadata.json +199 -0
- metadata/train/scene0038_00_metadata.json +198 -0
- metadata/train/scene0042_00_metadata.json +198 -0
- metadata/train/scene0058_01_metadata.json +198 -0
- metadata/train/scene0067_00_metadata.json +199 -0
- metadata/train/scene0078_02_metadata.json +198 -0
- metadata/train/scene0087_00_metadata.json +198 -0
- metadata/train/scene0092_04_metadata.json +198 -0
- metadata/train/scene0101_02_metadata.json +198 -0
- metadata/train/scene0103_01_metadata.json +199 -0
- metadata/train/scene0110_02_metadata.json +198 -0
- metadata/train/scene0112_01_metadata.json +199 -0
- metadata/train/scene0124_00_metadata.json +198 -0
- metadata/train/scene0130_00_metadata.json +198 -0
- metadata/train/scene0135_00_metadata.json +199 -0
- metadata/train/scene0141_00_metadata.json +198 -0
- metadata/train/scene0165_02_metadata.json +198 -0
- metadata/train/scene0171_01_metadata.json +198 -0
- metadata/train/scene0181_00_metadata.json +198 -0
- metadata/train/scene0192_01_metadata.json +198 -0
- metadata/train/scene0201_01_metadata.json +198 -0
- metadata/train/scene0204_00_metadata.json +198 -0
- metadata/train/scene0204_02_metadata.json +199 -0
- metadata/train/scene0261_00_metadata.json +199 -0
- metadata/train/scene0266_01_metadata.json +198 -0
- metadata/train/scene0268_00_metadata.json +198 -0
- metadata/train/scene0270_02_metadata.json +198 -0
- metadata/train/scene0273_00_metadata.json +199 -0
- metadata/train/scene0290_00_metadata.json +198 -0
- metadata/train/scene0292_01_metadata.json +198 -0
- metadata/train/scene0303_00_metadata.json +198 -0
- metadata/train/scene0313_02_metadata.json +198 -0
- metadata/train/scene0318_00_metadata.json +198 -0
- metadata/train/scene0336_00_metadata.json +199 -0
- metadata/train/scene0337_02_metadata.json +199 -0
- metadata/train/scene0381_01_metadata.json +198 -0
- metadata/train/scene0388_01_metadata.json +199 -0
- metadata/train/scene0393_01_metadata.json +198 -0
- metadata/train/scene0396_00_metadata.json +198 -0
- metadata/train/scene0398_00_metadata.json +198 -0
- metadata/train/scene0403_00_metadata.json +199 -0
- metadata/train/scene0413_00_metadata.json +198 -0
- metadata/train/scene0416_02_metadata.json +198 -0
- metadata/train/scene0424_02_metadata.json +198 -0
- metadata/train/scene0431_00_metadata.json +199 -0
metadata/train/scene0002_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0002_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": "scene0002_00.pt",
|
| 18 |
+
"indices_file": "scene0002_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0002_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": "000167"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000334"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000502"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000669"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000837"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "001004"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "001172"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "001339"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "001507"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "001674"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "001842"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "002009"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "002177"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "002344"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "002512"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "002679"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "002847"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "003014"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "003182"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "003349"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "003517"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "003684"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "003852"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "004019"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "004187"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "004354"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "004522"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "004689"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "004857"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "005024"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "005192"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000167",
|
| 167 |
+
"000334",
|
| 168 |
+
"000502",
|
| 169 |
+
"000669",
|
| 170 |
+
"000837",
|
| 171 |
+
"001004",
|
| 172 |
+
"001172",
|
| 173 |
+
"001339",
|
| 174 |
+
"001507",
|
| 175 |
+
"001674",
|
| 176 |
+
"001842",
|
| 177 |
+
"002009",
|
| 178 |
+
"002177",
|
| 179 |
+
"002344",
|
| 180 |
+
"002512",
|
| 181 |
+
"002679",
|
| 182 |
+
"002847",
|
| 183 |
+
"003014",
|
| 184 |
+
"003182",
|
| 185 |
+
"003349",
|
| 186 |
+
"003517",
|
| 187 |
+
"003684",
|
| 188 |
+
"003852",
|
| 189 |
+
"004019",
|
| 190 |
+
"004187",
|
| 191 |
+
"004354",
|
| 192 |
+
"004522",
|
| 193 |
+
"004689",
|
| 194 |
+
"004857",
|
| 195 |
+
"005024",
|
| 196 |
+
"005192"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0003_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0003_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": "scene0003_01.pt",
|
| 18 |
+
"indices_file": "scene0003_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0003_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": "000053"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000107"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000161"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000215"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000269"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000323"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000377"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000431"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000485"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000539"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000593"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000647"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000701"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000755"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000809"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000863"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000917"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000971"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "001025"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 21,
|
| 116 |
+
"frame_id": "001133"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 22,
|
| 120 |
+
"frame_id": "001187"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 23,
|
| 124 |
+
"frame_id": "001241"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 24,
|
| 128 |
+
"frame_id": "001295"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 25,
|
| 132 |
+
"frame_id": "001349"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 26,
|
| 136 |
+
"frame_id": "001403"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 27,
|
| 140 |
+
"frame_id": "001457"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 28,
|
| 144 |
+
"frame_id": "001511"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 29,
|
| 148 |
+
"frame_id": "001565"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 30,
|
| 152 |
+
"frame_id": "001619"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 31,
|
| 156 |
+
"frame_id": "001673"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 20,
|
| 162 |
+
"frame_id": "001079",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000053",
|
| 169 |
+
"000107",
|
| 170 |
+
"000161",
|
| 171 |
+
"000215",
|
| 172 |
+
"000269",
|
| 173 |
+
"000323",
|
| 174 |
+
"000377",
|
| 175 |
+
"000431",
|
| 176 |
+
"000485",
|
| 177 |
+
"000539",
|
| 178 |
+
"000593",
|
| 179 |
+
"000647",
|
| 180 |
+
"000701",
|
| 181 |
+
"000755",
|
| 182 |
+
"000809",
|
| 183 |
+
"000863",
|
| 184 |
+
"000917",
|
| 185 |
+
"000971",
|
| 186 |
+
"001025",
|
| 187 |
+
"001133",
|
| 188 |
+
"001187",
|
| 189 |
+
"001241",
|
| 190 |
+
"001295",
|
| 191 |
+
"001349",
|
| 192 |
+
"001403",
|
| 193 |
+
"001457",
|
| 194 |
+
"001511",
|
| 195 |
+
"001565",
|
| 196 |
+
"001619",
|
| 197 |
+
"001673"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0003_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0003_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": "scene0003_02.pt",
|
| 18 |
+
"indices_file": "scene0003_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0003_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": "000043"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000086"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000129"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000173"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000216"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000259"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000303"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000346"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000389"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000433"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000476"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000519"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000563"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000606"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000649"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000693"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000736"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000779"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000823"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000866"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000909"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000953"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000996"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001039"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001083"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001126"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001169"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001213"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001256"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001299"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001343"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000043",
|
| 167 |
+
"000086",
|
| 168 |
+
"000129",
|
| 169 |
+
"000173",
|
| 170 |
+
"000216",
|
| 171 |
+
"000259",
|
| 172 |
+
"000303",
|
| 173 |
+
"000346",
|
| 174 |
+
"000389",
|
| 175 |
+
"000433",
|
| 176 |
+
"000476",
|
| 177 |
+
"000519",
|
| 178 |
+
"000563",
|
| 179 |
+
"000606",
|
| 180 |
+
"000649",
|
| 181 |
+
"000693",
|
| 182 |
+
"000736",
|
| 183 |
+
"000779",
|
| 184 |
+
"000823",
|
| 185 |
+
"000866",
|
| 186 |
+
"000909",
|
| 187 |
+
"000953",
|
| 188 |
+
"000996",
|
| 189 |
+
"001039",
|
| 190 |
+
"001083",
|
| 191 |
+
"001126",
|
| 192 |
+
"001169",
|
| 193 |
+
"001213",
|
| 194 |
+
"001256",
|
| 195 |
+
"001299",
|
| 196 |
+
"001343"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0016_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0016_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": "scene0016_00.pt",
|
| 18 |
+
"indices_file": "scene0016_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0016_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": "000050"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000100"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000150"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000200"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000250"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000300"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000350"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000400"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000450"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000500"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000550"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000600"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000650"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000700"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000750"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000800"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000850"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000900"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000950"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "001000"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001050"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001100"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001150"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001200"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001250"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001300"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001350"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001400"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001450"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001500"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001551"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000050",
|
| 167 |
+
"000100",
|
| 168 |
+
"000150",
|
| 169 |
+
"000200",
|
| 170 |
+
"000250",
|
| 171 |
+
"000300",
|
| 172 |
+
"000350",
|
| 173 |
+
"000400",
|
| 174 |
+
"000450",
|
| 175 |
+
"000500",
|
| 176 |
+
"000550",
|
| 177 |
+
"000600",
|
| 178 |
+
"000650",
|
| 179 |
+
"000700",
|
| 180 |
+
"000750",
|
| 181 |
+
"000800",
|
| 182 |
+
"000850",
|
| 183 |
+
"000900",
|
| 184 |
+
"000950",
|
| 185 |
+
"001000",
|
| 186 |
+
"001050",
|
| 187 |
+
"001100",
|
| 188 |
+
"001150",
|
| 189 |
+
"001200",
|
| 190 |
+
"001250",
|
| 191 |
+
"001300",
|
| 192 |
+
"001350",
|
| 193 |
+
"001400",
|
| 194 |
+
"001450",
|
| 195 |
+
"001500",
|
| 196 |
+
"001551"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0020_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0020_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": "scene0020_01.pt",
|
| 18 |
+
"indices_file": "scene0020_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0020_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": "000030"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000061"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000091"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000122"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000153"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000183"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000214"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000244"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000275"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000306"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000336"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000367"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000397"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000428"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000459"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000489"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000520"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000551"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000581"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000612"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000642"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 23,
|
| 124 |
+
"frame_id": "000704"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 24,
|
| 128 |
+
"frame_id": "000734"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 25,
|
| 132 |
+
"frame_id": "000765"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 26,
|
| 136 |
+
"frame_id": "000795"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 27,
|
| 140 |
+
"frame_id": "000826"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 28,
|
| 144 |
+
"frame_id": "000857"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 29,
|
| 148 |
+
"frame_id": "000887"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 30,
|
| 152 |
+
"frame_id": "000918"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 31,
|
| 156 |
+
"frame_id": "000949"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 22,
|
| 162 |
+
"frame_id": "000673",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000030",
|
| 169 |
+
"000061",
|
| 170 |
+
"000091",
|
| 171 |
+
"000122",
|
| 172 |
+
"000153",
|
| 173 |
+
"000183",
|
| 174 |
+
"000214",
|
| 175 |
+
"000244",
|
| 176 |
+
"000275",
|
| 177 |
+
"000306",
|
| 178 |
+
"000336",
|
| 179 |
+
"000367",
|
| 180 |
+
"000397",
|
| 181 |
+
"000428",
|
| 182 |
+
"000459",
|
| 183 |
+
"000489",
|
| 184 |
+
"000520",
|
| 185 |
+
"000551",
|
| 186 |
+
"000581",
|
| 187 |
+
"000612",
|
| 188 |
+
"000642",
|
| 189 |
+
"000704",
|
| 190 |
+
"000734",
|
| 191 |
+
"000765",
|
| 192 |
+
"000795",
|
| 193 |
+
"000826",
|
| 194 |
+
"000857",
|
| 195 |
+
"000887",
|
| 196 |
+
"000918",
|
| 197 |
+
"000949"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0034_02_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0034_02",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 30,
|
| 5 |
+
"invalid_frames_count": 2,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
30,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
30
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0034_02.pt",
|
| 18 |
+
"indices_file": "scene0034_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0034_02_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000041"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000082"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000123"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000165"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 6,
|
| 56 |
+
"frame_id": "000247"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 7,
|
| 60 |
+
"frame_id": "000288"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 8,
|
| 64 |
+
"frame_id": "000330"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 9,
|
| 68 |
+
"frame_id": "000371"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 10,
|
| 72 |
+
"frame_id": "000412"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 11,
|
| 76 |
+
"frame_id": "000453"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 12,
|
| 80 |
+
"frame_id": "000495"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 13,
|
| 84 |
+
"frame_id": "000536"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 14,
|
| 88 |
+
"frame_id": "000577"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 15,
|
| 92 |
+
"frame_id": "000618"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 16,
