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- metadata/train/scene0045_00_metadata.json +198 -0
- metadata/val/scene0011_01_metadata.json +198 -0
- metadata/val/scene0025_00_metadata.json +198 -0
- metadata/val/scene0025_01_metadata.json +199 -0
- metadata/val/scene0030_00_metadata.json +198 -0
- metadata/val/scene0050_00_metadata.json +199 -0
- metadata/val/scene0050_02_metadata.json +199 -0
- metadata/val/scene0063_00_metadata.json +199 -0
- metadata/val/scene0064_01_metadata.json +198 -0
- metadata/val/scene0081_01_metadata.json +199 -0
- metadata/val/scene0086_00_metadata.json +198 -0
- metadata/val/scene0086_02_metadata.json +198 -0
- metadata/val/scene0088_02_metadata.json +198 -0
- metadata/val/scene0095_00_metadata.json +198 -0
- metadata/val/scene0095_01_metadata.json +198 -0
- metadata/val/scene0100_00_metadata.json +198 -0
- metadata/val/scene0131_01_metadata.json +198 -0
- metadata/val/scene0131_02_metadata.json +199 -0
- metadata/val/scene0149_00_metadata.json +199 -0
- metadata/val/scene0164_00_metadata.json +198 -0
- metadata/val/scene0164_03_metadata.json +198 -0
- metadata/val/scene0187_01_metadata.json +198 -0
- metadata/val/scene0193_01_metadata.json +199 -0
- metadata/val/scene0203_02_metadata.json +199 -0
- metadata/val/scene0207_01_metadata.json +198 -0
- metadata/val/scene0208_00_metadata.json +198 -0
- metadata/val/scene0221_00_metadata.json +198 -0
- metadata/val/scene0231_00_metadata.json +198 -0
- metadata/val/scene0277_02_metadata.json +199 -0
- metadata/val/scene0300_00_metadata.json +198 -0
- metadata/val/scene0316_00_metadata.json +198 -0
- metadata/val/scene0334_01_metadata.json +198 -0
- metadata/val/scene0338_00_metadata.json +198 -0
- metadata/val/scene0343_00_metadata.json +198 -0
- metadata/val/scene0355_01_metadata.json +199 -0
- metadata/val/scene0377_00_metadata.json +198 -0
- metadata/val/scene0382_00_metadata.json +199 -0
- metadata/val/scene0430_00_metadata.json +198 -0
- metadata/val/scene0432_01_metadata.json +198 -0
- metadata/val/scene0435_00_metadata.json +198 -0
- metadata/val/scene0435_03_metadata.json +198 -0
- metadata/val/scene0462_00_metadata.json +198 -0
- metadata/val/scene0490_00_metadata.json +199 -0
- metadata/val/scene0496_00_metadata.json +199 -0
- metadata/val/scene0549_00_metadata.json +198 -0
- metadata/val/scene0550_00_metadata.json +199 -0
- metadata/val/scene0559_02_metadata.json +198 -0
- metadata/val/scene0568_01_metadata.json +198 -0
- metadata/val/scene0578_00_metadata.json +198 -0
- metadata/val/scene0591_02_metadata.json +198 -0
metadata/train/scene0045_00_metadata.json
ADDED
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@@ -0,0 +1,198 @@
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| 1 |
+
{
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| 2 |
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"scene_name": "scene0045_00",
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| 3 |
+
"total_frames_in_dataset": 32,
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| 4 |
+
"valid_frames_count": 32,
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| 5 |
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"invalid_frames_count": 0,
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| 6 |
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"output_shape": [
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| 7 |
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32,
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| 8 |
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432,
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| 9 |
+
432,
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| 10 |
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3
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],
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| 12 |
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"output_dtype": "bfloat16",
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| 13 |
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"valid_indices_shape": [
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| 14 |
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32
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| 15 |
+
],
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| 16 |
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"valid_indices_dtype": "int32",
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| 17 |
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"pointcloud_file": "scene0045_00.pt",
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| 18 |
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"indices_file": "scene0045_00_indices.pt",
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| 19 |
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"transform_to_world_file": "scene0045_00_to_world.npy",
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| 20 |
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"coordinate_system": "first_camera_frame",
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| 21 |
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"first_valid_frame": {
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| 22 |
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"index": 0,
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"frame_id": "000000"
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},
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"image_size": [
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432,
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432
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],
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| 29 |
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"original_image_size": [
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640,
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480
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],
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"valid_view_mapping": [
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{
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"index": 0,
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"frame_id": "000000"
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},
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{
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"index": 1,
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"frame_id": "000038"
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},
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{
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"index": 2,
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| 44 |
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"frame_id": "000076"
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},
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{
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"index": 3,
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| 48 |
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"frame_id": "000114"
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| 49 |
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},
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| 50 |
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{
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| 51 |
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"index": 4,
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| 52 |
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"frame_id": "000152"
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| 53 |
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},
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| 54 |
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{
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"index": 5,
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| 56 |
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"frame_id": "000190"
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| 57 |
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},
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| 58 |
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{
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| 59 |
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"index": 6,
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| 60 |
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"frame_id": "000228"
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},
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{
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"index": 7,
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| 64 |
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"frame_id": "000266"
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},
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{
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"index": 8,
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"frame_id": "000304"
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},
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{
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"index": 9,
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| 72 |
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"frame_id": "000342"
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| 73 |
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},
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| 74 |
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{
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| 75 |
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"index": 10,
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| 76 |
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"frame_id": "000380"
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| 77 |
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},
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| 78 |
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{
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"index": 11,
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| 80 |
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"frame_id": "000418"
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| 81 |
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},
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| 82 |
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{
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| 83 |
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"index": 12,
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| 84 |
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"frame_id": "000456"
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| 85 |
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| 86 |
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{
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| 87 |
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"index": 13,
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| 88 |
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"frame_id": "000494"
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| 89 |
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| 90 |
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{
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"index": 14,
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| 92 |
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"frame_id": "000532"
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| 93 |
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| 94 |
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{
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| 95 |
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"index": 15,
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| 96 |
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"frame_id": "000570"
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| 97 |
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| 98 |
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{
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| 99 |
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"index": 16,
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| 100 |
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"frame_id": "000608"
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| 101 |
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| 102 |
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{
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| 103 |
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"index": 17,
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| 104 |
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"frame_id": "000646"
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| 105 |
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| 106 |
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{
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| 107 |
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"index": 18,
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| 108 |
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"frame_id": "000684"
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| 109 |
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| 110 |
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{
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| 111 |
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"index": 19,
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| 112 |
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"frame_id": "000722"
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| 114 |
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{
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"index": 20,
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| 116 |
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"frame_id": "000760"
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| 117 |
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| 118 |
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{
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| 119 |
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"index": 21,
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| 120 |
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"frame_id": "000798"
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| 121 |
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| 122 |
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{
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| 123 |
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"index": 22,
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| 124 |
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"frame_id": "000836"
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| 125 |
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| 126 |
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{
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| 127 |
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"index": 23,
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| 128 |
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"frame_id": "000874"
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| 129 |
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| 130 |
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{
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| 131 |
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"index": 24,
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| 132 |
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"frame_id": "000912"
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| 133 |
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| 134 |
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{
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| 135 |
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"index": 25,
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| 136 |
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"frame_id": "000950"
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| 137 |
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},
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| 138 |
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{
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| 139 |
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"index": 26,
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| 140 |
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"frame_id": "000988"
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| 141 |
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},
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| 142 |
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{
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| 143 |
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"index": 27,
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| 144 |
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"frame_id": "001026"
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| 145 |
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},
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| 146 |
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{
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| 147 |
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"index": 28,
|
| 148 |
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"frame_id": "001064"
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| 149 |
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},
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| 150 |
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{
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| 151 |
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"index": 29,
|
| 152 |
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"frame_id": "001102"
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| 153 |
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},
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| 154 |
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{
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| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "001140"
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| 157 |
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},
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| 158 |
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{
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| 159 |
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"index": 31,
|
| 160 |
+
"frame_id": "001178"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
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"000038",
|
| 167 |
+
"000076",
|
| 168 |
+
"000114",
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| 169 |
+
"000152",
|
| 170 |
+
"000190",
|
| 171 |
+
"000228",
|
| 172 |
+
"000266",
|
| 173 |
+
"000304",
|
| 174 |
+
"000342",
|
| 175 |
+
"000380",
|
| 176 |
+
"000418",
|
| 177 |
+
"000456",
|
| 178 |
+
"000494",
|
| 179 |
+
"000532",
|
| 180 |
+
"000570",
|
| 181 |
+
"000608",
|
| 182 |
+
"000646",
|
| 183 |
+
"000684",
|
| 184 |
+
"000722",
|
| 185 |
+
"000760",
|
| 186 |
+
"000798",
|
| 187 |
+
"000836",
|
| 188 |
+
"000874",
|
| 189 |
+
"000912",
|
| 190 |
+
"000950",
|
| 191 |
+
"000988",
|
| 192 |
+
"001026",
|
| 193 |
+
"001064",
|
| 194 |
+
"001102",
|
| 195 |
+
"001140",
|
| 196 |
+
"001178"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0011_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
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|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0011_01",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
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| 19 |
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| 20 |
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| 190 |
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| 191 |
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| 192 |
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| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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}
|
metadata/val/scene0025_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
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|
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|
|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
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|
|
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|
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|
|
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|
|
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|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
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|
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|
|
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|
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|
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|
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|
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|
|
|
|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
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|
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|
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|
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|
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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| 23 |
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|
| 24 |
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|
| 25 |
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| 26 |
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| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
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|
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|
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|
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|
| 45 |
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|
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| 50 |
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|
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|
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|
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"000438",
|
| 173 |
+
"000501",
|
| 174 |
+
"000564",
|
| 175 |
+
"000627",
|
| 176 |
+
"000689",
|
| 177 |
+
"000752",
|
| 178 |
+
"000815",
|
| 179 |
+
"000877",
|
| 180 |
+
"000940",
|
| 181 |
+
"001003",
|
| 182 |
+
"001066",
|
| 183 |
+
"001128",
|
| 184 |
+
"001191",
|
| 185 |
+
"001254",
|
| 186 |
+
"001316",
|
| 187 |
+
"001379",
|
| 188 |
+
"001442",
|
| 189 |
+
"001505",
|
| 190 |
+
"001567",
|
| 191 |
+
"001630",
|
| 192 |
+
"001693",
|
| 193 |
+
"001755",