|
| 96 |
+
"frame_id": "000660"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 18,
|
| 100 |
+
"frame_id": "000742"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 19,
|
| 104 |
+
"frame_id": "000783"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 20,
|
| 108 |
+
"frame_id": "000825"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 21,
|
| 112 |
+
"frame_id": "000866"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 22,
|
| 116 |
+
"frame_id": "000907"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 23,
|
| 120 |
+
"frame_id": "000948"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 24,
|
| 124 |
+
"frame_id": "000990"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 25,
|
| 128 |
+
"frame_id": "001031"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 26,
|
| 132 |
+
"frame_id": "001072"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 27,
|
| 136 |
+
"frame_id": "001113"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 28,
|
| 140 |
+
"frame_id": "001155"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 29,
|
| 144 |
+
"frame_id": "001196"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 30,
|
| 148 |
+
"frame_id": "001237"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 31,
|
| 152 |
+
"frame_id": "001279"
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"invalid_views": [
|
| 156 |
+
{
|
| 157 |
+
"index": 5,
|
| 158 |
+
"frame_id": "000206",
|
| 159 |
+
"reason": "invalid_pose"
|
| 160 |
+
},
|
| 161 |
+
{
|
| 162 |
+
"index": 17,
|
| 163 |
+
"frame_id": "000701",
|
| 164 |
+
"reason": "invalid_pose"
|
| 165 |
+
}
|
| 166 |
+
],
|
| 167 |
+
"frame_order": [
|
| 168 |
+
"000000",
|
| 169 |
+
"000041",
|
| 170 |
+
"000082",
|
| 171 |
+
"000123",
|
| 172 |
+
"000165",
|
| 173 |
+
"000247",
|
| 174 |
+
"000288",
|
| 175 |
+
"000330",
|
| 176 |
+
"000371",
|
| 177 |
+
"000412",
|
| 178 |
+
"000453",
|
| 179 |
+
"000495",
|
| 180 |
+
"000536",
|
| 181 |
+
"000577",
|
| 182 |
+
"000618",
|
| 183 |
+
"000660",
|
| 184 |
+
"000742",
|
| 185 |
+
"000783",
|
| 186 |
+
"000825",
|
| 187 |
+
"000866",
|
| 188 |
+
"000907",
|
| 189 |
+
"000948",
|
| 190 |
+
"000990",
|
| 191 |
+
"001031",
|
| 192 |
+
"001072",
|
| 193 |
+
"001113",
|
| 194 |
+
"001155",
|
| 195 |
+
"001196",
|
| 196 |
+
"001237",
|
| 197 |
+
"001279"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0038_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0038_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": "scene0038_00.pt",
|
| 18 |
+
"indices_file": "scene0038_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0038_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": "000037"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000074"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000111"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000148"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000185"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000222"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000259"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000296"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000333"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000370"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000407"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000444"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000481"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000518"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000555"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000592"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000629"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000666"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000703"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000740"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000777"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000814"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000851"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000888"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000925"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000962"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000999"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001036"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001073"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001110"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001148"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000037",
|
| 167 |
+
"000074",
|
| 168 |
+
"000111",
|
| 169 |
+
"000148",
|
| 170 |
+
"000185",
|
| 171 |
+
"000222",
|
| 172 |
+
"000259",
|
| 173 |
+
"000296",
|
| 174 |
+
"000333",
|
| 175 |
+
"000370",
|
| 176 |
+
"000407",
|
| 177 |
+
"000444",
|
| 178 |
+
"000481",
|
| 179 |
+
"000518",
|
| 180 |
+
"000555",
|
| 181 |
+
"000592",
|
| 182 |
+
"000629",
|
| 183 |
+
"000666",
|
| 184 |
+
"000703",
|
| 185 |
+
"000740",
|
| 186 |
+
"000777",
|
| 187 |
+
"000814",
|
| 188 |
+
"000851",
|
| 189 |
+
"000888",
|
| 190 |
+
"000925",
|
| 191 |
+
"000962",
|
| 192 |
+
"000999",
|
| 193 |
+
"001036",
|
| 194 |
+
"001073",
|
| 195 |
+
"001110",
|
| 196 |
+
"001148"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0042_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0042_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": "scene0042_00.pt",
|
| 18 |
+
"indices_file": "scene0042_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0042_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": "000035"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000071"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000106"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000142"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000177"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000213"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000249"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000284"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000320"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000355"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000391"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000426"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000462"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000498"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000533"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000569"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000604"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000640"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000676"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000711"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000747"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000782"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000818"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000853"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000889"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000925"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000960"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000996"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001031"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001067"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001103"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000035",
|
| 167 |
+
"000071",
|
| 168 |
+
"000106",
|
| 169 |
+
"000142",
|
| 170 |
+
"000177",
|
| 171 |
+
"000213",
|
| 172 |
+
"000249",
|
| 173 |
+
"000284",
|
| 174 |
+
"000320",
|
| 175 |
+
"000355",
|
| 176 |
+
"000391",
|
| 177 |
+
"000426",
|
| 178 |
+
"000462",
|
| 179 |
+
"000498",
|
| 180 |
+
"000533",
|
| 181 |
+
"000569",
|
| 182 |
+
"000604",
|
| 183 |
+
"000640",
|
| 184 |
+
"000676",
|
| 185 |
+
"000711",
|
| 186 |
+
"000747",
|
| 187 |
+
"000782",
|
| 188 |
+
"000818",
|
| 189 |
+
"000853",
|
| 190 |
+
"000889",
|
| 191 |
+
"000925",
|
| 192 |
+
"000960",
|
| 193 |
+
"000996",
|
| 194 |
+
"001031",
|
| 195 |
+
"001067",
|
| 196 |
+
"001103"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0058_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0058_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": "scene0058_01.pt",
|
| 18 |
+
"indices_file": "scene0058_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0058_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000034"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000068"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000102"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000136"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000170"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000204"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000239"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000273"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000307"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000341"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000375"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000409"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000444"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000478"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000512"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000546"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000580"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000614"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000649"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000683"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000717"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000751"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000785"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000819"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000854"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000888"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000922"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000956"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000990"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001024"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001059"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000034",
|
| 167 |
+
"000068",
|
| 168 |
+
"000102",
|
| 169 |
+
"000136",
|
| 170 |
+
"000170",
|
| 171 |
+
"000204",
|
| 172 |
+
"000239",
|
| 173 |
+
"000273",
|
| 174 |
+
"000307",
|
| 175 |
+
"000341",
|
| 176 |
+
"000375",
|
| 177 |
+
"000409",
|
| 178 |
+
"000444",
|
| 179 |
+
"000478",
|
| 180 |
+
"000512",
|
| 181 |
+
"000546",
|
| 182 |
+
"000580",
|
| 183 |
+
"000614",
|
| 184 |
+
"000649",
|
| 185 |
+
"000683",
|
| 186 |
+
"000717",
|
| 187 |
+
"000751",
|
| 188 |
+
"000785",
|
| 189 |
+
"000819",
|
| 190 |
+
"000854",
|
| 191 |
+
"000888",
|
| 192 |
+
"000922",
|
| 193 |
+
"000956",
|
| 194 |
+
"000990",
|
| 195 |
+
"001024",
|
| 196 |
+
"001059"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0067_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0067_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 27,
|
| 5 |
+
"invalid_frames_count": 5,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
27,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
27
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0067_00.pt",
|
| 18 |
+
"indices_file": "scene0067_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0067_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": "000067"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000100"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000134"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000167"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000201"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000234"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000268"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000301"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000335"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000368"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000402"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 18,
|
| 88 |
+
"frame_id": "000603"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 19,
|
| 92 |
+
"frame_id": "000636"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 20,
|
| 96 |
+
"frame_id": "000670"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 21,
|
| 100 |
+
"frame_id": "000703"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 22,
|
| 104 |
+
"frame_id": "000737"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 23,
|
| 108 |
+
"frame_id": "000770"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 24,
|
| 112 |
+
"frame_id": "000804"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 25,
|
| 116 |
+
"frame_id": "000837"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 26,
|
| 120 |
+
"frame_id": "000871"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 27,
|
| 124 |
+
"frame_id": "000904"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 28,
|
| 128 |
+
"frame_id": "000938"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 29,
|
| 132 |
+
"frame_id": "000971"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 30,
|
| 136 |
+
"frame_id": "001005"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 31,
|
| 140 |
+
"frame_id": "001039"
|
| 141 |
+
}
|
| 142 |
+
],
|
| 143 |
+
"invalid_views": [
|
| 144 |
+
{
|
| 145 |
+
"index": 13,
|
| 146 |
+
"frame_id": "000435",
|
| 147 |
+
"reason": "invalid_pose"
|
| 148 |
+
},
|
| 149 |
+
{
|
| 150 |
+
"index": 14,
|
| 151 |
+
"frame_id": "000469",
|
| 152 |
+
"reason": "invalid_pose"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 15,
|
| 156 |
+
"frame_id": "000502",
|
| 157 |
+
"reason": "invalid_pose"
|
| 158 |
+
},
|
| 159 |
+
{
|
| 160 |
+
"index": 16,
|
| 161 |
+
"frame_id": "000536",
|
| 162 |
+
"reason": "invalid_pose"
|
| 163 |
+
},
|
| 164 |
+
{
|
| 165 |
+
"index": 17,
|
| 166 |
+
"frame_id": "000569",
|
| 167 |
+
"reason": "invalid_pose"
|
| 168 |
+
}
|
| 169 |
+
],
|
| 170 |
+
"frame_order": [
|
| 171 |
+
"000000",
|
| 172 |
+
"000033",
|
| 173 |
+
"000067",
|
| 174 |
+
"000100",
|
| 175 |
+
"000134",
|
| 176 |
+
"000167",
|
| 177 |
+
"000201",
|
| 178 |
+
"000234",
|
| 179 |
+
"000268",
|
| 180 |
+
"000301",
|
| 181 |
+
"000335",
|
| 182 |
+
"000368",
|
| 183 |
+
"000402",
|
| 184 |
+
"000603",
|
| 185 |
+
"000636",
|
| 186 |
+
"000670",
|
| 187 |
+
"000703",
|
| 188 |
+
"000737",
|
| 189 |
+
"000770",
|
| 190 |
+
"000804",
|
| 191 |
+
"000837",
|
| 192 |
+
"000871",
|
| 193 |
+
"000904",
|
| 194 |
+
"000938",
|
| 195 |
+
"000971",
|
| 196 |
+
"001005",
|
| 197 |
+
"001039"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0078_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0078_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": "scene0078_02.pt",
|
| 18 |
+
"indices_file": "scene0078_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0078_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": "000031"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000063"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000095"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000127"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000159"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000190"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000222"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000254"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000286"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000318"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000349"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000381"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000413"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000445"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000477"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000508"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000540"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000572"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000604"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000636"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000667"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000699"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000731"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000763"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000795"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000826"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000858"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000890"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000922"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000954"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000986"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000031",
|
| 167 |
+
"000063",
|
| 168 |
+
"000095",
|
| 169 |
+
"000127",
|
| 170 |
+
"000159",
|
| 171 |
+
"000190",
|
| 172 |
+
"000222",
|
| 173 |
+
"000254",
|
| 174 |
+
"000286",
|
| 175 |
+
"000318",
|
| 176 |
+
"000349",
|
| 177 |
+
"000381",
|
| 178 |
+
"000413",
|
| 179 |
+
"000445",
|
| 180 |
+
"000477",
|
| 181 |
+
"000508",
|
| 182 |
+
"000540",
|
| 183 |
+
"000572",
|
| 184 |
+
"000604",
|
| 185 |
+
"000636",
|
| 186 |
+
"000667",
|
| 187 |
+
"000699",
|
| 188 |
+
"000731",
|
| 189 |
+
"000763",
|
| 190 |
+
"000795",
|
| 191 |
+
"000826",
|
| 192 |
+
"000858",
|
| 193 |
+
"000890",
|
| 194 |
+
"000922",
|
| 195 |
+
"000954",
|
| 196 |
+
"000986"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0087_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0087_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": "scene0087_00.pt",
|
| 18 |
+
"indices_file": "scene0087_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0087_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": "000045"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000090"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000135"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000180"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000225"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000270"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000315"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000360"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000405"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000450"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000495"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000540"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000585"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000630"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000675"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000720"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000765"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000810"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000855"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000900"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000945"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000990"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001035"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001080"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001125"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001170"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001215"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001260"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001305"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001350"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001395"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000045",
|
| 167 |
+
"000090",
|
| 168 |
+
"000135",
|
| 169 |
+
"000180",
|
| 170 |
+
"000225",
|
| 171 |
+
"000270",
|
| 172 |
+
"000315",
|
| 173 |
+
"000360",
|
| 174 |
+
"000405",
|
| 175 |
+
"000450",
|
| 176 |
+
"000495",
|
| 177 |
+
"000540",
|
| 178 |
+
"000585",
|
| 179 |
+
"000630",
|
| 180 |
+
"000675",
|
| 181 |
+
"000720",
|
| 182 |
+
"000765",
|
| 183 |
+
"000810",
|
| 184 |
+
"000855",
|
| 185 |
+
"000900",
|
| 186 |
+
"000945",
|
| 187 |
+
"000990",
|
| 188 |
+
"001035",
|
| 189 |
+
"001080",
|
| 190 |
+
"001125",
|
| 191 |
+
"001170",
|
| 192 |
+
"001215",
|
| 193 |
+
"001260",
|
| 194 |
+
"001305",
|
| 195 |
+
"001350",
|
| 196 |
+
"001395"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0092_04_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0092_04",
|
| 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": "scene0092_04.pt",
|
| 18 |
+
"indices_file": "scene0092_04_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0092_04_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": "000102"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000204"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000306"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000408"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000510"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000613"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000715"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000817"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000919"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "001021"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "001124"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "001226"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "001328"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "001430"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "001532"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "001635"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "001737"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "001839"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "001941"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "002043"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "002146"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "002248"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "002350"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "002452"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "002554"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "002657"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "002759"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "002861"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "002963"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "003065"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "003168"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000102",
|
| 167 |
+
"000204",
|
| 168 |
+
"000306",
|
| 169 |
+
"000408",
|
| 170 |
+
"000510",
|
| 171 |
+
"000613",
|
| 172 |
+
"000715",
|
| 173 |
+
"000817",
|
| 174 |
+
"000919",
|
| 175 |
+
"001021",
|
| 176 |
+
"001124",
|
| 177 |
+
"001226",
|
| 178 |
+
"001328",
|
| 179 |
+
"001430",
|
| 180 |
+
"001532",
|
| 181 |
+
"001635",
|
| 182 |
+
"001737",
|
| 183 |
+
"001839",
|
| 184 |
+
"001941",
|
| 185 |
+
"002043",
|
| 186 |
+
"002146",
|
| 187 |
+
"002248",
|
| 188 |
+
"002350",
|
| 189 |
+
"002452",
|
| 190 |
+
"002554",
|
| 191 |
+
"002657",
|
| 192 |
+
"002759",
|
| 193 |
+
"002861",
|
| 194 |
+
"002963",
|
| 195 |
+
"003065",
|
| 196 |
+
"003168"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0101_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0101_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": "scene0101_02.pt",
|
| 18 |
+
"indices_file": "scene0101_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0101_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": "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": "000469"
|
| 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": "000645"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000703"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000762"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000821"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000879"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000938"
|
| 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": "001114"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "001172"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001231"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001290"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001348"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001407"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001466"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001524"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001583"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001642"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001700"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001759"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001818"
|
| 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 |
+
"000469",
|
| 174 |
+
"000527",
|
| 175 |
+
"000586",
|
| 176 |
+
"000645",
|
| 177 |
+
"000703",
|
| 178 |
+
"000762",
|
| 179 |
+
"000821",
|
| 180 |
+
"000879",
|
| 181 |
+
"000938",
|
| 182 |
+
"000996",
|
| 183 |
+
"001055",
|
| 184 |
+
"001114",
|
| 185 |
+
"001172",
|
| 186 |
+
"001231",
|
| 187 |
+
"001290",
|
| 188 |
+
"001348",
|
| 189 |
+
"001407",
|
| 190 |
+
"001466",
|
| 191 |
+
"001524",
|
| 192 |
+
"001583",
|
| 193 |
+
"001642",
|
| 194 |
+
"001700",
|
| 195 |
+
"001759",
|
| 196 |
+
"001818"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0103_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0103_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": "scene0103_01.pt",
|
| 18 |
+
"indices_file": "scene0103_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0103_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": "000033"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000066"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000099"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000132"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000165"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000198"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000232"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000265"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000298"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000331"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000364"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000397"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000431"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000464"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000497"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000530"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000563"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000596"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000630"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000663"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000696"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000729"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000762"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000795"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000829"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000862"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 28,
|
| 144 |
+
"frame_id": "000928"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 29,
|
| 148 |
+
"frame_id": "000961"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 30,
|
| 152 |
+
"frame_id": "000994"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 31,
|
| 156 |
+
"frame_id": "001028"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 27,
|
| 162 |
+
"frame_id": "000895",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000033",
|
| 169 |
+
"000066",
|
| 170 |
+
"000099",
|
| 171 |
+
"000132",
|
| 172 |
+
"000165",
|
| 173 |
+
"000198",
|
| 174 |
+
"000232",
|
| 175 |
+
"000265",
|
| 176 |
+
"000298",
|
| 177 |
+
"000331",
|
| 178 |
+
"000364",
|
| 179 |
+
"000397",
|
| 180 |
+
"000431",
|
| 181 |
+
"000464",
|
| 182 |
+
"000497",
|
| 183 |
+
"000530",
|
| 184 |
+
"000563",
|
| 185 |
+
"000596",
|
| 186 |
+
"000630",
|
| 187 |
+
"000663",
|
| 188 |
+
"000696",
|
| 189 |
+
"000729",
|
| 190 |
+
"000762",
|
| 191 |
+
"000795",
|
| 192 |
+
"000829",
|
| 193 |
+
"000862",
|
| 194 |
+
"000928",
|
| 195 |
+
"000961",
|
| 196 |
+
"000994",
|
| 197 |
+
"001028"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0110_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0110_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": "scene0110_02.pt",
|
| 18 |
+
"indices_file": "scene0110_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0110_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": "000034"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000068"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000103"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000137"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000172"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000206"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000241"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000275"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000310"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000344"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000378"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000413"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000447"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000482"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000516"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000551"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000585"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000620"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000654"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000689"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000723"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000757"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000792"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000826"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000861"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000895"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000930"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000964"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000999"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001033"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001068"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000034",
|
| 167 |
+
"000068",
|
| 168 |
+
"000103",
|
| 169 |
+
"000137",
|
| 170 |
+
"000172",
|
| 171 |
+
"000206",
|
| 172 |
+
"000241",
|
| 173 |
+
"000275",
|
| 174 |
+
"000310",
|
| 175 |
+
"000344",
|
| 176 |
+
"000378",
|
| 177 |
+
"000413",
|
| 178 |
+
"000447",
|
| 179 |
+
"000482",
|
| 180 |
+
"000516",
|
| 181 |
+
"000551",
|
| 182 |
+
"000585",
|
| 183 |
+
"000620",
|
| 184 |
+
"000654",
|
| 185 |
+
"000689",
|
| 186 |
+
"000723",
|
| 187 |
+
"000757",
|
| 188 |
+
"000792",
|
| 189 |
+
"000826",
|
| 190 |
+
"000861",
|
| 191 |
+
"000895",
|
| 192 |
+
"000930",
|
| 193 |
+
"000964",
|
| 194 |
+
"000999",
|
| 195 |
+
"001033",
|
| 196 |
+
"001068"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0112_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0112_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": "scene0112_01.pt",
|
| 18 |
+
"indices_file": "scene0112_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0112_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000037"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000074"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000111"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000148"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000185"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000223"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000260"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000297"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000334"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000371"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000409"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000446"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000483"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000520"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000557"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000595"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000632"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000669"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000706"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000743"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000781"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000818"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000855"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000892"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 26,
|
| 136 |
+
"frame_id": "000967"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 27,
|
| 140 |
+
"frame_id": "001004"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 28,
|
| 144 |
+
"frame_id": "001041"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 29,
|
| 148 |
+
"frame_id": "001078"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 30,
|
| 152 |
+
"frame_id": "001115"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 31,
|
| 156 |
+
"frame_id": "001153"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 25,
|
| 162 |
+
"frame_id": "000929",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000037",
|
| 169 |
+
"000074",
|
| 170 |
+
"000111",
|
| 171 |
+
"000148",
|
| 172 |
+
"000185",
|
| 173 |
+
"000223",
|
| 174 |
+
"000260",
|
| 175 |
+
"000297",
|
| 176 |
+
"000334",
|
| 177 |
+
"000371",
|
| 178 |
+
"000409",
|
| 179 |
+
"000446",
|
| 180 |
+
"000483",
|
| 181 |
+
"000520",
|
| 182 |
+
"000557",
|
| 183 |
+
"000595",
|
| 184 |
+
"000632",
|
| 185 |
+
"000669",
|
| 186 |
+
"000706",
|
| 187 |
+
"000743",
|
| 188 |
+
"000781",
|
| 189 |
+
"000818",
|
| 190 |
+
"000855",
|
| 191 |
+
"000892",
|
| 192 |
+
"000967",
|
| 193 |
+
"001004",
|
| 194 |
+
"001041",
|
| 195 |
+
"001078",
|
| 196 |
+
"001115",
|
| 197 |
+
"001153"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0124_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0124_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": "scene0124_00.pt",
|
| 18 |
+
"indices_file": "scene0124_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0124_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": "000061"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000123"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000184"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000246"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000307"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000369"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000431"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000492"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000554"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000615"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000677"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000738"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000800"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000862"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000923"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000985"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "001046"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "001108"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "001170"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "001231"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001293"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001354"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001416"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001477"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001539"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001601"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001662"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001724"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001785"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001847"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001909"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000061",
|
| 167 |
+
"000123",
|
| 168 |
+
"000184",
|
| 169 |
+
"000246",
|
| 170 |
+
"000307",
|
| 171 |
+
"000369",
|
| 172 |
+
"000431",
|
| 173 |
+
"000492",
|
| 174 |
+
"000554",
|
| 175 |
+
"000615",
|
| 176 |
+
"000677",
|
| 177 |
+
"000738",
|
| 178 |
+
"000800",
|
| 179 |
+
"000862",
|
| 180 |
+
"000923",
|
| 181 |
+
"000985",
|
| 182 |
+
"001046",
|
| 183 |
+
"001108",
|
| 184 |
+
"001170",
|
| 185 |
+
"001231",
|
| 186 |
+
"001293",
|
| 187 |
+
"001354",
|
| 188 |
+
"001416",
|
| 189 |
+
"001477",
|
| 190 |
+
"001539",
|
| 191 |
+
"001601",
|
| 192 |
+
"001662",
|
| 193 |
+
"001724",
|
| 194 |
+
"001785",
|
| 195 |
+
"001847",
|
| 196 |
+
"001909"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0130_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0130_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": "scene0130_00.pt",
|
| 18 |
+