|
| 194 |
+
"001818",
|
| 195 |
+
"001881",
|
| 196 |
+
"001944"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0025_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0025_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": "scene0025_01.pt",
|
| 18 |
+
"indices_file": "scene0025_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0025_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": "000057"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000114"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000172"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000229"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000287"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000344"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000401"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000459"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000516"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000574"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000631"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000689"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000746"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000803"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000861"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000918"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000976"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "001033"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "001090"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "001148"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001205"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001263"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001320"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001378"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001435"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001492"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001550"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001607"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001665"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001722"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 31,
|
| 162 |
+
"frame_id": "001780",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000057",
|
| 169 |
+
"000114",
|
| 170 |
+
"000172",
|
| 171 |
+
"000229",
|
| 172 |
+
"000287",
|
| 173 |
+
"000344",
|
| 174 |
+
"000401",
|
| 175 |
+
"000459",
|
| 176 |
+
"000516",
|
| 177 |
+
"000574",
|
| 178 |
+
"000631",
|
| 179 |
+
"000689",
|
| 180 |
+
"000746",
|
| 181 |
+
"000803",
|
| 182 |
+
"000861",
|
| 183 |
+
"000918",
|
| 184 |
+
"000976",
|
| 185 |
+
"001033",
|
| 186 |
+
"001090",
|
| 187 |
+
"001148",
|
| 188 |
+
"001205",
|
| 189 |
+
"001263",
|
| 190 |
+
"001320",
|
| 191 |
+
"001378",
|
| 192 |
+
"001435",
|
| 193 |
+
"001492",
|
| 194 |
+
"001550",
|
| 195 |
+
"001607",
|
| 196 |
+
"001665",
|
| 197 |
+
"001722"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/val/scene0030_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0030_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": "scene0030_00.pt",
|
| 18 |
+
"indices_file": "scene0030_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0030_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 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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| 38 |
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| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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| 43 |
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|
| 44 |
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|
| 45 |
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| 46 |
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| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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| 54 |
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| 55 |
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|
| 56 |
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|
| 57 |
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| 58 |
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| 59 |
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| 60 |
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|
| 61 |
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| 62 |
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| 63 |
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| 64 |
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|
| 65 |
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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| 70 |
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| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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| 86 |
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| 87 |
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|
| 88 |
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|
| 89 |
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| 90 |
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| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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| 95 |
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|
| 96 |
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|
| 97 |
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| 98 |
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| 99 |
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|
| 100 |
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|
| 101 |
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| 102 |
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| 103 |
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|
| 104 |
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| 106 |
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| 107 |
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|
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|
| 109 |
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| 110 |
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| 111 |
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|
| 112 |
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|
| 113 |
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| 114 |
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| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
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| 165 |
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|
| 169 |
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| 170 |
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| 171 |
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|
| 172 |
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| 173 |
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| 174 |
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|
| 175 |
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|
| 176 |
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| 177 |
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| 178 |
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|
| 179 |
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|
| 180 |
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| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
+
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|
| 197 |
+
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|
| 198 |
+
}
|
metadata/val/scene0050_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
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|
|
|
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|
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|
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|
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|
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|
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|
|
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|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
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|
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|
|
|
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|
|
|
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|
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|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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],
|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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"transform_to_world_file": "scene0050_00_to_world.npy",
|
| 20 |
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|
| 21 |
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|
| 22 |
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| 24 |
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| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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| 62 |
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| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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|
| 100 |
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|
| 101 |
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| 102 |
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| 103 |
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|
| 104 |
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|
| 105 |
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| 106 |
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| 107 |
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| 108 |
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|
| 109 |
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| 110 |
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| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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| 115 |
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|
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|
| 117 |
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|
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|
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|
| 121 |
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|
| 122 |
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| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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| 127 |
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|
| 128 |
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|
| 129 |
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| 130 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
+
"004500"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/val/scene0050_02_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
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|
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|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0050_02",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 31,
|
| 5 |
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|
| 6 |
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|
| 7 |
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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": "scene0050_02.pt",
|
| 18 |
+
"indices_file": "scene0050_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0050_02_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
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|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
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"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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},
|
| 38 |
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{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000141"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000282"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000423"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000564"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000706"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000847"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000988"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "001129"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "001271"
|
| 73 |
+
},
|
| 74 |
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{
|
| 75 |
+
"index": 10,
|
| 76 |
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"frame_id": "001412"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "001553"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
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"frame_id": "001694"
|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "001835"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "001977"
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "002118"
|
| 97 |
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},
|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "002259"
|
| 101 |
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},
|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "002400"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "002542"
|
| 109 |
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},
|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "002683"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "002824"
|
| 117 |
+
},
|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "002965"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "003106"
|
| 125 |
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},
|
| 126 |
+
{
|
| 127 |
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"index": 23,
|
| 128 |
+
"frame_id": "003248"
|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "003389"
|
| 133 |
+
},
|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "003530"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "003671"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "003813"
|
| 145 |
+
},
|
| 146 |
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{
|
| 147 |
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"index": 28,
|
| 148 |
+
"frame_id": "003954"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
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"index": 29,
|
| 152 |
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"frame_id": "004095"
|
| 153 |
+
},
|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "004236"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
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"invalid_views": [
|
| 160 |
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{
|
| 161 |
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"index": 31,
|
| 162 |
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"frame_id": "004378",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000141",
|
| 169 |
+
"000282",
|
| 170 |
+
"000423",
|
| 171 |
+
"000564",
|
| 172 |
+
"000706",
|
| 173 |
+
"000847",
|
| 174 |
+
"000988",
|
| 175 |
+
"001129",
|
| 176 |
+
"001271",
|
| 177 |
+
"001412",
|
| 178 |
+
"001553",
|
| 179 |
+
"001694",
|
| 180 |
+
"001835",
|
| 181 |
+
"001977",
|
| 182 |
+
"002118",
|
| 183 |
+
"002259",
|
| 184 |
+
"002400",
|
| 185 |
+
"002542",
|
| 186 |
+
"002683",
|
| 187 |
+
"002824",
|
| 188 |
+
"002965",
|
| 189 |
+
"003106",
|
| 190 |
+
"003248",
|
| 191 |
+
"003389",
|
| 192 |
+
"003530",
|
| 193 |
+
"003671",
|
| 194 |
+
"003813",
|
| 195 |
+
"003954",
|
| 196 |
+
"004095",
|
| 197 |
+
"004236"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/val/scene0063_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0063_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 22,
|
| 5 |
+
"invalid_frames_count": 10,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
22,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
22
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0063_00.pt",
|
| 18 |
+
"indices_file": "scene0063_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0063_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": "000133"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000160"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
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"frame_id": "000187"
|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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{
|
| 83 |
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|
| 84 |
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"frame_id": "000321"
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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{
|
| 91 |
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|
| 92 |
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"frame_id": "000374"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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|
| 96 |
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"frame_id": "000401"
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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{
|
| 115 |
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|
| 116 |
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"frame_id": "000535"
|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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{
|
| 145 |
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|
| 146 |
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"frame_id": "000696",
|
| 147 |
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|
| 148 |
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|
| 149 |
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{
|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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{
|
| 155 |
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|
| 156 |
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"frame_id": "000749",
|
| 157 |
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|
| 158 |
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|
| 159 |
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{
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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{
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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"000240",
|
| 186 |
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|
| 187 |
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|
| 188 |
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"000321",
|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
+
"000535",
|
| 197 |
+
"000562"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/val/scene0064_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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432,
|
| 10 |
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|
| 11 |
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],
|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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],
|
| 16 |
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|
| 17 |
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"pointcloud_file": "scene0064_01.pt",
|
| 18 |
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"indices_file": "scene0064_01_indices.pt",
|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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"original_image_size": [
|
| 30 |
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|
| 31 |
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|
| 32 |
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],
|
| 33 |
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|
| 34 |
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{
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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{
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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{
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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{
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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{
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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{
|
| 159 |
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"index": 31,
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
+
"000780",
|
| 196 |
+
"000807"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0081_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
|
|
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|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
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|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0081_01",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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432,
|
| 9 |
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432,
|
| 10 |
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3
|
| 11 |
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|
| 12 |
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"output_dtype": "bfloat16",
|
| 13 |
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|
| 14 |
+
31
|
| 15 |
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],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0081_01.pt",
|
| 18 |
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"indices_file": "scene0081_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0081_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
+
432,
|
| 27 |
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432
|
| 28 |
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],
|
| 29 |
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"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
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|
| 34 |
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{
|
| 35 |
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"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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|
| 38 |
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{
|
| 39 |
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"index": 1,
|
| 40 |
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|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000093"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000140"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000187"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000234"
|
| 57 |
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|
| 58 |
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|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000280"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000327"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000374"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000421"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000468"
|
| 77 |
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},
|
| 78 |
+
{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000514"