"indices_file": "scene0130_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0130_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": "000124"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000166"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000208"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000249"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000291"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000333"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000374"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000416"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000458"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000499"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000541"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000583"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000624"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000666"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000707"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000749"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000791"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000832"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000874"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000916"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000957"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000999"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001041"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001082"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001124"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001166"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001207"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001249"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001291"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000041",
|
| 167 |
+
"000083",
|
| 168 |
+
"000124",
|
| 169 |
+
"000166",
|
| 170 |
+
"000208",
|
| 171 |
+
"000249",
|
| 172 |
+
"000291",
|
| 173 |
+
"000333",
|
| 174 |
+
"000374",
|
| 175 |
+
"000416",
|
| 176 |
+
"000458",
|
| 177 |
+
"000499",
|
| 178 |
+
"000541",
|
| 179 |
+
"000583",
|
| 180 |
+
"000624",
|
| 181 |
+
"000666",
|
| 182 |
+
"000707",
|
| 183 |
+
"000749",
|
| 184 |
+
"000791",
|
| 185 |
+
"000832",
|
| 186 |
+
"000874",
|
| 187 |
+
"000916",
|
| 188 |
+
"000957",
|
| 189 |
+
"000999",
|
| 190 |
+
"001041",
|
| 191 |
+
"001082",
|
| 192 |
+
"001124",
|
| 193 |
+
"001166",
|
| 194 |
+
"001207",
|
| 195 |
+
"001249",
|
| 196 |
+
"001291"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0135_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0135_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 30,
|
| 5 |
+
"invalid_frames_count": 2,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
30,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
30
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0135_00.pt",
|
| 18 |
+
"indices_file": "scene0135_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0135_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 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000077"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000116"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000155"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000194"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000232"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000271"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"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": "000426"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000465"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000504"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000543"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000582"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 17,
|
| 100 |
+
"frame_id": "000659"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 18,
|
| 104 |
+
"frame_id": "000698"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 19,
|
| 108 |
+
"frame_id": "000737"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 20,
|
| 112 |
+
"frame_id": "000776"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 21,
|
| 116 |
+
"frame_id": "000814"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 22,
|
| 120 |
+
"frame_id": "000853"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 23,
|
| 124 |
+
"frame_id": "000892"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 24,
|
| 128 |
+
"frame_id": "000931"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 25,
|
| 132 |
+
"frame_id": "000970"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 27,
|
| 136 |
+
"frame_id": "001047"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 28,
|
| 140 |
+
"frame_id": "001086"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 29,
|
| 144 |
+
"frame_id": "001125"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 30,
|
| 148 |
+
"frame_id": "001164"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 31,
|
| 152 |
+
"frame_id": "001203"
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"invalid_views": [
|
| 156 |
+
{
|
| 157 |
+
"index": 16,
|
| 158 |
+
"frame_id": "000620",
|
| 159 |
+
"reason": "invalid_pose"
|
| 160 |
+
},
|
| 161 |
+
{
|
| 162 |
+
"index": 26,
|
| 163 |
+
"frame_id": "001008",
|
| 164 |
+
"reason": "invalid_pose"
|
| 165 |
+
}
|
| 166 |
+
],
|
| 167 |
+
"frame_order": [
|
| 168 |
+
"000000",
|
| 169 |
+
"000038",
|
| 170 |
+
"000077",
|
| 171 |
+
"000116",
|
| 172 |
+
"000155",
|
| 173 |
+
"000194",
|
| 174 |
+
"000232",
|
| 175 |
+
"000271",
|
| 176 |
+
"000310",
|
| 177 |
+
"000349",
|
| 178 |
+
"000388",
|
| 179 |
+
"000426",
|
| 180 |
+
"000465",
|
| 181 |
+
"000504",
|
| 182 |
+
"000543",
|
| 183 |
+
"000582",
|
| 184 |
+
"000659",
|
| 185 |
+
"000698",
|
| 186 |
+
"000737",
|
| 187 |
+
"000776",
|
| 188 |
+
"000814",
|
| 189 |
+
"000853",
|
| 190 |
+
"000892",
|
| 191 |
+
"000931",
|
| 192 |
+
"000970",
|
| 193 |
+
"001047",
|
| 194 |
+
"001086",
|
| 195 |
+
"001125",
|
| 196 |
+
"001164",
|
| 197 |
+
"001203"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0141_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0141_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": "scene0141_00.pt",
|
| 18 |
+
"indices_file": "scene0141_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0141_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000030"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000061"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000091"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000122"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000152"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000183"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000213"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000244"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000274"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000305"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000335"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000366"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000396"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000427"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000457"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000488"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000518"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000549"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000579"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000610"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000640"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000671"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000701"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000732"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000762"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000793"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000823"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000854"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000884"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000915"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000946"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000030",
|
| 167 |
+
"000061",
|
| 168 |
+
"000091",
|
| 169 |
+
"000122",
|
| 170 |
+
"000152",
|
| 171 |
+
"000183",
|
| 172 |
+
"000213",
|
| 173 |
+
"000244",
|
| 174 |
+
"000274",
|
| 175 |
+
"000305",
|
| 176 |
+
"000335",
|
| 177 |
+
"000366",
|
| 178 |
+
"000396",
|
| 179 |
+
"000427",
|
| 180 |
+
"000457",
|
| 181 |
+
"000488",
|
| 182 |
+
"000518",
|
| 183 |
+
"000549",
|
| 184 |
+
"000579",
|
| 185 |
+
"000610",
|
| 186 |
+
"000640",
|
| 187 |
+
"000671",
|
| 188 |
+
"000701",
|
| 189 |
+
"000732",
|
| 190 |
+
"000762",
|
| 191 |
+
"000793",
|
| 192 |
+
"000823",
|
| 193 |
+
"000854",
|
| 194 |
+
"000884",
|
| 195 |
+
"000915",
|
| 196 |
+
"000946"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0165_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0165_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": "scene0165_02.pt",
|
| 18 |
+
"indices_file": "scene0165_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0165_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": "000039"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000079"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000119"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000159"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000198"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000238"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000278"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000318"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000357"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000397"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000437"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000477"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000517"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000556"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000596"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000636"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000676"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000715"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000755"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000795"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000835"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000875"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000914"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000954"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000994"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001034"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001073"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001113"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001153"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001193"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001233"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000039",
|
| 167 |
+
"000079",
|
| 168 |
+
"000119",
|
| 169 |
+
"000159",
|
| 170 |
+
"000198",
|
| 171 |
+
"000238",
|
| 172 |
+
"000278",
|
| 173 |
+
"000318",
|
| 174 |
+
"000357",
|
| 175 |
+
"000397",
|
| 176 |
+
"000437",
|
| 177 |
+
"000477",
|
| 178 |
+
"000517",
|
| 179 |
+
"000556",
|
| 180 |
+
"000596",
|
| 181 |
+
"000636",
|
| 182 |
+
"000676",
|
| 183 |
+
"000715",
|
| 184 |
+
"000755",
|
| 185 |
+
"000795",
|
| 186 |
+
"000835",
|
| 187 |
+
"000875",
|
| 188 |
+
"000914",
|
| 189 |
+
"000954",
|
| 190 |
+
"000994",
|
| 191 |
+
"001034",
|
| 192 |
+
"001073",
|
| 193 |
+
"001113",
|
| 194 |
+
"001153",
|
| 195 |
+
"001193",
|
| 196 |
+
"001233"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0171_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0171_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": "scene0171_01.pt",
|
| 18 |
+
"indices_file": "scene0171_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0171_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": "000032"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000065"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000098"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000131"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000164"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000197"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000230"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000262"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000295"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000328"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000361"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000394"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000427"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000460"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000493"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000525"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000558"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000591"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000624"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000657"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"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": "000788"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000821"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000854"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000887"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000920"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000953"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000986"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001019"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000032",
|
| 167 |
+
"000065",
|
| 168 |
+
"000098",
|
| 169 |
+
"000131",
|
| 170 |
+
"000164",
|
| 171 |
+
"000197",
|
| 172 |
+
"000230",
|
| 173 |
+
"000262",
|
| 174 |
+
"000295",
|
| 175 |
+
"000328",
|
| 176 |
+
"000361",
|
| 177 |
+
"000394",
|
| 178 |
+
"000427",
|
| 179 |
+
"000460",
|
| 180 |
+
"000493",
|
| 181 |
+
"000525",
|
| 182 |
+
"000558",
|
| 183 |
+
"000591",
|
| 184 |
+
"000624",
|
| 185 |
+
"000657",
|
| 186 |
+
"000690",
|
| 187 |
+
"000723",
|
| 188 |
+
"000756",
|
| 189 |
+
"000788",
|
| 190 |
+
"000821",
|
| 191 |
+
"000854",
|
| 192 |
+
"000887",
|
| 193 |
+
"000920",
|
| 194 |
+
"000953",
|
| 195 |
+
"000986",
|
| 196 |
+
"001019"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0181_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0181_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": "scene0181_00.pt",
|
| 18 |
+
"indices_file": "scene0181_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0181_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": "000075"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000151"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000227"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000302"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000378"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000454"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000530"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000605"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000681"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000757"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000833"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000908"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000984"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "001060"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "001136"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "001211"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "001287"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "001363"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "001439"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "001514"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001590"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001666"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001742"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001817"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001893"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001969"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "002045"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "002120"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "002196"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "002272"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "002348"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000075",
|
| 167 |
+
"000151",
|
| 168 |
+
"000227",
|
| 169 |
+
"000302",
|
| 170 |
+
"000378",
|
| 171 |
+
"000454",
|
| 172 |
+
"000530",
|
| 173 |
+
"000605",
|
| 174 |
+
"000681",
|
| 175 |
+
"000757",
|
| 176 |
+
"000833",
|
| 177 |
+
"000908",
|
| 178 |
+
"000984",
|
| 179 |
+
"001060",
|
| 180 |
+
"001136",
|
| 181 |
+
"001211",
|
| 182 |
+
"001287",
|
| 183 |
+
"001363",
|
| 184 |
+
"001439",
|
| 185 |
+
"001514",
|
| 186 |
+
"001590",
|
| 187 |
+
"001666",
|
| 188 |
+
"001742",
|
| 189 |
+
"001817",
|
| 190 |
+
"001893",
|
| 191 |
+
"001969",
|
| 192 |
+
"002045",
|
| 193 |
+
"002120",
|
| 194 |
+
"002196",
|
| 195 |
+
"002272",
|
| 196 |
+
"002348"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0192_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0192_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": "scene0192_01.pt",
|
| 18 |
+
"indices_file": "scene0192_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0192_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000028"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000057"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000085"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000114"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000143"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000171"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000200"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000228"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000257"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000286"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000314"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000343"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000371"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000400"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000429"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000457"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000486"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000515"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000543"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000572"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000600"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000629"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000658"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000686"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000715"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000743"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000772"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000801"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000829"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000858"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000887"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000028",
|
| 167 |
+
"000057",
|
| 168 |
+
"000085",
|
| 169 |
+
"000114",
|
| 170 |
+
"000143",
|
| 171 |
+
"000171",
|
| 172 |
+
"000200",
|
| 173 |
+
"000228",
|
| 174 |
+
"000257",
|
| 175 |
+
"000286",
|
| 176 |
+
"000314",
|
| 177 |
+
"000343",
|
| 178 |
+
"000371",
|
| 179 |
+
"000400",
|
| 180 |
+
"000429",
|
| 181 |
+
"000457",
|
| 182 |
+
"000486",
|
| 183 |
+
"000515",
|
| 184 |
+
"000543",
|
| 185 |
+
"000572",
|
| 186 |
+
"000600",
|
| 187 |
+
"000629",
|
| 188 |
+
"000658",
|
| 189 |
+
"000686",
|
| 190 |
+
"000715",
|
| 191 |
+
"000743",
|
| 192 |
+
"000772",
|
| 193 |
+
"000801",
|
| 194 |
+
"000829",
|
| 195 |
+
"000858",
|
| 196 |
+
"000887"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0201_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0201_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": "scene0201_01.pt",
|
| 18 |
+
"indices_file": "scene0201_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0201_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000028"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000056"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000084"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000113"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000141"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000169"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000198"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000226"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000254"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000282"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000311"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000339"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000367"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000396"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000424"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000452"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000480"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000509"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000537"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000565"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000594"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000622"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000650"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000678"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000707"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000735"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000763"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000792"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000820"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000848"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000877"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000028",
|
| 167 |
+
"000056",
|
| 168 |
+
"000084",
|
| 169 |
+
"000113",
|
| 170 |
+
"000141",
|
| 171 |
+
"000169",
|
| 172 |
+
"000198",
|
| 173 |
+
"000226",
|
| 174 |
+
"000254",
|
| 175 |
+
"000282",
|
| 176 |
+
"000311",
|
| 177 |
+
"000339",
|
| 178 |
+
"000367",
|
| 179 |
+
"000396",
|
| 180 |
+
"000424",
|
| 181 |
+
"000452",
|
| 182 |
+
"000480",
|
| 183 |
+
"000509",
|
| 184 |
+
"000537",
|
| 185 |
+
"000565",
|
| 186 |
+
"000594",
|
| 187 |
+
"000622",
|
| 188 |
+
"000650",
|
| 189 |
+
"000678",
|
| 190 |
+
"000707",
|
| 191 |
+
"000735",
|
| 192 |
+
"000763",
|
| 193 |
+
"000792",
|
| 194 |
+
"000820",
|
| 195 |
+
"000848",
|
| 196 |
+
"000877"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0204_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0204_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": "scene0204_00.pt",
|
| 18 |
+
"indices_file": "scene0204_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0204_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000030"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000061"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000092"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000123"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000154"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000185"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000216"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000247"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000278"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000309"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000339"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000370"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000401"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000432"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000463"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000494"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000525"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000556"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000587"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000618"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000648"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000679"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000710"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000741"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000772"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000803"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000834"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000865"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000896"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000927"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000958"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000030",
|
| 167 |
+
"000061",
|
| 168 |
+
"000092",
|
| 169 |
+
"000123",
|
| 170 |
+
"000154",
|
| 171 |
+
"000185",
|
| 172 |
+
"000216",
|
| 173 |
+
"000247",
|
| 174 |
+
"000278",
|
| 175 |
+
"000309",
|
| 176 |
+
"000339",
|
| 177 |
+
"000370",
|
| 178 |
+
"000401",
|
| 179 |
+
"000432",
|
| 180 |
+
"000463",
|
| 181 |
+
"000494",
|
| 182 |
+
"000525",
|
| 183 |
+
"000556",
|
| 184 |
+
"000587",
|
| 185 |
+
"000618",
|
| 186 |
+
"000648",
|
| 187 |
+
"000679",
|
| 188 |
+
"000710",
|
| 189 |
+
"000741",
|
| 190 |
+
"000772",
|
| 191 |
+
"000803",
|
| 192 |
+
"000834",
|
| 193 |
+
"000865",
|
| 194 |
+
"000896",
|
| 195 |
+
"000927",
|
| 196 |
+
"000958"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0204_02_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0204_02",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 30,
|
| 5 |
+
"invalid_frames_count": 2,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
30,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
30
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0204_02.pt",
|
| 18 |
+
"indices_file": "scene0204_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0204_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": "000028"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000057"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000085"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000114"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000142"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000171"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000199"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000228"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000256"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000285"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000313"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000342"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000370"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000399"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000427"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000456"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000484"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000513"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000541"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000570"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000598"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 24,
|
| 124 |
+
"frame_id": "000684"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 25,
|
| 128 |
+
"frame_id": "000712"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 26,
|
| 132 |
+
"frame_id": "000741"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 27,
|
| 136 |
+
"frame_id": "000769"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 28,
|
| 140 |
+
"frame_id": "000798"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 29,
|
| 144 |
+
"frame_id": "000826"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 30,
|
| 148 |
+
"frame_id": "000855"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 31,
|
| 152 |
+
"frame_id": "000884"
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"invalid_views": [
|
| 156 |
+
{
|
| 157 |
+
"index": 22,
|
| 158 |
+
"frame_id": "000627",
|
| 159 |
+
"reason": "invalid_pose"
|
| 160 |
+
},
|
| 161 |
+
{
|
| 162 |
+
"index": 23,
|
| 163 |
+
"frame_id": "000655",
|
| 164 |
+
"reason": "invalid_pose"
|
| 165 |
+
}
|
| 166 |
+
],
|
| 167 |
+
"frame_order": [
|
| 168 |
+
"000000",
|
| 169 |
+
"000028",
|
| 170 |
+
"000057",
|
| 171 |
+
"000085",
|
| 172 |
+
"000114",
|
| 173 |
+
"000142",
|
| 174 |
+
"000171",
|
| 175 |
+
"000199",
|
| 176 |
+
"000228",
|
| 177 |
+
"000256",
|
| 178 |
+
"000285",
|
| 179 |
+
"000313",
|
| 180 |
+
"000342",
|
| 181 |
+
"000370",
|
| 182 |
+
"000399",
|
| 183 |
+
"000427",
|
| 184 |
+
"000456",
|
| 185 |
+
"000484",
|
| 186 |
+
"000513",
|
| 187 |
+
"000541",
|
| 188 |
+
"000570",
|
| 189 |
+
"000598",
|
| 190 |
+
"000684",
|
| 191 |
+
"000712",
|
| 192 |
+
"000741",
|
| 193 |
+
"000769",
|
| 194 |
+
"000798",
|
| 195 |
+
"000826",
|
| 196 |
+
"000855",
|
| 197 |
+
"000884"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0261_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0261_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": "scene0261_00.pt",
|
| 18 |
+
"indices_file": "scene0261_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0261_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": "000150"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000301"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000451"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000602"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000753"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000903"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "001054"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "001205"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "001355"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "001506"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "001657"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "001807"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "001958"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "002109"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "002259"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "002410"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "002560"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "002711"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "002862"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "003012"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "003163"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "003314"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "003464"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "003615"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "003766"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "003916"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "004067"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "004218"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "004368"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "004519"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 31,
|
| 162 |
+
"frame_id": "004670",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000150",
|
| 169 |
+
"000301",
|
| 170 |
+
"000451",
|
| 171 |
+
"000602",
|
| 172 |
+
"000753",
|
| 173 |
+
"000903",
|
| 174 |
+
"001054",
|
| 175 |
+
"001205",
|
| 176 |
+
"001355",
|
| 177 |
+
"001506",
|
| 178 |
+
"001657",
|
| 179 |
+
"001807",
|
| 180 |
+
"001958",
|
| 181 |
+
"002109",
|
| 182 |
+
"002259",
|
| 183 |
+
"002410",
|
| 184 |
+
"002560",
|
| 185 |
+
"002711",
|
| 186 |
+
"002862",
|
| 187 |
+
"003012",
|
| 188 |
+
"003163",
|
| 189 |
+
"003314",
|
| 190 |
+
"003464",
|
| 191 |
+
"003615",
|
| 192 |
+
"003766",
|
| 193 |
+
"003916",
|
| 194 |
+
"004067",
|
| 195 |
+
"004218",
|
| 196 |
+
"004368",
|
| 197 |
+
"004519"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0266_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0266_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": "scene0266_01.pt",
|
| 18 |
+
"indices_file": "scene0266_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0266_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": "000054"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000108"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000163"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000217"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000272"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000326"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000380"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000435"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000489"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000544"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000598"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000653"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000707"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000761"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000816"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000870"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000925"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000979"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "001033"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "001088"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001142"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001197"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001251"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001306"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001360"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001414"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001469"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001523"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001578"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001632"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001687"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000054",
|
| 167 |
+
"000108",
|
| 168 |
+
"000163",
|
| 169 |
+
"000217",
|
| 170 |
+
"000272",
|
| 171 |
+
"000326",
|
| 172 |
+
"000380",
|
| 173 |
+
"000435",
|
| 174 |
+
"000489",
|
| 175 |
+
"000544",
|
| 176 |
+
"000598",
|
| 177 |
+
"000653",
|
| 178 |
+
"000707",
|
| 179 |
+
"000761",
|
| 180 |
+
"000816",
|
| 181 |
+
"000870",
|
| 182 |
+
"000925",
|
| 183 |
+
"000979",
|
| 184 |
+
"001033",
|
| 185 |
+
"001088",
|
| 186 |
+
"001142",
|
| 187 |
+
"001197",
|
| 188 |
+
"001251",
|
| 189 |
+
"001306",
|
| 190 |
+
"001360",
|
| 191 |
+
"001414",
|
| 192 |
+
"001469",
|
| 193 |
+
"001523",
|
| 194 |
+
"001578",
|
| 195 |
+
"001632",
|
| 196 |
+
"001687"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0268_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0268_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": "scene0268_00.pt",
|
| 18 |
+
"indices_file": "scene0268_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0268_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": "000026"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000053"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000080"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000107"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000134"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000161"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000187"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000214"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000241"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000268"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000295"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000322"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000348"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000375"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000402"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000429"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000456"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000483"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000509"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000536"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000563"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000590"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000617"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000644"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000670"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000697"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000724"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000751"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000778"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000805"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000832"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000026",
|
| 167 |
+
"000053",
|
| 168 |
+
"000080",
|
| 169 |
+
"000107",
|
| 170 |
+
"000134",
|
| 171 |
+
"000161",
|
| 172 |
+
"000187",
|
| 173 |
+
"000214",
|
| 174 |
+
"000241",
|
| 175 |
+
"000268",
|
| 176 |
+
"000295",
|
| 177 |
+
"000322",
|
| 178 |
+
"000348",
|
| 179 |
+
"000375",
|
| 180 |
+
"000402",
|
| 181 |
+
"000429",
|
| 182 |
+
"000456",
|
| 183 |
+
"000483",
|
| 184 |
+
"000509",
|
| 185 |
+
"000536",
|
| 186 |
+
"000563",
|
| 187 |
+
"000590",
|
| 188 |
+
"000617",
|
| 189 |
+
"000644",
|
| 190 |
+
"000670",
|
| 191 |
+
"000697",
|
| 192 |
+
"000724",
|
| 193 |
+
"000751",
|
| 194 |
+
"000778",
|
| 195 |
+
"000805",
|
| 196 |
+