|
| 81 |
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},
|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000561"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000608"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000655"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000702"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000748"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000795"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "000842"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000889"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000936"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000982"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "001029"
|
| 125 |
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},
|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "001076"
|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "001123"
|
| 133 |
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},
|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "001170"
|
| 137 |
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},
|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "001216"
|
| 141 |
+
},
|
| 142 |
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{
|
| 143 |
+
"index": 28,
|
| 144 |
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"frame_id": "001310"
|
| 145 |
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},
|
| 146 |
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{
|
| 147 |
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"index": 29,
|
| 148 |
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"frame_id": "001357"
|
| 149 |
+
},
|
| 150 |
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{
|
| 151 |
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"index": 30,
|
| 152 |
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"frame_id": "001404"
|
| 153 |
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},
|
| 154 |
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{
|
| 155 |
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"index": 31,
|
| 156 |
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"frame_id": "001451"
|
| 157 |
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}
|
| 158 |
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],
|
| 159 |
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"invalid_views": [
|
| 160 |
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{
|
| 161 |
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"index": 27,
|
| 162 |
+
"frame_id": "001263",
|
| 163 |
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"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
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],
|
| 166 |
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"frame_order": [
|
| 167 |
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"000000",
|
| 168 |
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|
| 169 |
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"000093",
|
| 170 |
+
"000140",
|
| 171 |
+
"000187",
|
| 172 |
+
"000234",
|
| 173 |
+
"000280",
|
| 174 |
+
"000327",
|
| 175 |
+
"000374",
|
| 176 |
+
"000421",
|
| 177 |
+
"000468",
|
| 178 |
+
"000514",
|
| 179 |
+
"000561",
|
| 180 |
+
"000608",
|
| 181 |
+
"000655",
|
| 182 |
+
"000702",
|
| 183 |
+
"000748",
|
| 184 |
+
"000795",
|
| 185 |
+
"000842",
|
| 186 |
+
"000889",
|
| 187 |
+
"000936",
|
| 188 |
+
"000982",
|
| 189 |
+
"001029",
|
| 190 |
+
"001076",
|
| 191 |
+
"001123",
|
| 192 |
+
"001170",
|
| 193 |
+
"001216",
|
| 194 |
+
"001310",
|
| 195 |
+
"001357",
|
| 196 |
+
"001404",
|
| 197 |
+
"001451"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/val/scene0086_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0086_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
+
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|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0086_00.pt",
|
| 18 |
+
"indices_file": "scene0086_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0086_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000046"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000092"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000138"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000184"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000230"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000276"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000322"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000368"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000414"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000460"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
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"frame_id": "000506"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
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"frame_id": "000552"
|
| 85 |
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},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000598"
|
| 89 |
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},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000644"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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{
|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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{
|
| 111 |
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|
| 112 |
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"frame_id": "000874"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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|
| 116 |
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"frame_id": "000920"
|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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"frame_id": "000966"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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{
|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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{
|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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{
|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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{
|
| 139 |
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|
| 140 |
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"frame_id": "001196"
|
| 141 |
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|
| 142 |
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{
|
| 143 |
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"index": 27,
|
| 144 |
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"frame_id": "001242"
|
| 145 |
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|
| 146 |
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{
|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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{
|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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{
|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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{
|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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"000920",
|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
+
"001380",
|
| 196 |
+
"001427"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0086_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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],
|
| 12 |
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|
| 13 |
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|
| 14 |
+
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|
| 15 |
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],
|
| 16 |
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|
| 17 |
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"pointcloud_file": "scene0086_02.pt",
|
| 18 |
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"indices_file": "scene0086_02_indices.pt",
|
| 19 |
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"transform_to_world_file": "scene0086_02_to_world.npy",
|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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"original_image_size": [
|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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{
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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{
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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{
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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{
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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| 107 |
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|
| 108 |
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|
| 109 |
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| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
+
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|
| 163 |
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"invalid_views": [],
|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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"000940",
|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
+
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|
| 193 |
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|
| 194 |
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|
| 195 |
+
"001226",
|
| 196 |
+
"001267"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0088_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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| 51 |
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|
| 52 |
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|
| 53 |
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| 54 |
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| 55 |
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|
| 56 |
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|
| 57 |
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| 58 |
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| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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{
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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{
|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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"001638",
|
| 189 |
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|
| 190 |
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|
| 191 |
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"001852",
|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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"002137",
|
| 196 |
+
"002209"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0095_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0095_00",
|
| 3 |
+
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|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
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|
| 6 |
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|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
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"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0095_00.pt",
|
| 18 |
+
"indices_file": "scene0095_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0095_00_to_world.npy",
|
| 20 |
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"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
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"index": 0,
|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
+
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|
| 27 |
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432
|
| 28 |
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],
|
| 29 |
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"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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|
| 33 |
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|
| 34 |
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{
|
| 35 |
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"index": 0,
|
| 36 |
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|
| 37 |
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|
| 38 |
+
{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000053"
|
| 41 |
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|
| 42 |
+
{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000106"
|
| 45 |
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|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000160"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000213"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000266"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000320"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000426"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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{
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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{
|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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{
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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{
|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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{
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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{
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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{
|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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{
|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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{
|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
+
"frame_id": "001227"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001280"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001333"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001387"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001440"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001493"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001547"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001600"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001654"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
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"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
+
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|
| 167 |
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|
| 168 |
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"000160",
|
| 169 |
+
"000213",
|
| 170 |
+
"000266",
|
| 171 |
+
"000320",
|
| 172 |
+
"000373",
|
| 173 |
+
"000426",
|
| 174 |
+
"000480",
|
| 175 |
+
"000533",
|
| 176 |
+
"000586",
|
| 177 |
+
"000640",
|
| 178 |
+
"000693",
|
| 179 |
+
"000746",
|
| 180 |
+
"000800",
|
| 181 |
+
"000853",
|
| 182 |
+
"000907",
|
| 183 |
+
"000960",
|
| 184 |
+
"001013",
|
| 185 |
+
"001067",
|
| 186 |
+
"001120",
|
| 187 |
+
"001173",
|
| 188 |
+
"001227",
|
| 189 |
+
"001280",
|
| 190 |
+
"001333",
|
| 191 |
+
"001387",
|
| 192 |
+
"001440",
|
| 193 |
+
"001493",
|
| 194 |
+
"001547",
|
| 195 |
+
"001600",
|
| 196 |
+
"001654"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0095_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0095_01",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
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"invalid_frames_count": 0,
|
| 6 |
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"output_shape": [
|
| 7 |
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|
| 8 |
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|
| 9 |
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432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
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"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
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],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
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"pointcloud_file": "scene0095_01.pt",
|
| 18 |
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"indices_file": "scene0095_01_indices.pt",
|
| 19 |
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"transform_to_world_file": "scene0095_01_to_world.npy",
|
| 20 |
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"coordinate_system": "first_camera_frame",
|
| 21 |
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"first_valid_frame": {
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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"image_size": [
|
| 26 |
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|
| 27 |
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432
|
| 28 |
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],
|
| 29 |
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"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
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{
|
| 35 |
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"index": 0,
|
| 36 |
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|
| 37 |
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|
| 38 |
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{
|
| 39 |
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"index": 1,
|
| 40 |
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|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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|
| 45 |
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|
| 46 |
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{
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000203"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000305"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000406"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000457"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000508"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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{
|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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{
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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{
|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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{
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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{
|
| 111 |
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|
| 112 |
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"frame_id": "000966"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "001068"
|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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"index": 23,
|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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"index": 24,
|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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"index": 25,
|
| 136 |
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|
| 137 |
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|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "001322"
|
| 141 |
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|
| 142 |
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{
|
| 143 |
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"index": 27,
|
| 144 |
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"frame_id": "001373"
|
| 145 |
+
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|
| 146 |
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{
|
| 147 |
+
"index": 28,
|
| 148 |
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"frame_id": "001424"
|
| 149 |
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|
| 150 |
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{
|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "001526"
|
| 157 |
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|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001577"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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"000152",
|
| 169 |
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"000203",
|
| 170 |
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"000254",
|
| 171 |
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"000305",
|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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"000966",
|
| 185 |
+
"001017",
|
| 186 |
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"001068",
|
| 187 |
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"001119",
|
| 188 |
+
"001170",
|
| 189 |
+
"001220",
|
| 190 |
+
"001271",
|
| 191 |
+
"001322",
|
| 192 |
+
"001373",
|
| 193 |
+
"001424",
|
| 194 |
+
"001475",
|
| 195 |
+
"001526",
|
| 196 |
+
"001577"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0100_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
| 1 |
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|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 7 |
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|
| 10 |
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| 11 |
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| 13 |
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|
| 14 |
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|
| 15 |
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| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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| 24 |
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| 28 |
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| 30 |
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|
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|
| 32 |
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|
| 34 |
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| 35 |
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| 36 |
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| 39 |
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| 40 |
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| 71 |
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| 73 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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|
| 80 |
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|
| 81 |
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| 82 |
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| 83 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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| 93 |
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| 95 |
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| 96 |
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| 97 |