"000832"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0270_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0270_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": "scene0270_02.pt",
|
| 18 |
+
"indices_file": "scene0270_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0270_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": "000067"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000135"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000203"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000271"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000339"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000407"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000475"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000543"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000611"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000679"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000746"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000814"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000882"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000950"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "001018"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "001086"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "001154"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "001222"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "001290"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "001358"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001425"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001493"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001561"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001629"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001697"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001765"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001833"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001901"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001969"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "002037"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "002105"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000067",
|
| 167 |
+
"000135",
|
| 168 |
+
"000203",
|
| 169 |
+
"000271",
|
| 170 |
+
"000339",
|
| 171 |
+
"000407",
|
| 172 |
+
"000475",
|
| 173 |
+
"000543",
|
| 174 |
+
"000611",
|
| 175 |
+
"000679",
|
| 176 |
+
"000746",
|
| 177 |
+
"000814",
|
| 178 |
+
"000882",
|
| 179 |
+
"000950",
|
| 180 |
+
"001018",
|
| 181 |
+
"001086",
|
| 182 |
+
"001154",
|
| 183 |
+
"001222",
|
| 184 |
+
"001290",
|
| 185 |
+
"001358",
|
| 186 |
+
"001425",
|
| 187 |
+
"001493",
|
| 188 |
+
"001561",
|
| 189 |
+
"001629",
|
| 190 |
+
"001697",
|
| 191 |
+
"001765",
|
| 192 |
+
"001833",
|
| 193 |
+
"001901",
|
| 194 |
+
"001969",
|
| 195 |
+
"002037",
|
| 196 |
+
"002105"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0273_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0273_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 30,
|
| 5 |
+
"invalid_frames_count": 2,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
30,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
30
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0273_00.pt",
|
| 18 |
+
"indices_file": "scene0273_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0273_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": "000064"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000128"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000192"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000256"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000320"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000384"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000448"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000512"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000576"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000640"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000704"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000768"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000832"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000896"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000960"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 17,
|
| 100 |
+
"frame_id": "001088"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 18,
|
| 104 |
+
"frame_id": "001152"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 19,
|
| 108 |
+
"frame_id": "001216"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 20,
|
| 112 |
+
"frame_id": "001280"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 21,
|
| 116 |
+
"frame_id": "001344"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 22,
|
| 120 |
+
"frame_id": "001408"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 23,
|
| 124 |
+
"frame_id": "001472"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 24,
|
| 128 |
+
"frame_id": "001536"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 25,
|
| 132 |
+
"frame_id": "001600"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 26,
|
| 136 |
+
"frame_id": "001664"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 27,
|
| 140 |
+
"frame_id": "001728"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 28,
|
| 144 |
+
"frame_id": "001792"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 30,
|
| 148 |
+
"frame_id": "001920"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 31,
|
| 152 |
+
"frame_id": "001984"
|
| 153 |
+
}
|
| 154 |
+
],
|
| 155 |
+
"invalid_views": [
|
| 156 |
+
{
|
| 157 |
+
"index": 16,
|
| 158 |
+
"frame_id": "001024",
|
| 159 |
+
"reason": "invalid_pose"
|
| 160 |
+
},
|
| 161 |
+
{
|
| 162 |
+
"index": 29,
|
| 163 |
+
"frame_id": "001856",
|
| 164 |
+
"reason": "invalid_pose"
|
| 165 |
+
}
|
| 166 |
+
],
|
| 167 |
+
"frame_order": [
|
| 168 |
+
"000000",
|
| 169 |
+
"000064",
|
| 170 |
+
"000128",
|
| 171 |
+
"000192",
|
| 172 |
+
"000256",
|
| 173 |
+
"000320",
|
| 174 |
+
"000384",
|
| 175 |
+
"000448",
|
| 176 |
+
"000512",
|
| 177 |
+
"000576",
|
| 178 |
+
"000640",
|
| 179 |
+
"000704",
|
| 180 |
+
"000768",
|
| 181 |
+
"000832",
|
| 182 |
+
"000896",
|
| 183 |
+
"000960",
|
| 184 |
+
"001088",
|
| 185 |
+
"001152",
|
| 186 |
+
"001216",
|
| 187 |
+
"001280",
|
| 188 |
+
"001344",
|
| 189 |
+
"001408",
|
| 190 |
+
"001472",
|
| 191 |
+
"001536",
|
| 192 |
+
"001600",
|
| 193 |
+
"001664",
|
| 194 |
+
"001728",
|
| 195 |
+
"001792",
|
| 196 |
+
"001920",
|
| 197 |
+
"001984"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0290_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0290_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": "scene0290_00.pt",
|
| 18 |
+
"indices_file": "scene0290_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0290_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000078"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000156"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000235"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000313"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000392"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000470"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000548"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000627"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000705"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000784"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000862"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000941"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "001019"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "001097"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "001176"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "001254"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "001333"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "001411"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "001489"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "001568"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001646"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001725"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001803"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001882"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001960"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "002038"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "002117"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "002195"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "002274"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "002352"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "002431"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000078",
|
| 167 |
+
"000156",
|
| 168 |
+
"000235",
|
| 169 |
+
"000313",
|
| 170 |
+
"000392",
|
| 171 |
+
"000470",
|
| 172 |
+
"000548",
|
| 173 |
+
"000627",
|
| 174 |
+
"000705",
|
| 175 |
+
"000784",
|
| 176 |
+
"000862",
|
| 177 |
+
"000941",
|
| 178 |
+
"001019",
|
| 179 |
+
"001097",
|
| 180 |
+
"001176",
|
| 181 |
+
"001254",
|
| 182 |
+
"001333",
|
| 183 |
+
"001411",
|
| 184 |
+
"001489",
|
| 185 |
+
"001568",
|
| 186 |
+
"001646",
|
| 187 |
+
"001725",
|
| 188 |
+
"001803",
|
| 189 |
+
"001882",
|
| 190 |
+
"001960",
|
| 191 |
+
"002038",
|
| 192 |
+
"002117",
|
| 193 |
+
"002195",
|
| 194 |
+
"002274",
|
| 195 |
+
"002352",
|
| 196 |
+
"002431"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0292_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0292_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": "scene0292_01.pt",
|
| 18 |
+
"indices_file": "scene0292_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0292_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": "000021"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000042"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000064"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000085"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000107"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000128"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000150"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000171"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000193"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000214"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000236"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000257"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000279"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000300"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000322"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000343"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000365"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000386"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000408"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000429"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000451"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000472"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000494"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000515"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000537"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000558"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000580"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000601"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000623"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000644"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000666"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000021",
|
| 167 |
+
"000042",
|
| 168 |
+
"000064",
|
| 169 |
+
"000085",
|
| 170 |
+
"000107",
|
| 171 |
+
"000128",
|
| 172 |
+
"000150",
|
| 173 |
+
"000171",
|
| 174 |
+
"000193",
|
| 175 |
+
"000214",
|
| 176 |
+
"000236",
|
| 177 |
+
"000257",
|
| 178 |
+
"000279",
|
| 179 |
+
"000300",
|
| 180 |
+
"000322",
|
| 181 |
+
"000343",
|
| 182 |
+
"000365",
|
| 183 |
+
"000386",
|
| 184 |
+
"000408",
|
| 185 |
+
"000429",
|
| 186 |
+
"000451",
|
| 187 |
+
"000472",
|
| 188 |
+
"000494",
|
| 189 |
+
"000515",
|
| 190 |
+
"000537",
|
| 191 |
+
"000558",
|
| 192 |
+
"000580",
|
| 193 |
+
"000601",
|
| 194 |
+
"000623",
|
| 195 |
+
"000644",
|
| 196 |
+
"000666"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0303_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0303_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": "scene0303_00.pt",
|
| 18 |
+
"indices_file": "scene0303_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0303_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": "000098"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000148"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000197"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000247"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000296"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000346"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000395"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000445"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000494"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000544"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000593"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000643"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000692"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000742"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000791"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000841"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000890"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000940"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000989"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001039"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001088"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001138"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001187"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001237"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001286"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001336"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001385"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001435"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001484"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001534"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000049",
|
| 167 |
+
"000098",
|
| 168 |
+
"000148",
|
| 169 |
+
"000197",
|
| 170 |
+
"000247",
|
| 171 |
+
"000296",
|
| 172 |
+
"000346",
|
| 173 |
+
"000395",
|
| 174 |
+
"000445",
|
| 175 |
+
"000494",
|
| 176 |
+
"000544",
|
| 177 |
+
"000593",
|
| 178 |
+
"000643",
|
| 179 |
+
"000692",
|
| 180 |
+
"000742",
|
| 181 |
+
"000791",
|
| 182 |
+
"000841",
|
| 183 |
+
"000890",
|
| 184 |
+
"000940",
|
| 185 |
+
"000989",
|
| 186 |
+
"001039",
|
| 187 |
+
"001088",
|
| 188 |
+
"001138",
|
| 189 |
+
"001187",
|
| 190 |
+
"001237",
|
| 191 |
+
"001286",
|
| 192 |
+
"001336",
|
| 193 |
+
"001385",
|
| 194 |
+
"001435",
|
| 195 |
+
"001484",
|
| 196 |
+
"001534"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0313_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0313_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": "scene0313_02.pt",
|
| 18 |
+
"indices_file": "scene0313_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0313_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": "000022"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000045"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000067"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000090"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000112"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000135"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000157"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000180"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000202"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000225"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000248"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000270"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000293"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000315"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000338"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000360"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000383"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000405"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000428"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000450"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000473"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000496"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000518"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000541"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000563"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000586"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000608"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000631"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000653"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000676"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000699"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000022",
|
| 167 |
+
"000045",
|
| 168 |
+
"000067",
|
| 169 |
+
"000090",
|
| 170 |
+
"000112",
|
| 171 |
+
"000135",
|
| 172 |
+
"000157",
|
| 173 |
+
"000180",
|
| 174 |
+
"000202",
|
| 175 |
+
"000225",
|
| 176 |
+
"000248",
|
| 177 |
+
"000270",
|
| 178 |
+
"000293",
|
| 179 |
+
"000315",
|
| 180 |
+
"000338",
|
| 181 |
+
"000360",
|
| 182 |
+
"000383",
|
| 183 |
+
"000405",
|
| 184 |
+
"000428",
|
| 185 |
+
"000450",
|
| 186 |
+
"000473",
|
| 187 |
+
"000496",
|
| 188 |
+
"000518",
|
| 189 |
+
"000541",
|
| 190 |
+
"000563",
|
| 191 |
+
"000586",
|
| 192 |
+
"000608",
|
| 193 |
+
"000631",
|
| 194 |
+
"000653",
|
| 195 |
+
"000676",
|
| 196 |
+
"000699"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0318_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0318_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": "scene0318_00.pt",
|
| 18 |
+