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| 98 |
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| 99 |
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| 100 |
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| 101 |
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| 103 |
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| 111 |
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| 115 |
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|
| 117 |
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| 123 |
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| 124 |
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|
| 125 |
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|
| 129 |
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| 131 |
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|
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| 137 |
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| 139 |
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|
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|
| 141 |
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| 143 |
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|
| 144 |
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|
| 145 |
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| 146 |
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| 147 |
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|
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|
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|
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| 159 |
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|
| 160 |
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|
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|
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| 169 |
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| 170 |
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|
| 172 |
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| 173 |
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| 174 |
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|
| 175 |
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| 176 |
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| 177 |
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| 181 |
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|
| 182 |
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| 183 |
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| 184 |
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| 185 |
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| 188 |
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| 190 |
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| 191 |
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| 192 |
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| 193 |
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| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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}
|
metadata/val/scene0131_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
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|
|
|
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|
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|
|
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|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
+
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|
| 15 |
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|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
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"pointcloud_file": "scene0131_01.pt",
|
| 18 |
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"indices_file": "scene0131_01_indices.pt",
|
| 19 |
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"transform_to_world_file": "scene0131_01_to_world.npy",
|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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{
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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| 75 |
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|
| 76 |
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|
| 77 |
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| 79 |
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|
| 80 |
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| 81 |
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| 83 |
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|
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| 85 |
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| 86 |
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| 87 |
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|
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| 90 |
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|
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|
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| 114 |
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| 115 |
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|
| 116 |
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|
| 117 |
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| 125 |
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|
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|
| 161 |
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}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000036",
|
| 167 |
+
"000072",
|
| 168 |
+
"000108",
|
| 169 |
+
"000144",
|
| 170 |
+
"000180",
|
| 171 |
+
"000216",
|
| 172 |
+
"000253",
|
| 173 |
+
"000289",
|
| 174 |
+
"000325",
|
| 175 |
+
"000361",
|
| 176 |
+
"000397",
|
| 177 |
+
"000433",
|
| 178 |
+
"000470",
|
| 179 |
+
"000506",
|
| 180 |
+
"000542",
|
| 181 |
+
"000578",
|
| 182 |
+
"000614",
|
| 183 |
+
"000650",
|
| 184 |
+
"000687",
|
| 185 |
+
"000723",
|
| 186 |
+
"000759",
|
| 187 |
+
"000795",
|
| 188 |
+
"000831",
|
| 189 |
+
"000867",
|
| 190 |
+
"000904",
|
| 191 |
+
"000940",
|
| 192 |
+
"000976",
|
| 193 |
+
"001012",
|
| 194 |
+
"001048",
|
| 195 |
+
"001084",
|
| 196 |
+
"001121"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0131_02_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0131_02",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 31,
|
| 5 |
+
"invalid_frames_count": 1,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
31,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
31
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0131_02.pt",
|
| 18 |
+
"indices_file": "scene0131_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0131_02_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
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"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
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"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000026"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000052"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
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"frame_id": "000078"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
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"frame_id": "000104"
|
| 53 |
+
},
|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000130"
|
| 57 |
+
},
|
| 58 |
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{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000156"
|
| 61 |
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},
|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000182"
|
| 65 |
+
},
|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000209"
|
| 69 |
+
},
|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000235"
|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
+
"index": 10,
|
| 76 |
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"frame_id": "000261"
|
| 77 |
+
},
|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000287"
|
| 81 |
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},
|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000313"
|
| 85 |
+
},
|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000339"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000365"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000391"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000418"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000444"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "000470"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000496"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000522"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000548"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "000574"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "000600"
|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "000627"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "000653"
|
| 137 |
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|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "000679"
|
| 141 |
+
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|
| 142 |
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{
|
| 143 |
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"index": 27,
|
| 144 |
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"frame_id": "000705"
|
| 145 |
+
},
|
| 146 |
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{
|
| 147 |
+
"index": 28,
|
| 148 |
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"frame_id": "000731"
|
| 149 |
+
},
|
| 150 |
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{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000757"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
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"frame_id": "000783"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 31,
|
| 162 |
+
"frame_id": "000810",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000026",
|
| 169 |
+
"000052",
|
| 170 |
+
"000078",
|
| 171 |
+
"000104",
|
| 172 |
+
"000130",
|
| 173 |
+
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|
| 174 |
+
"000182",
|
| 175 |
+
"000209",
|
| 176 |
+
"000235",
|
| 177 |
+
"000261",
|
| 178 |
+
"000287",
|
| 179 |
+
"000313",
|
| 180 |
+
"000339",
|
| 181 |
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"000365",
|
| 182 |
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"000391",
|
| 183 |
+
"000418",
|
| 184 |
+
"000444",
|
| 185 |
+
"000470",
|
| 186 |
+
"000496",
|
| 187 |
+
"000522",
|
| 188 |
+
"000548",
|
| 189 |
+
"000574",
|
| 190 |
+
"000600",
|
| 191 |
+
"000627",
|
| 192 |
+
"000653",
|
| 193 |
+
"000679",
|
| 194 |
+
"000705",
|
| 195 |
+
"000731",
|
| 196 |
+
"000757",
|
| 197 |
+
"000783"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/val/scene0149_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0149_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": "scene0149_00.pt",
|
| 18 |
+
"indices_file": "scene0149_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0149_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
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| 22 |
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| 24 |
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| 30 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
metadata/val/scene0164_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
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|
|
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|
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|
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|
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
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|
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| 11 |
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|
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|
| 14 |
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| 17 |
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| 18 |
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| 19 |
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| 21 |
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| 29 |
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|
| 192 |
+
"001638",
|
| 193 |
+
"001698",
|
| 194 |
+
"001759",
|
| 195 |
+
"001820",
|
| 196 |
+
"001881"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0164_03_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0164_03",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0164_03.pt",
|
| 18 |
+
"indices_file": "scene0164_03_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0164_03_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": "000107"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000143"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000179"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000215"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000251"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000287"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000323"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000359"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000395"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000431"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000467"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000503"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
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"frame_id": "000539"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
+
"frame_id": "000574"
|
| 101 |
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},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
+
"frame_id": "000610"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 18,
|
| 108 |
+
"frame_id": "000646"
|
| 109 |
+
},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000682"
|
| 113 |
+
},
|
| 114 |
+
{
|
| 115 |
+
"index": 20,
|
| 116 |
+
"frame_id": "000718"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000754"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "000790"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "000826"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "000862"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "000898"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000934"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000970"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001006"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001042"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001078"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001114"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000035",
|
| 167 |
+
"000071",
|
| 168 |
+
"000107",
|
| 169 |
+
"000143",
|
| 170 |
+
"000179",
|
| 171 |
+
"000215",
|
| 172 |
+
"000251",
|
| 173 |
+
"000287",
|
| 174 |
+
"000323",
|
| 175 |
+
"000359",
|
| 176 |
+
"000395",
|
| 177 |
+
"000431",
|
| 178 |
+
"000467",
|
| 179 |
+
"000503",
|
| 180 |
+
"000539",
|
| 181 |
+
"000574",
|
| 182 |
+
"000610",
|
| 183 |
+
"000646",
|
| 184 |
+
"000682",
|
| 185 |
+
"000718",
|
| 186 |
+
"000754",
|
| 187 |
+
"000790",
|
| 188 |
+
"000826",
|
| 189 |
+
"000862",
|
| 190 |
+
"000898",
|
| 191 |
+
"000934",
|
| 192 |
+
"000970",
|
| 193 |
+
"001006",
|
| 194 |
+
"001042",
|
| 195 |
+
"001078",
|
| 196 |
+
"001114"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0187_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0187_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": "scene0187_01.pt",
|
| 18 |
+
"indices_file": "scene0187_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0187_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": "000058"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000117"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000176"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000235"
|
| 53 |
+
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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{
|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
+
"001828"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0193_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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432,
|
| 9 |
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432,
|
| 10 |
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|
| 11 |
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],
|
| 12 |
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|
| 13 |
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|
| 14 |
+
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|
| 15 |
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],
|
| 16 |
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|
| 17 |
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|
| 18 |
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"indices_file": "scene0193_01_indices.pt",
|
| 19 |
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"transform_to_world_file": "scene0193_01_to_world.npy",
|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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],
|
| 33 |
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|
| 34 |
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{
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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{
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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{
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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{
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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{
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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{
|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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{
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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{
|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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{
|
| 166 |
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|
| 167 |
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"frame_id": "000535",
|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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"frame_order": [
|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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"000414",
|
| 197 |
+
"000431"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/val/scene0203_02_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
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|
|
|
|
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|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
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|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0203_02",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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31,
|
| 8 |
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432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
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|
| 14 |
+
31
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0203_02.pt",
|
| 18 |
+
"indices_file": "scene0203_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0203_02_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
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|
| 24 |
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|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
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"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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},
|
| 38 |
+
{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000067"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000134"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000202"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000269"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000337"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000404"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000472"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000539"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000607"
|
| 73 |
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},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
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"frame_id": "000674"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
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"frame_id": "000742"
|
| 81 |
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},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
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"frame_id": "000809"
|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000877"
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000944"
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "001012"
|
| 97 |
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},
|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "001079"
|
| 101 |
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},
|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "001147"
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "001214"
|
| 109 |
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},
|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "001282"
|
| 113 |
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},
|
| 114 |
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{
|
| 115 |
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"index": 21,
|
| 116 |
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"frame_id": "001417"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 22,
|
| 120 |
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"frame_id": "001484"
|
| 121 |
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},
|
| 122 |
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{
|
| 123 |
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"index": 23,
|
| 124 |
+
"frame_id": "001552"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 24,
|
| 128 |
+
"frame_id": "001619"
|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
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"index": 25,
|
| 132 |
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"frame_id": "001687"
|
| 133 |
+
},
|
| 134 |
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{
|
| 135 |
+
"index": 26,
|
| 136 |
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"frame_id": "001754"
|
| 137 |
+
},
|
| 138 |
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{
|
| 139 |
+
"index": 27,
|
| 140 |
+
"frame_id": "001822"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 28,
|
| 144 |
+
"frame_id": "001889"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 29,
|
| 148 |
+
"frame_id": "001957"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 30,
|
| 152 |
+
"frame_id": "002024"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 31,
|
| 156 |
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"frame_id": "002092"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"invalid_views": [
|
| 160 |
+
{
|
| 161 |
+
"index": 20,
|
| 162 |
+
"frame_id": "001349",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
"000067",
|
| 169 |
+
"000134",
|
| 170 |
+
"000202",
|
| 171 |
+
"000269",
|
| 172 |
+
"000337",
|
| 173 |
+
"000404",
|
| 174 |
+
"000472",
|
| 175 |
+
"000539",
|
| 176 |
+
"000607",
|
| 177 |
+
"000674",
|
| 178 |
+
"000742",
|
| 179 |
+
"000809",
|
| 180 |
+
"000877",
|
| 181 |
+
"000944",
|
| 182 |
+
"001012",
|
| 183 |
+
"001079",
|
| 184 |
+
"001147",
|
| 185 |
+
"001214",
|
| 186 |
+
"001282",
|
| 187 |
+
"001417",
|
| 188 |
+
"001484",
|
| 189 |
+
"001552",
|
| 190 |
+
"001619",
|
| 191 |
+
"001687",
|
| 192 |
+
"001754",
|
| 193 |
+
"001822",
|
| 194 |
+
"001889",
|
| 195 |
+
"001957",
|
| 196 |
+
"002024",
|
| 197 |
+
"002092"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/val/scene0207_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0207_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": "scene0207_01.pt",
|
| 18 |
+
"indices_file": "scene0207_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0207_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
+
"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000062"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000124"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000186"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000248"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000311"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000373"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000435"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000497"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000560"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000622"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000684"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
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"index": 12,
|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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"frame_id": "001182"
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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"frame_id": "001306"
|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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{
|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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{
|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
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|
| 144 |
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"frame_id": "001680"
|
| 145 |
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|
| 146 |
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{
|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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{
|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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{
|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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{
|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
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|
| 165 |
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|
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|
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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"001431",
|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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"001804",
|
| 195 |
+
"001866",
|
| 196 |
+
"001929"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0208_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
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|
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|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
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|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
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|
|
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|
|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
|
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|
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|
|
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|
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|
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|
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|
|
|
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|
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|
|
|
|
|
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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"indices_file": "scene0208_00_indices.pt",
|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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{
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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| 91 |
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|
| 92 |
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|
| 93 |
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| 94 |
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| 95 |
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|
| 96 |
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|
| 97 |
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| 98 |
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| 99 |
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|
| 100 |
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|
| 101 |
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| 102 |
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| 103 |
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| 104 |
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|
| 105 |
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| 106 |
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|
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|
| 109 |
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| 110 |
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| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"invalid_views": [],
|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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"001771",
|
| 189 |
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"001848",
|
| 190 |
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|
| 191 |
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"002002",
|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
+
"002310",
|
| 196 |
+
"002388"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0221_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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32
|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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"indices_file": "scene0221_00_indices.pt",
|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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432,
|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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640,
|
| 31 |
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480
|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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"frame_id": "000283"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000314"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000346"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000377"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000409"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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|
| 92 |
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"frame_id": "000440"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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|
| 96 |
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"frame_id": "000472"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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{
|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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{
|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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{
|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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|
| 129 |
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|
| 130 |
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{
|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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{
|
| 135 |
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|
| 136 |
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"frame_id": "000787"
|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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"frame_id": "000818"
|
| 141 |
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|
| 142 |
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{
|
| 143 |
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|
| 144 |
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"frame_id": "000850"
|
| 145 |
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|
| 146 |
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{
|
| 147 |
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"index": 28,
|
| 148 |
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|
| 149 |
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|
| 150 |
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{
|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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{
|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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{
|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
+
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|
| 184 |
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"000598",
|
| 185 |
+
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|
| 186 |
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|
| 187 |
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|
| 188 |
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"000724",
|
| 189 |
+
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|
| 190 |
+
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|
| 191 |
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"000818",
|
| 192 |
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"000850",
|
| 193 |
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"000881",
|
| 194 |
+
"000913",
|
| 195 |
+
"000944",
|
| 196 |
+
"000976"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0231_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0231_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
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|
| 6 |
+
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|
| 7 |
+
32,
|
| 8 |
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432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
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],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0231_00.pt",
|
| 18 |
+
"indices_file": "scene0231_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0231_00_to_world.npy",
|
| 20 |
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"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
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"index": 0,
|
| 23 |
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|
| 24 |
+
},
|
| 25 |
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"image_size": [
|
| 26 |
+
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|
| 27 |
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432
|
| 28 |
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],
|
| 29 |
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|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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|
| 33 |
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|
| 34 |
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{
|
| 35 |
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"index": 0,
|
| 36 |
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|
| 37 |
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|
| 38 |
+
{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000143"
|
| 41 |
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|
| 42 |
+
{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000286"
|
| 45 |
+
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|
| 46 |
+
{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000429"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000572"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000715"
|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000858"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "001002"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "001145"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "001288"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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"frame_id": "001574"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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{
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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{
|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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{
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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{
|
| 99 |
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|
| 100 |
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"frame_id": "002290"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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|
| 104 |
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"frame_id": "002433"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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{
|
| 115 |
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|
| 116 |
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"frame_id": "002863"
|
| 117 |
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},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "003006"
|
| 121 |
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},
|
| 122 |
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{
|
| 123 |
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|
| 124 |
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"frame_id": "003149"
|
| 125 |
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|
| 126 |
+
{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "003292"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "003435"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "003579"
|
| 137 |
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},
|
| 138 |
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{
|
| 139 |
+
"index": 26,
|
| 140 |
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"frame_id": "003722"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "003865"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "004008"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "004151"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "004294"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "004438"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
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"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
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|
| 167 |
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|
| 168 |
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"000429",
|
| 169 |
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"000572",
|
| 170 |
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"000715",
|
| 171 |
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"000858",
|
| 172 |
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"001002",
|
| 173 |
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"001145",
|
| 174 |
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"001288",
|
| 175 |
+
"001431",
|
| 176 |
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"001574",
|
| 177 |
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|
| 178 |
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"001861",
|
| 179 |
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"002004",
|
| 180 |
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"002147",
|
| 181 |
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"002290",
|
| 182 |
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"002433",
|
| 183 |
+
"002576",
|
| 184 |
+
"002720",
|
| 185 |
+
"002863",
|
| 186 |
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"003006",
|
| 187 |
+
"003149",
|
| 188 |
+
"003292",
|
| 189 |
+
"003435",
|
| 190 |
+
"003579",
|
| 191 |
+
"003722",
|
| 192 |
+
"003865",
|
| 193 |
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"004008",
|
| 194 |
+
"004151",
|
| 195 |
+
"004294",
|
| 196 |
+
"004438"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0277_02_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0277_02",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 30,
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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432,
|
| 9 |
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432,
|
| 10 |
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3
|
| 11 |
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],
|
| 12 |
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"output_dtype": "bfloat16",
|
| 13 |
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"valid_indices_shape": [
|
| 14 |
+
30
|
| 15 |
+
],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
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"pointcloud_file": "scene0277_02.pt",
|
| 18 |
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"indices_file": "scene0277_02_indices.pt",
|
| 19 |
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"transform_to_world_file": "scene0277_02_to_world.npy",
|
| 20 |
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"coordinate_system": "first_camera_frame",
|
| 21 |
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"first_valid_frame": {
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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"image_size": [
|
| 26 |
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432,
|
| 27 |
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432
|
| 28 |
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],
|
| 29 |
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"original_image_size": [
|
| 30 |
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|
| 31 |
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480
|
| 32 |
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],
|
| 33 |
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|
| 34 |
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{
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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{
|
| 39 |
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"index": 1,
|
| 40 |
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|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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|
| 45 |
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|
| 46 |
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{
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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|
| 53 |
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|
| 54 |
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{
|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000166"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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{
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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{
|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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{
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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{
|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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{
|
| 157 |
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|
| 158 |
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|
| 159 |
+
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|
| 160 |
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|
| 161 |
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{
|
| 162 |
+
"index": 31,
|
| 163 |
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"frame_id": "000860",
|
| 164 |
+
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|
| 165 |
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|
| 166 |
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|
| 167 |
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"frame_order": [
|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
+
"000776",
|
| 197 |
+
"000832"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/val/scene0300_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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"indices_file": "scene0300_00_indices.pt",
|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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| 39 |
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|
| 40 |
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|
| 41 |
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| 42 |
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| 43 |
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| 44 |
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|
| 45 |
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| 46 |
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| 47 |
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|
| 48 |
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| 49 |
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|
| 50 |
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| 51 |
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|
| 52 |
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| 53 |
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| 55 |
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|
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| 58 |
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| 59 |
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|
| 60 |
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|
| 61 |
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| 62 |
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| 63 |
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| 64 |
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|
| 65 |
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| 66 |
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| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
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|