"indices_file": "scene0318_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0318_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": "000014"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000028"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000042"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000056"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000070"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000084"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000099"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000113"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000127"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000141"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000155"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000169"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000184"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000198"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000212"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000226"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000240"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000254"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000269"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000283"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000297"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000311"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000325"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000339"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000354"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000368"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000382"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000396"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000410"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000424"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000439"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000014",
|
| 167 |
+
"000028",
|
| 168 |
+
"000042",
|
| 169 |
+
"000056",
|
| 170 |
+
"000070",
|
| 171 |
+
"000084",
|
| 172 |
+
"000099",
|
| 173 |
+
"000113",
|
| 174 |
+
"000127",
|
| 175 |
+
"000141",
|
| 176 |
+
"000155",
|
| 177 |
+
"000169",
|
| 178 |
+
"000184",
|
| 179 |
+
"000198",
|
| 180 |
+
"000212",
|
| 181 |
+
"000226",
|
| 182 |
+
"000240",
|
| 183 |
+
"000254",
|
| 184 |
+
"000269",
|
| 185 |
+
"000283",
|
| 186 |
+
"000297",
|
| 187 |
+
"000311",
|
| 188 |
+
"000325",
|
| 189 |
+
"000339",
|
| 190 |
+
"000354",
|
| 191 |
+
"000368",
|
| 192 |
+
"000382",
|
| 193 |
+
"000396",
|
| 194 |
+
"000410",
|
| 195 |
+
"000424",
|
| 196 |
+
"000439"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0336_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0336_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": "scene0336_00.pt",
|
| 18 |
+
"indices_file": "scene0336_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0336_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000053"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000106"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000159"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000212"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000266"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000319"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000372"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000425"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000479"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000532"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000585"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000638"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000691"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000745"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000798"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000851"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000904"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000958"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "001011"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "001064"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001117"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001170"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001224"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001277"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001330"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001383"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001437"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001490"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001543"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001596"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 31,
|
| 162 |
+
"frame_id": "001650",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000053",
|
| 169 |
+
"000106",
|
| 170 |
+
"000159",
|
| 171 |
+
"000212",
|
| 172 |
+
"000266",
|
| 173 |
+
"000319",
|
| 174 |
+
"000372",
|
| 175 |
+
"000425",
|
| 176 |
+
"000479",
|
| 177 |
+
"000532",
|
| 178 |
+
"000585",
|
| 179 |
+
"000638",
|
| 180 |
+
"000691",
|
| 181 |
+
"000745",
|
| 182 |
+
"000798",
|
| 183 |
+
"000851",
|
| 184 |
+
"000904",
|
| 185 |
+
"000958",
|
| 186 |
+
"001011",
|
| 187 |
+
"001064",
|
| 188 |
+
"001117",
|
| 189 |
+
"001170",
|
| 190 |
+
"001224",
|
| 191 |
+
"001277",
|
| 192 |
+
"001330",
|
| 193 |
+
"001383",
|
| 194 |
+
"001437",
|
| 195 |
+
"001490",
|
| 196 |
+
"001543",
|
| 197 |
+
"001596"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0337_02_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0337_02",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 29,
|
| 5 |
+
"invalid_frames_count": 3,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
29,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
29
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0337_02.pt",
|
| 18 |
+
"indices_file": "scene0337_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0337_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": "000072"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000145"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000218"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000291"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000364"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000437"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000510"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000583"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000656"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000729"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000801"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000874"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000947"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "001020"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 17,
|
| 96 |
+
"frame_id": "001239"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 18,
|
| 100 |
+
"frame_id": "001312"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 19,
|
| 104 |
+
"frame_id": "001385"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 20,
|
| 108 |
+
"frame_id": "001458"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 21,
|
| 112 |
+
"frame_id": "001530"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 22,
|
| 116 |
+
"frame_id": "001603"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 23,
|
| 120 |
+
"frame_id": "001676"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 24,
|
| 124 |
+
"frame_id": "001749"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 25,
|
| 128 |
+
"frame_id": "001822"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 26,
|
| 132 |
+
"frame_id": "001895"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 27,
|
| 136 |
+
"frame_id": "001968"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 28,
|
| 140 |
+
"frame_id": "002041"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 29,
|
| 144 |
+
"frame_id": "002114"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 30,
|
| 148 |
+
"frame_id": "002187"
|
| 149 |
+
}
|
| 150 |
+
],
|
| 151 |
+
"invalid_views": [
|
| 152 |
+
{
|
| 153 |
+
"index": 15,
|
| 154 |
+
"frame_id": "001093",
|
| 155 |
+
"reason": "invalid_pose"
|
| 156 |
+
},
|
| 157 |
+
{
|
| 158 |
+
"index": 16,
|
| 159 |
+
"frame_id": "001166",
|
| 160 |
+
"reason": "invalid_pose"
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"index": 31,
|
| 164 |
+
"frame_id": "002260",
|
| 165 |
+
"reason": "invalid_pose"
|
| 166 |
+
}
|
| 167 |
+
],
|
| 168 |
+
"frame_order": [
|
| 169 |
+
"000000",
|
| 170 |
+
"000072",
|
| 171 |
+
"000145",
|
| 172 |
+
"000218",
|
| 173 |
+
"000291",
|
| 174 |
+
"000364",
|
| 175 |
+
"000437",
|
| 176 |
+
"000510",
|
| 177 |
+
"000583",
|
| 178 |
+
"000656",
|
| 179 |
+
"000729",
|
| 180 |
+
"000801",
|
| 181 |
+
"000874",
|
| 182 |
+
"000947",
|
| 183 |
+
"001020",
|
| 184 |
+
"001239",
|
| 185 |
+
"001312",
|
| 186 |
+
"001385",
|
| 187 |
+
"001458",
|
| 188 |
+
"001530",
|
| 189 |
+
"001603",
|
| 190 |
+
"001676",
|
| 191 |
+
"001749",
|
| 192 |
+
"001822",
|
| 193 |
+
"001895",
|
| 194 |
+
"001968",
|
| 195 |
+
"002041",
|
| 196 |
+
"002114",
|
| 197 |
+
"002187"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0381_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0381_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": "scene0381_01.pt",
|
| 18 |
+
"indices_file": "scene0381_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0381_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": "000023"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000047"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000071"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000095"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000119"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000142"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000166"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000190"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000214"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000238"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000261"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000285"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000309"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000333"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000357"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000380"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000404"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000428"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000452"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000476"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000499"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000523"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000547"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000571"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000595"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000618"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000642"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000666"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000690"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000714"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000738"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000023",
|
| 167 |
+
"000047",
|
| 168 |
+
"000071",
|
| 169 |
+
"000095",
|
| 170 |
+
"000119",
|
| 171 |
+
"000142",
|
| 172 |
+
"000166",
|
| 173 |
+
"000190",
|
| 174 |
+
"000214",
|
| 175 |
+
"000238",
|
| 176 |
+
"000261",
|
| 177 |
+
"000285",
|
| 178 |
+
"000309",
|
| 179 |
+
"000333",
|
| 180 |
+
"000357",
|
| 181 |
+
"000380",
|
| 182 |
+
"000404",
|
| 183 |
+
"000428",
|
| 184 |
+
"000452",
|
| 185 |
+
"000476",
|
| 186 |
+
"000499",
|
| 187 |
+
"000523",
|
| 188 |
+
"000547",
|
| 189 |
+
"000571",
|
| 190 |
+
"000595",
|
| 191 |
+
"000618",
|
| 192 |
+
"000642",
|
| 193 |
+
"000666",
|
| 194 |
+
"000690",
|
| 195 |
+
"000714",
|
| 196 |
+
"000738"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0388_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0388_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": "scene0388_01.pt",
|
| 18 |
+
"indices_file": "scene0388_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0388_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": "000090"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000113"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000136"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000158"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000181"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000204"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000226"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000249"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000272"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000294"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000317"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000340"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000362"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000385"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000408"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000430"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000453"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 22,
|
| 120 |
+
"frame_id": "000498"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 23,
|
| 124 |
+
"frame_id": "000521"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 24,
|
| 128 |
+
"frame_id": "000544"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 25,
|
| 132 |
+
"frame_id": "000566"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 26,
|
| 136 |
+
"frame_id": "000589"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 27,
|
| 140 |
+
"frame_id": "000612"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 28,
|
| 144 |
+
"frame_id": "000634"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 29,
|
| 148 |
+
"frame_id": "000657"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 30,
|
| 152 |
+
"frame_id": "000680"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 31,
|
| 156 |
+
"frame_id": "000703"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 21,
|
| 162 |
+
"frame_id": "000476",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000022",
|
| 169 |
+
"000045",
|
| 170 |
+
"000068",
|
| 171 |
+
"000090",
|
| 172 |
+
"000113",
|
| 173 |
+
"000136",
|
| 174 |
+
"000158",
|
| 175 |
+
"000181",
|
| 176 |
+
"000204",
|
| 177 |
+
"000226",
|
| 178 |
+
"000249",
|
| 179 |
+
"000272",
|
| 180 |
+
"000294",
|
| 181 |
+
"000317",
|
| 182 |
+
"000340",
|
| 183 |
+
"000362",
|
| 184 |
+
"000385",
|
| 185 |
+
"000408",
|
| 186 |
+
"000430",
|
| 187 |
+
"000453",
|
| 188 |
+
"000498",
|
| 189 |
+
"000521",
|
| 190 |
+
"000544",
|
| 191 |
+
"000566",
|
| 192 |
+
"000589",
|
| 193 |
+
"000612",
|
| 194 |
+
"000634",
|
| 195 |
+
"000657",
|
| 196 |
+
"000680",
|
| 197 |
+
"000703"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0393_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0393_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": "scene0393_01.pt",
|
| 18 |
+
"indices_file": "scene0393_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0393_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": "000039"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000079"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000119"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000159"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000199"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000239"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000278"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000318"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000358"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000398"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000438"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000478"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000517"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000557"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000597"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000637"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000677"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000717"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000756"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000796"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000836"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000876"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000916"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000956"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000995"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001035"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001075"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001115"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001155"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001195"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001235"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000039",
|
| 167 |
+
"000079",
|
| 168 |
+
"000119",
|
| 169 |
+
"000159",
|
| 170 |
+
"000199",
|
| 171 |
+
"000239",
|
| 172 |
+
"000278",
|
| 173 |
+
"000318",
|
| 174 |
+
"000358",
|
| 175 |
+
"000398",
|
| 176 |
+
"000438",
|
| 177 |
+
"000478",
|
| 178 |
+
"000517",
|
| 179 |
+
"000557",
|
| 180 |
+
"000597",
|
| 181 |
+
"000637",
|
| 182 |
+
"000677",
|
| 183 |
+
"000717",
|
| 184 |
+
"000756",
|
| 185 |
+
"000796",
|
| 186 |
+
"000836",
|
| 187 |
+
"000876",
|
| 188 |
+
"000916",
|
| 189 |
+
"000956",
|
| 190 |
+
"000995",
|
| 191 |
+
"001035",
|
| 192 |
+
"001075",
|
| 193 |
+
"001115",
|
| 194 |
+
"001155",
|
| 195 |
+
"001195",
|
| 196 |
+
"001235"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0396_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0396_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": "scene0396_00.pt",
|
| 18 |
+
"indices_file": "scene0396_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0396_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": "000035"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000071"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000106"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000142"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000177"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000213"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000248"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000284"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000319"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000355"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000390"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000426"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000461"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000497"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000532"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000568"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000603"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000639"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000674"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000710"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000745"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000781"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000816"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000852"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000887"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000923"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000958"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000994"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001029"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001065"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001101"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000035",
|
| 167 |
+
"000071",
|
| 168 |
+
"000106",
|
| 169 |
+
"000142",
|
| 170 |
+
"000177",
|
| 171 |
+
"000213",
|
| 172 |
+
"000248",
|
| 173 |
+
"000284",
|
| 174 |
+
"000319",
|
| 175 |
+
"000355",
|
| 176 |
+
"000390",
|
| 177 |
+
"000426",
|
| 178 |
+
"000461",
|
| 179 |
+
"000497",
|
| 180 |
+
"000532",
|
| 181 |
+
"000568",
|
| 182 |
+
"000603",
|
| 183 |
+
"000639",
|
| 184 |
+
"000674",
|
| 185 |
+
"000710",
|
| 186 |
+
"000745",
|
| 187 |
+
"000781",
|
| 188 |
+
"000816",
|
| 189 |
+
"000852",
|
| 190 |
+
"000887",
|
| 191 |
+
"000923",
|
| 192 |
+
"000958",
|
| 193 |
+
"000994",
|
| 194 |
+
"001029",
|
| 195 |
+
"001065",
|
| 196 |
+
"001101"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0398_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0398_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": "scene0398_00.pt",
|
| 18 |
+
"indices_file": "scene0398_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0398_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": "000082"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000123"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000164"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000205"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000247"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000288"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000329"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000370"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000411"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000453"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000494"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000535"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000576"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000617"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000659"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000700"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000741"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000782"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000823"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000865"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000906"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000947"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000988"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001029"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001071"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001112"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001153"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001194"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001235"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001277"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000041",
|
| 167 |
+
"000082",
|
| 168 |
+
"000123",
|
| 169 |
+
"000164",
|
| 170 |
+
"000205",
|
| 171 |
+
"000247",
|
| 172 |
+
"000288",
|
| 173 |
+
"000329",
|
| 174 |
+
"000370",
|
| 175 |
+
"000411",
|
| 176 |
+
"000453",
|
| 177 |
+
"000494",
|
| 178 |
+
"000535",
|
| 179 |
+
"000576",
|
| 180 |
+
"000617",
|
| 181 |
+
"000659",
|
| 182 |
+
"000700",
|
| 183 |
+
"000741",
|
| 184 |
+
"000782",
|
| 185 |
+
"000823",
|
| 186 |
+
"000865",
|
| 187 |
+
"000906",
|
| 188 |
+
"000947",
|
| 189 |
+
"000988",
|
| 190 |
+
"001029",
|
| 191 |
+
"001071",
|
| 192 |
+
"001112",
|
| 193 |
+
"001153",
|
| 194 |
+
"001194",
|
| 195 |
+
"001235",
|
| 196 |
+
"001277"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0403_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0403_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 27,
|
| 5 |
+
"invalid_frames_count": 5,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
27,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
27
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0403_00.pt",
|
| 18 |
+
"indices_file": "scene0403_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0403_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000060"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000121"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000182"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000243"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000304"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000365"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000426"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000487"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000548"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000609"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000670"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000731"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000792"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000853"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000914"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000975"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "001036"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "001097"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "001158"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "001219"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001280"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001341"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001402"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001463"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001524"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001585"
|
| 141 |
+
}
|
| 142 |
+
],
|
| 143 |
+
"invalid_views": [
|
| 144 |
+
{
|
| 145 |
+
"index": 27,
|
| 146 |
+
"frame_id": "001646",
|
| 147 |
+
"reason": "invalid_pose"
|
| 148 |
+
},
|
| 149 |
+
{
|
| 150 |
+
"index": 28,
|
| 151 |
+
"frame_id": "001707",
|
| 152 |
+
"reason": "invalid_pose"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 29,
|
| 156 |
+
"frame_id": "001768",
|
| 157 |
+
"reason": "invalid_pose"
|
| 158 |
+
},
|
| 159 |
+
{
|
| 160 |
+
"index": 30,
|
| 161 |
+
"frame_id": "001829",
|
| 162 |
+
"reason": "invalid_pose"
|
| 163 |
+
},
|
| 164 |
+
{
|
| 165 |
+
"index": 31,
|
| 166 |
+
"frame_id": "001890",
|
| 167 |
+
"reason": "invalid_pose"
|
| 168 |
+
}
|
| 169 |
+
],
|
| 170 |
+
"frame_order": [
|
| 171 |
+
"000000",
|
| 172 |
+
"000060",
|
| 173 |
+
"000121",
|
| 174 |
+
"000182",
|
| 175 |
+
"000243",
|
| 176 |
+
"000304",
|
| 177 |
+
"000365",
|
| 178 |
+
"000426",
|
| 179 |
+
"000487",
|
| 180 |
+
"000548",
|
| 181 |
+
"000609",
|
| 182 |
+
"000670",
|
| 183 |
+
"000731",
|
| 184 |
+
"000792",
|
| 185 |
+
"000853",
|
| 186 |
+
"000914",
|
| 187 |
+
"000975",
|
| 188 |
+
"001036",
|
| 189 |
+
"001097",
|
| 190 |
+
"001158",
|
| 191 |
+
"001219",
|
| 192 |
+
"001280",
|
| 193 |
+
"001341",
|
| 194 |
+
"001402",
|
| 195 |
+
"001463",
|
| 196 |
+
"001524",
|
| 197 |
+
"001585"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/train/scene0413_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0413_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": "scene0413_00.pt",
|
| 18 |
+
"indices_file": "scene0413_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0413_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": "000059"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000119"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000179"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000239"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000298"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000358"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000418"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000478"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000537"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000597"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000657"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000717"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000777"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000836"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000896"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000956"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "001016"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "001075"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "001135"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "001195"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001255"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001315"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001374"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001434"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001494"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001554"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001613"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001673"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001733"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001793"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001853"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000059",
|
| 167 |
+
"000119",
|
| 168 |
+
"000179",
|
| 169 |
+
"000239",
|
| 170 |
+
"000298",
|
| 171 |
+
"000358",
|
| 172 |
+
"000418",
|
| 173 |
+
"000478",
|
| 174 |
+
"000537",
|
| 175 |
+
"000597",
|
| 176 |
+
"000657",
|
| 177 |
+
"000717",
|
| 178 |
+
"000777",
|
| 179 |
+
"000836",
|
| 180 |
+
"000896",
|
| 181 |
+
"000956",
|
| 182 |
+
"001016",
|
| 183 |
+
"001075",
|
| 184 |
+
"001135",
|
| 185 |
+
"001195",
|
| 186 |
+
"001255",
|
| 187 |
+
"001315",
|
| 188 |
+
"001374",
|
| 189 |
+
"001434",
|
| 190 |
+
"001494",
|
| 191 |
+
"001554",
|
| 192 |
+
"001613",
|
| 193 |
+
"001673",
|
| 194 |
+
"001733",
|
| 195 |
+
"001793",
|
| 196 |
+
"001853"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0416_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0416_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": "scene0416_02.pt",
|
| 18 |
+
"indices_file": "scene0416_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0416_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": "000078"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000157"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000236"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000315"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000394"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000473"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000552"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000630"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000709"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000788"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000867"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000946"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "001025"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "001104"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "001183"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "001261"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "001340"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "001419"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "001498"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "001577"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001656"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001735"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001814"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001892"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001971"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "002050"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "002129"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "002208"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "002287"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "002366"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "002445"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000078",
|
| 167 |
+
"000157",
|
| 168 |
+
"000236",
|
| 169 |
+
"000315",
|
| 170 |
+
"000394",
|
| 171 |
+
"000473",
|
| 172 |
+
"000552",
|
| 173 |
+
"000630",
|
| 174 |
+
"000709",
|
| 175 |
+
"000788",
|
| 176 |
+
"000867",
|
| 177 |
+
"000946",
|
| 178 |
+
"001025",
|
| 179 |
+
"001104",
|
| 180 |
+
"001183",
|
| 181 |
+
"001261",
|
| 182 |
+
"001340",
|
| 183 |
+
"001419",
|
| 184 |
+
"001498",
|
| 185 |
+
"001577",
|
| 186 |
+
"001656",
|
| 187 |
+
"001735",
|
| 188 |
+
"001814",
|
| 189 |
+
"001892",
|
| 190 |
+
"001971",
|
| 191 |
+
"002050",
|
| 192 |
+
"002129",
|
| 193 |
+
"002208",
|
| 194 |
+
"002287",
|
| 195 |
+
"002366",
|
| 196 |
+
"002445"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0424_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0424_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": "scene0424_02.pt",
|
| 18 |
+
"indices_file": "scene0424_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0424_02_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000046"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000093"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000140"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000186"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000233"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000280"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000326"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000373"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000420"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000466"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000513"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000560"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000606"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000653"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000700"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000746"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000793"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000840"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000886"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000933"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000980"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001026"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001073"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001120"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001166"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001213"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001260"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001306"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001353"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001400"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001447"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000046",
|
| 167 |
+
"000093",
|
| 168 |
+
"000140",
|
| 169 |
+
"000186",
|
| 170 |
+
"000233",
|
| 171 |
+
"000280",
|
| 172 |
+
"000326",
|
| 173 |
+
"000373",
|
| 174 |
+
"000420",
|
| 175 |
+
"000466",
|
| 176 |
+
"000513",
|
| 177 |
+
"000560",
|
| 178 |
+
"000606",
|
| 179 |
+
"000653",
|
| 180 |
+
"000700",
|
| 181 |
+
"000746",
|
| 182 |
+
"000793",
|
| 183 |
+
"000840",
|
| 184 |
+
"000886",
|
| 185 |
+
"000933",
|
| 186 |
+
"000980",
|
| 187 |
+
"001026",
|
| 188 |
+
"001073",
|
| 189 |
+
"001120",
|
| 190 |
+
"001166",
|
| 191 |
+
"001213",
|
| 192 |
+
"001260",
|
| 193 |
+
"001306",
|
| 194 |
+
"001353",
|
| 195 |
+
"001400",
|
| 196 |
+
"001447"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/train/scene0431_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0431_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": "scene0431_00.pt",
|
| 18 |
+
"indices_file": "scene0431_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0431_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000034"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000069"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000103"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000138"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000172"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000207"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000241"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000276"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000310"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000345"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000379"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000414"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000448"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000483"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000517"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000552"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000586"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000621"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000655"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000690"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000724"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000759"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000793"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000828"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000862"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000897"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000931"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000966"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001000"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001035"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 31,
|
| 162 |
+
"frame_id": "001070",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000034",
|
| 169 |
+
"000069",
|
| 170 |
+
"000103",
|
| 171 |
+
"000138",
|
| 172 |
+
"000172",
|
| 173 |
+
"000207",
|
| 174 |
+
"000241",
|
| 175 |
+
"000276",
|
| 176 |
+
"000310",
|
| 177 |
+
"000345",
|
| 178 |
+
"000379",
|
| 179 |
+
"000414",
|
| 180 |
+
"000448",
|
| 181 |
+
"000483",
|
| 182 |
+
"000517",
|
| 183 |
+
"000552",
|
| 184 |
+
"000586",
|
| 185 |
+
"000621",
|
| 186 |
+
"000655",
|
| 187 |
+
"000690",
|
| 188 |
+
"000724",
|
| 189 |
+
"000759",
|
| 190 |
+
"000793",
|
| 191 |
+
"000828",
|
| 192 |
+
"000862",
|
| 193 |
+
"000897",
|
| 194 |
+
"000931",
|
| 195 |
+
"000966",
|
| 196 |
+
"001000",
|
| 197 |
+
"001035"
|
| 198 |
+
]
|
| 199 |
+
}
|