| 165 |
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|
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
+
"001746"
|
| 197 |
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|
| 198 |
+
}
|
metadata/val/scene0316_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0316_00",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
+
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|
| 6 |
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|
| 7 |
+
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|
| 8 |
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|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
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|
| 14 |
+
32
|
| 15 |
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],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0316_00.pt",
|
| 18 |
+
"indices_file": "scene0316_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0316_00_to_world.npy",
|
| 20 |
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"coordinate_system": "first_camera_frame",
|
| 21 |
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"first_valid_frame": {
|
| 22 |
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"index": 0,
|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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432
|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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480
|
| 32 |
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|
| 33 |
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|
| 34 |
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{
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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{
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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{
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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{
|
| 51 |
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|
| 52 |
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"frame_id": "000099"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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|
| 61 |
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|
| 62 |
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{
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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{
|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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{
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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{
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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| 123 |
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|
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|
| 125 |
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|
| 126 |
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| 127 |
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|
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|
| 129 |
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|
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|
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|
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|
| 133 |
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|
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|
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|
| 137 |
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|
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|
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|
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|
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| 143 |
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|
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|
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|
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|
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|
| 149 |
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|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000719"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000744"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000769"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
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|
| 167 |
+
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|
| 168 |
+
"000074",
|
| 169 |
+
"000099",
|
| 170 |
+
"000124",
|
| 171 |
+
"000148",
|
| 172 |
+
"000173",
|
| 173 |
+
"000198",
|
| 174 |
+
"000223",
|
| 175 |
+
"000248",
|
| 176 |
+
"000272",
|
| 177 |
+
"000297",
|
| 178 |
+
"000322",
|
| 179 |
+
"000347",
|
| 180 |
+
"000372",
|
| 181 |
+
"000396",
|
| 182 |
+
"000421",
|
| 183 |
+
"000446",
|
| 184 |
+
"000471",
|
| 185 |
+
"000496",
|
| 186 |
+
"000520",
|
| 187 |
+
"000545",
|
| 188 |
+
"000570",
|
| 189 |
+
"000595",
|
| 190 |
+
"000620",
|
| 191 |
+
"000644",
|
| 192 |
+
"000669",
|
| 193 |
+
"000694",
|
| 194 |
+
"000719",
|
| 195 |
+
"000744",
|
| 196 |
+
"000769"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0334_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0334_01",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
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"invalid_frames_count": 0,
|
| 6 |
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"output_shape": [
|
| 7 |
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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": "scene0334_01.pt",
|
| 18 |
+
"indices_file": "scene0334_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0334_01_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
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"frame_id": "000000"
|
| 24 |
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},
|
| 25 |
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"image_size": [
|
| 26 |
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432,
|
| 27 |
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432
|
| 28 |
+
],
|
| 29 |
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"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
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{
|
| 35 |
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"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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},
|
| 38 |
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{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000033"
|
| 41 |
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},
|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000067"
|
| 45 |
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},
|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000101"
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
+
"index": 4,
|
| 52 |
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"frame_id": "000135"
|
| 53 |
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},
|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000169"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000203"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000237"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000271"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000305"
|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000339"
|
| 77 |
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},
|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000373"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000407"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000475"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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{
|
| 99 |
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|
| 100 |
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"frame_id": "000543"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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|
| 105 |
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|
| 106 |
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{
|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000645"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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|
| 116 |
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"frame_id": "000679"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "000713"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "000747"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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|
| 137 |
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|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "000883"
|
| 141 |
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|
| 142 |
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{
|
| 143 |
+
"index": 27,
|
| 144 |
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"frame_id": "000917"
|
| 145 |
+
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|
| 146 |
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{
|
| 147 |
+
"index": 28,
|
| 148 |
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"frame_id": "000951"
|
| 149 |
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|
| 150 |
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{
|
| 151 |
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|
| 152 |
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"frame_id": "000985"
|
| 153 |
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|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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|
| 157 |
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|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001053"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
+
"000101",
|
| 169 |
+
"000135",
|
| 170 |
+
"000169",
|
| 171 |
+
"000203",
|
| 172 |
+
"000237",
|
| 173 |
+
"000271",
|
| 174 |
+
"000305",
|
| 175 |
+
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|
| 176 |
+
"000373",
|
| 177 |
+
"000407",
|
| 178 |
+
"000441",
|
| 179 |
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"000475",
|
| 180 |
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|
| 181 |
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"000543",
|
| 182 |
+
"000577",
|
| 183 |
+
"000611",
|
| 184 |
+
"000645",
|
| 185 |
+
"000679",
|
| 186 |
+
"000713",
|
| 187 |
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"000747",
|
| 188 |
+
"000781",
|
| 189 |
+
"000815",
|
| 190 |
+
"000849",
|
| 191 |
+
"000883",
|
| 192 |
+
"000917",
|
| 193 |
+
"000951",
|
| 194 |
+
"000985",
|
| 195 |
+
"001019",
|
| 196 |
+
"001053"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0338_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0338_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 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 30 |
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| 32 |
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| 34 |
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| 83 |
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| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
metadata/val/scene0343_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
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|
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|
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|
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|
|
|
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
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|
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|
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|
| 14 |
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| 15 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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| 20 |
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|
| 21 |
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| 22 |
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| 28 |
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| 29 |
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|
| 184 |
+
"000755",
|
| 185 |
+
"000794",
|
| 186 |
+
"000834",
|
| 187 |
+
"000874",
|
| 188 |
+
"000914",
|
| 189 |
+
"000953",
|
| 190 |
+
"000993",
|
| 191 |
+
"001033",
|
| 192 |
+
"001073",
|
| 193 |
+
"001112",
|
| 194 |
+
"001152",
|
| 195 |
+
"001192",
|
| 196 |
+
"001232"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0355_01_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0355_01",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 19,
|
| 5 |
+
"invalid_frames_count": 13,
|
| 6 |
+
"output_shape": [
|
| 7 |
+
19,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
19
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0355_01.pt",
|
| 18 |
+
"indices_file": "scene0355_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0355_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": "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": "000126"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000158"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000190"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000221"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000253"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000285"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000317"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000348"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000380"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000412"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000443"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 28,
|
| 96 |
+
"frame_id": "000887"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 29,
|
| 100 |
+
"frame_id": "000919"
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"index": 30,
|
| 104 |
+
"frame_id": "000951"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"index": 31,
|
| 108 |
+
"frame_id": "000983"
|
| 109 |
+
}
|
| 110 |
+
],
|
| 111 |
+
"invalid_views": [
|
| 112 |
+
{
|
| 113 |
+
"index": 15,
|
| 114 |
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"frame_id": "000475",
|
| 115 |
+
"reason": "invalid_pose"
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"index": 16,
|
| 119 |
+
"frame_id": "000507",
|
| 120 |
+
"reason": "invalid_pose"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 17,
|
| 124 |
+
"frame_id": "000539",
|
| 125 |
+
"reason": "invalid_pose"
|
| 126 |
+
},
|
| 127 |
+
{
|
| 128 |
+
"index": 18,
|
| 129 |
+
"frame_id": "000570",
|
| 130 |
+
"reason": "invalid_pose"
|
| 131 |
+
},
|
| 132 |
+
{
|
| 133 |
+
"index": 19,
|
| 134 |
+
"frame_id": "000602",
|
| 135 |
+
"reason": "invalid_pose"
|
| 136 |
+
},
|
| 137 |
+
{
|
| 138 |
+
"index": 20,
|
| 139 |
+
"frame_id": "000634",
|
| 140 |
+
"reason": "invalid_pose"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 21,
|
| 144 |
+
"frame_id": "000665",
|
| 145 |
+
"reason": "invalid_pose"
|
| 146 |
+
},
|
| 147 |
+
{
|
| 148 |
+
"index": 22,
|
| 149 |
+
"frame_id": "000697",
|
| 150 |
+
"reason": "invalid_pose"
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"index": 23,
|
| 154 |
+
"frame_id": "000729",
|
| 155 |
+
"reason": "invalid_pose"
|
| 156 |
+
},
|
| 157 |
+
{
|
| 158 |
+
"index": 24,
|
| 159 |
+
"frame_id": "000761",
|
| 160 |
+
"reason": "invalid_pose"
|
| 161 |
+
},
|
| 162 |
+
{
|
| 163 |
+
"index": 25,
|
| 164 |
+
"frame_id": "000792",
|
| 165 |
+
"reason": "invalid_pose"
|
| 166 |
+
},
|
| 167 |
+
{
|
| 168 |
+
"index": 26,
|
| 169 |
+
"frame_id": "000824",
|
| 170 |
+
"reason": "invalid_pose"
|
| 171 |
+
},
|
| 172 |
+
{
|
| 173 |
+
"index": 27,
|
| 174 |
+
"frame_id": "000856",
|
| 175 |
+
"reason": "invalid_pose"
|
| 176 |
+
}
|
| 177 |
+
],
|
| 178 |
+
"frame_order": [
|
| 179 |
+
"000000",
|
| 180 |
+
"000031",
|
| 181 |
+
"000063",
|
| 182 |
+
"000095",
|
| 183 |
+
"000126",
|
| 184 |
+
"000158",
|
| 185 |
+
"000190",
|
| 186 |
+
"000221",
|
| 187 |
+
"000253",
|
| 188 |
+
"000285",
|
| 189 |
+
"000317",
|
| 190 |
+
"000348",
|
| 191 |
+
"000380",
|
| 192 |
+
"000412",
|
| 193 |
+
"000443",
|
| 194 |
+
"000887",
|
| 195 |
+
"000919",
|
| 196 |
+
"000951",
|
| 197 |
+
"000983"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/val/scene0377_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0377_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": "scene0377_00.pt",
|
| 18 |
+
"indices_file": "scene0377_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0377_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": "000029"
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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| 59 |
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|
| 60 |
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|
| 61 |
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| 62 |
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| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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| 102 |
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| 103 |
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|
| 104 |
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|
| 105 |
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| 106 |
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| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
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| 165 |
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|
| 169 |
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|
| 170 |
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| 171 |
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|
| 172 |
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| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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| 186 |
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| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
+
"000902"
|
| 197 |
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|
| 198 |
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}
|
metadata/val/scene0382_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
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|
|
|
|
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|
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|
|
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|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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],
|
| 12 |
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|
| 13 |
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|
| 14 |
+
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|
| 15 |
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],
|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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{
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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| 95 |
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|
| 96 |
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|
| 97 |
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| 98 |
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| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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{
|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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{
|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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{
|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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{
|
| 168 |
+
"index": 25,
|
| 169 |
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|
| 170 |
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"reason": "invalid_pose"
|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
+
"001092",
|
| 197 |
+
"001129"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/val/scene0430_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
|
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
|
|
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|
|
|
|
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|
|
|
|
|
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|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0430_00",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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432,
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0430_00.pt",
|
| 18 |
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"indices_file": "scene0430_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0430_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
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|
| 23 |
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|
| 24 |
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|
| 25 |
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"image_size": [
|
| 26 |
+
432,
|
| 27 |
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432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
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{
|
| 35 |
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"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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"frame_id": "000074"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000148"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000222"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000297"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000445"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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|
| 64 |
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"frame_id": "000520"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000594"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000668"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000743"
|
| 77 |
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},
|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000817"
|
| 81 |
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},
|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000891"
|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000966"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "001040"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "001114"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "001189"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "001263"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "001337"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "001412"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "001486"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "001560"
|
| 121 |
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},
|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "001635"
|
| 125 |
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},
|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "001709"
|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "001783"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "001858"
|
| 137 |
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},
|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "001932"
|
| 141 |
+
},
|
| 142 |
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{
|
| 143 |
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"index": 27,
|
| 144 |
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"frame_id": "002006"
|
| 145 |
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},
|
| 146 |
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{
|
| 147 |
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"index": 28,
|
| 148 |
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"frame_id": "002081"
|
| 149 |
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},
|
| 150 |
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{
|
| 151 |
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"index": 29,
|
| 152 |
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"frame_id": "002155"
|
| 153 |
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},
|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "002229"
|
| 157 |
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|
| 158 |
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{
|
| 159 |
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"index": 31,
|
| 160 |
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"frame_id": "002304"
|
| 161 |
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}
|
| 162 |
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],
|
| 163 |
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"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
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"000074",
|
| 167 |
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"000148",
|
| 168 |
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"000222",
|
| 169 |
+
"000297",
|
| 170 |
+
"000371",
|
| 171 |
+
"000445",
|
| 172 |
+
"000520",
|
| 173 |
+
"000594",
|
| 174 |
+
"000668",
|
| 175 |
+
"000743",
|
| 176 |
+
"000817",
|
| 177 |
+
"000891",
|
| 178 |
+
"000966",
|
| 179 |
+
"001040",
|
| 180 |
+
"001114",
|
| 181 |
+
"001189",
|
| 182 |
+
"001263",
|
| 183 |
+
"001337",
|
| 184 |
+
"001412",
|
| 185 |
+
"001486",
|
| 186 |
+
"001560",
|
| 187 |
+
"001635",
|
| 188 |
+
"001709",
|
| 189 |
+
"001783",
|
| 190 |
+
"001858",
|
| 191 |
+
"001932",
|
| 192 |
+
"002006",
|
| 193 |
+
"002081",
|
| 194 |
+
"002155",
|
| 195 |
+
"002229",
|
| 196 |
+
"002304"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0432_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0432_01",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
+
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|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0432_01.pt",
|
| 18 |
+
"indices_file": "scene0432_01_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0432_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": "000009"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000019"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000029"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000039"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000049"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000058"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000068"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000078"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
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|
| 73 |
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|
| 74 |
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{
|
| 75 |
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|
| 76 |
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"frame_id": "000098"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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"frame_id": "000107"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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|
| 84 |
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"frame_id": "000117"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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|
| 88 |
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"frame_id": "000127"
|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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"frame_id": "000186"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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|
| 116 |
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"frame_id": "000196"
|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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{
|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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{
|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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{
|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
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"index": 27,
|
| 144 |
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"frame_id": "000264"
|
| 145 |
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|
| 146 |
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{
|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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{
|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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{
|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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{
|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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"000225",
|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
+
"000294",
|
| 196 |
+
"000304"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0435_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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],
|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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],
|
| 16 |
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|
| 17 |
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|
| 18 |
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"indices_file": "scene0435_00_indices.pt",
|
| 19 |
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"transform_to_world_file": "scene0435_00_to_world.npy",
|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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"original_image_size": [
|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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{
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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{
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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{
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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| 103 |
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|
| 104 |
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|
| 105 |
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| 106 |
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| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"invalid_views": [],
|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
+
"003166",
|
| 196 |
+
"003272"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0435_03_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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432,
|
| 10 |
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|
| 11 |
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|
| 12 |
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"output_dtype": "bfloat16",
|
| 13 |
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|
| 14 |
+
32
|
| 15 |
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|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
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"pointcloud_file": "scene0435_03.pt",
|
| 18 |
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"indices_file": "scene0435_03_indices.pt",
|
| 19 |
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"transform_to_world_file": "scene0435_03_to_world.npy",
|
| 20 |
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"coordinate_system": "first_camera_frame",
|
| 21 |
+
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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432,
|
| 27 |
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432
|
| 28 |
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|
| 29 |
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"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
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{
|
| 35 |
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"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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"frame_id": "000058"
|
| 41 |
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|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000116"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000174"
|
| 49 |
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|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000233"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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{
|
| 63 |
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|
| 64 |
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"frame_id": "000408"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "000466"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "000524"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000583"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000641"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000699"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000758"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000816"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000874"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000933"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000991"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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"frame_id": "001049"
|
| 109 |
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|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "001108"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "001166"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"index": 21,
|
| 120 |
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"frame_id": "001224"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "001283"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "001341"
|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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"frame_id": "001399"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "001458"
|
| 137 |
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},
|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "001516"
|
| 141 |
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},
|
| 142 |
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{
|
| 143 |
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"index": 27,
|
| 144 |
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"frame_id": "001574"
|
| 145 |
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},
|
| 146 |
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{
|
| 147 |
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"index": 28,
|
| 148 |
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"frame_id": "001633"
|
| 149 |
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},
|
| 150 |
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{
|
| 151 |
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"index": 29,
|
| 152 |
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"frame_id": "001691"
|
| 153 |
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|
| 154 |
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{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "001749"
|
| 157 |
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|
| 158 |
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{
|
| 159 |
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"index": 31,
|
| 160 |
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"frame_id": "001808"
|
| 161 |
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}
|
| 162 |
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],
|
| 163 |
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"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
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|
| 167 |
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|
| 168 |
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"000174",
|
| 169 |
+
"000233",
|
| 170 |
+
"000291",
|
| 171 |
+
"000349",
|
| 172 |
+
"000408",
|
| 173 |
+
"000466",
|
| 174 |
+
"000524",
|
| 175 |
+
"000583",
|
| 176 |
+
"000641",
|
| 177 |
+
"000699",
|
| 178 |
+
"000758",
|
| 179 |
+
"000816",
|
| 180 |
+
"000874",
|
| 181 |
+
"000933",
|
| 182 |
+
"000991",
|
| 183 |
+
"001049",
|
| 184 |
+
"001108",
|
| 185 |
+
"001166",
|
| 186 |
+
"001224",
|
| 187 |
+
"001283",
|
| 188 |
+
"001341",
|
| 189 |
+
"001399",
|
| 190 |
+
"001458",
|
| 191 |
+
"001516",
|
| 192 |
+
"001574",
|
| 193 |
+
"001633",
|
| 194 |
+
"001691",
|
| 195 |
+
"001749",
|
| 196 |
+
"001808"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0462_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0462_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
+
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|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0462_00.pt",
|
| 18 |
+
"indices_file": "scene0462_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0462_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
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"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
+
"frame_id": "000036"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000073"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000110"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000146"
|
| 53 |
+
},
|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
+
"frame_id": "000183"
|
| 57 |
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},
|
| 58 |
+
{
|
| 59 |
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"index": 6,
|
| 60 |
+
"frame_id": "000220"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000257"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000293"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000330"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000367"
|
| 77 |
+
},
|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000404"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 12,
|
| 84 |
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"frame_id": "000440"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 13,
|
| 88 |
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"frame_id": "000477"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000514"
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "000551"
|
| 97 |
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},
|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000587"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000624"
|
| 105 |
+
},
|
| 106 |
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{
|
| 107 |
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|
| 108 |
+
"frame_id": "000661"
|
| 109 |
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},
|
| 110 |
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{
|
| 111 |
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"index": 19,
|
| 112 |
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"frame_id": "000698"
|
| 113 |
+
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
+
"frame_id": "000734"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "000771"
|
| 121 |
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},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
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"frame_id": "000808"
|
| 125 |
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|
| 126 |
+
{
|
| 127 |
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"index": 23,
|
| 128 |
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"frame_id": "000845"
|
| 129 |
+
},
|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
+
"frame_id": "000881"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "000918"
|
| 137 |
+
},
|
| 138 |
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{
|
| 139 |
+
"index": 26,
|
| 140 |
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"frame_id": "000955"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000992"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001028"
|
| 149 |
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},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001065"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
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"index": 30,
|
| 156 |
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"frame_id": "001102"
|
| 157 |
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},
|
| 158 |
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{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001139"
|
| 161 |
+
}
|
| 162 |
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],
|
| 163 |
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"invalid_views": [],
|
| 164 |
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"frame_order": [
|
| 165 |
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"000000",
|
| 166 |
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|
| 167 |
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|
| 168 |
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"000110",
|
| 169 |
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|
| 170 |
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"000183",
|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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"000330",
|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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"000624",
|
| 183 |
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"000661",
|
| 184 |
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"000698",
|
| 185 |
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"000734",
|
| 186 |
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"000771",
|
| 187 |
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"000808",
|
| 188 |
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"000845",
|
| 189 |
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"000881",
|
| 190 |
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"000918",
|
| 191 |
+
"000955",
|
| 192 |
+
"000992",
|
| 193 |
+
"001028",
|
| 194 |
+
"001065",
|
| 195 |
+
"001102",
|
| 196 |
+
"001139"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0490_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0490_00",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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432,
|
| 9 |
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432,
|
| 10 |
+
3
|
| 11 |
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],
|
| 12 |
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|
| 13 |
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"valid_indices_shape": [
|
| 14 |
+
27
|
| 15 |
+
],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
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"pointcloud_file": "scene0490_00.pt",
|
| 18 |
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"indices_file": "scene0490_00_indices.pt",
|
| 19 |
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"transform_to_world_file": "scene0490_00_to_world.npy",
|
| 20 |
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"coordinate_system": "first_camera_frame",
|
| 21 |
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"first_valid_frame": {
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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"image_size": [
|
| 26 |
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|
| 27 |
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432
|
| 28 |
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],
|
| 29 |
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"original_image_size": [
|
| 30 |
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|
| 31 |
+
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|
| 32 |
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],
|
| 33 |
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|
| 34 |
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{
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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{
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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{
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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{
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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{
|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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{
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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{
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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{
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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{
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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{
|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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{
|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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{
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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{
|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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{
|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
+
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|
| 143 |
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|
| 144 |
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{
|
| 145 |
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|
| 146 |
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|
| 147 |
+
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|
| 148 |
+
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|
| 149 |
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{
|
| 150 |
+
"index": 6,
|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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{
|
| 155 |
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|
| 156 |
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|
| 157 |
+
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|
| 158 |
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|
| 159 |
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{
|
| 160 |
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"index": 8,
|
| 161 |
+
"frame_id": "000331",
|
| 162 |
+
"reason": "invalid_pose"
|
| 163 |
+
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|
| 164 |
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{
|
| 165 |
+
"index": 9,
|
| 166 |
+
"frame_id": "000372",
|
| 167 |
+
"reason": "invalid_pose"
|
| 168 |
+
}
|
| 169 |
+
],
|
| 170 |
+
"frame_order": [
|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
+
"000869",
|
| 188 |
+
"000910",
|
| 189 |
+
"000951",
|
| 190 |
+
"000993",
|
| 191 |
+
"001034",
|
| 192 |
+
"001076",
|
| 193 |
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"001117",
|
| 194 |
+
"001158",
|
| 195 |
+
"001200",
|
| 196 |
+
"001241",
|
| 197 |
+
"001283"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/val/scene0496_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
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|
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|
|
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|
|
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|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0496_00",
|
| 3 |
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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432,
|
| 9 |
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432,
|
| 10 |
+
3
|
| 11 |
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|
| 12 |
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"output_dtype": "bfloat16",
|
| 13 |
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"valid_indices_shape": [
|
| 14 |
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28
|
| 15 |
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|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
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"pointcloud_file": "scene0496_00.pt",
|
| 18 |
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"indices_file": "scene0496_00_indices.pt",
|
| 19 |
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"transform_to_world_file": "scene0496_00_to_world.npy",
|
| 20 |
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|
| 21 |
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"first_valid_frame": {
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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432,
|
| 27 |
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432
|
| 28 |
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|
| 29 |
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|
| 30 |
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640,
|
| 31 |
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480
|
| 32 |
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|
| 33 |
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|
| 34 |
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{
|
| 35 |
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"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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|
| 38 |
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{
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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{
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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{
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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{
|
| 67 |
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|
| 68 |
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"frame_id": "000516"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 13,
|
| 72 |
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"frame_id": "000559"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 14,
|
| 76 |
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"frame_id": "000602"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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"index": 15,
|
| 80 |
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"frame_id": "000645"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"index": 16,
|
| 84 |
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"frame_id": "000689"
|
| 85 |
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|
| 86 |
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{
|
| 87 |
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"index": 17,
|
| 88 |
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"frame_id": "000732"
|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 18,
|
| 92 |
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"frame_id": "000775"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 19,
|
| 96 |
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"frame_id": "000818"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 20,
|
| 100 |
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"frame_id": "000861"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 21,
|
| 104 |
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"frame_id": "000904"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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{
|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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{
|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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{
|
| 119 |
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|
| 120 |
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"frame_id": "001076"
|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 26,
|
| 124 |
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"frame_id": "001119"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 27,
|
| 128 |
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|
| 129 |
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|
| 130 |
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{
|
| 131 |
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|
| 132 |
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"frame_id": "001205"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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|
| 136 |
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"frame_id": "001248"
|
| 137 |
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|
| 138 |
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{
|
| 139 |
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|
| 140 |
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"frame_id": "001291"
|
| 141 |
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|
| 142 |
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{
|
| 143 |
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"index": 31,
|
| 144 |
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"frame_id": "001335"
|
| 145 |
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}
|
| 146 |
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],
|
| 147 |
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"invalid_views": [
|
| 148 |
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{
|
| 149 |
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"index": 2,
|
| 150 |
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"frame_id": "000086",
|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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"index": 3,
|
| 155 |
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"frame_id": "000129",
|
| 156 |
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|
| 157 |
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|
| 158 |
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{
|
| 159 |
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"index": 4,
|
| 160 |
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"frame_id": "000172",
|
| 161 |
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|
| 162 |
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|
| 163 |
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{
|
| 164 |
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"index": 5,
|
| 165 |
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"frame_id": "000215",
|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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"000430",
|
| 177 |
+
"000473",
|
| 178 |
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"000516",
|
| 179 |
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"000559",
|
| 180 |
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"000602",
|
| 181 |
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|
| 182 |
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"000689",
|
| 183 |
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"000732",
|
| 184 |
+
"000775",
|
| 185 |
+
"000818",
|
| 186 |
+
"000861",
|
| 187 |
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"000904",
|
| 188 |
+
"000947",
|
| 189 |
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"000990",
|
| 190 |
+
"001033",
|
| 191 |
+
"001076",
|
| 192 |
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"001119",
|
| 193 |
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"001162",
|
| 194 |
+
"001205",
|
| 195 |
+
"001248",
|
| 196 |
+
"001291",
|
| 197 |
+
"001335"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/val/scene0549_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0549_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 32,
|
| 5 |
+
"invalid_frames_count": 0,
|
| 6 |
+
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|
| 7 |
+
32,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"output_dtype": "bfloat16",
|
| 13 |
+
"valid_indices_shape": [
|
| 14 |
+
32
|
| 15 |
+
],
|
| 16 |
+
"valid_indices_dtype": "int32",
|
| 17 |
+
"pointcloud_file": "scene0549_00.pt",
|
| 18 |
+
"indices_file": "scene0549_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0549_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
+
"first_valid_frame": {
|
| 22 |
+
"index": 0,
|
| 23 |
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"frame_id": "000000"
|
| 24 |
+
},
|
| 25 |
+
"image_size": [
|
| 26 |
+
432,
|
| 27 |
+
432
|
| 28 |
+
],
|
| 29 |
+
"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
+
],
|
| 33 |
+
"valid_view_mapping": [
|
| 34 |
+
{
|
| 35 |
+
"index": 0,
|
| 36 |
+
"frame_id": "000000"
|
| 37 |
+
},
|
| 38 |
+
{
|
| 39 |
+
"index": 1,
|
| 40 |
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"frame_id": "000026"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000053"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
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"frame_id": "000080"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000106"
|
| 53 |
+
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|
| 54 |
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{
|
| 55 |
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"index": 5,
|
| 56 |
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"frame_id": "000133"
|
| 57 |
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},
|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
+
"frame_id": "000160"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000187"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000213"
|
| 69 |
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},
|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
+
"frame_id": "000240"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "000267"
|
| 77 |
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|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "000294"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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{
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "000374"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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|
| 96 |
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"frame_id": "000401"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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"index": 16,
|
| 100 |
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"frame_id": "000427"
|
| 101 |
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|
| 102 |
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{
|
| 103 |
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"index": 17,
|
| 104 |
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"frame_id": "000454"
|
| 105 |
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|
| 106 |
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{
|
| 107 |
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"index": 18,
|
| 108 |
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|
| 109 |
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|
| 110 |
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{
|
| 111 |
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|
| 112 |
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"frame_id": "000508"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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"index": 20,
|
| 116 |
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"frame_id": "000534"
|
| 117 |
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|
| 118 |
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{
|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "000588"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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{
|
| 131 |
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|
| 132 |
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"frame_id": "000641"
|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
+
"frame_id": "000668"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "000695"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "000722"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "000748"
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "000775"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "000802"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "000829"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000026",
|
| 167 |
+
"000053",
|
| 168 |
+
"000080",
|
| 169 |
+
"000106",
|
| 170 |
+
"000133",
|
| 171 |
+
"000160",
|
| 172 |
+
"000187",
|
| 173 |
+
"000213",
|
| 174 |
+
"000240",
|
| 175 |
+
"000267",
|
| 176 |
+
"000294",
|
| 177 |
+
"000320",
|
| 178 |
+
"000347",
|
| 179 |
+
"000374",
|
| 180 |
+
"000401",
|
| 181 |
+
"000427",
|
| 182 |
+
"000454",
|
| 183 |
+
"000481",
|
| 184 |
+
"000508",
|
| 185 |
+
"000534",
|
| 186 |
+
"000561",
|
| 187 |
+
"000588",
|
| 188 |
+
"000615",
|
| 189 |
+
"000641",
|
| 190 |
+
"000668",
|
| 191 |
+
"000695",
|
| 192 |
+
"000722",
|
| 193 |
+
"000748",
|
| 194 |
+
"000775",
|
| 195 |
+
"000802",
|
| 196 |
+
"000829"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0550_00_metadata.json
ADDED
|
@@ -0,0 +1,199 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0550_00",
|
| 3 |
+
"total_frames_in_dataset": 32,
|
| 4 |
+
"valid_frames_count": 31,
|
| 5 |
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"invalid_frames_count": 1,
|
| 6 |
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"output_shape": [
|
| 7 |
+
31,
|
| 8 |
+
432,
|
| 9 |
+
432,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
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"output_dtype": "bfloat16",
|
| 13 |
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"valid_indices_shape": [
|
| 14 |
+
31
|
| 15 |
+
],
|
| 16 |
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"valid_indices_dtype": "int32",
|
| 17 |
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"pointcloud_file": "scene0550_00.pt",
|
| 18 |
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"indices_file": "scene0550_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0550_00_to_world.npy",
|
| 20 |
+
"coordinate_system": "first_camera_frame",
|
| 21 |
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"first_valid_frame": {
|
| 22 |
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"index": 0,
|
| 23 |
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|
| 24 |
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|
| 25 |
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"image_size": [
|
| 26 |
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432,
|
| 27 |
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432
|
| 28 |
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],
|
| 29 |
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"original_image_size": [
|
| 30 |
+
640,
|
| 31 |
+
480
|
| 32 |
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],
|
| 33 |
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"valid_view_mapping": [
|
| 34 |
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{
|
| 35 |
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"index": 0,
|
| 36 |
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"frame_id": "000000"
|
| 37 |
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|
| 38 |
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{
|
| 39 |
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"index": 1,
|
| 40 |
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"frame_id": "000126"
|
| 41 |
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},
|
| 42 |
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{
|
| 43 |
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"index": 2,
|
| 44 |
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"frame_id": "000252"
|
| 45 |
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|
| 46 |
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{
|
| 47 |
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"index": 3,
|
| 48 |
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"frame_id": "000378"
|
| 49 |
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},
|
| 50 |
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{
|
| 51 |
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"index": 4,
|
| 52 |
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"frame_id": "000505"
|
| 53 |
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|
| 54 |
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{
|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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{
|
| 59 |
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"index": 6,
|
| 60 |
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"frame_id": "000757"
|
| 61 |
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|
| 62 |
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{
|
| 63 |
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"index": 7,
|
| 64 |
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"frame_id": "000883"
|
| 65 |
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|
| 66 |
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{
|
| 67 |
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"index": 8,
|
| 68 |
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"frame_id": "001010"
|
| 69 |
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|
| 70 |
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{
|
| 71 |
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"index": 9,
|
| 72 |
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"frame_id": "001136"
|
| 73 |
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|
| 74 |
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{
|
| 75 |
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"index": 10,
|
| 76 |
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"frame_id": "001262"
|
| 77 |
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},
|
| 78 |
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{
|
| 79 |
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"index": 11,
|
| 80 |
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"frame_id": "001388"
|
| 81 |
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|
| 82 |
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{
|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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{
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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{
|
| 91 |
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"index": 14,
|
| 92 |
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"frame_id": "001767"
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"index": 15,
|
| 96 |
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"frame_id": "001893"
|
| 97 |
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|
| 98 |
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{
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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{
|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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{
|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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{
|
| 111 |
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|
| 112 |
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"frame_id": "002398"
|
| 113 |
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|
| 114 |
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{
|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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{
|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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{
|
| 123 |
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"index": 22,
|
| 124 |
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"frame_id": "002777"
|
| 125 |
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|
| 126 |
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{
|
| 127 |
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"index": 23,
|
| 128 |
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|
| 129 |
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|
| 130 |
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{
|
| 131 |
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"index": 24,
|
| 132 |
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|
| 133 |
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|
| 134 |
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{
|
| 135 |
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"index": 25,
|
| 136 |
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"frame_id": "003156"
|
| 137 |
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|
| 138 |
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{
|
| 139 |
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"index": 26,
|
| 140 |
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"frame_id": "003282"
|
| 141 |
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|
| 142 |
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{
|
| 143 |
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"index": 27,
|
| 144 |
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|
| 145 |
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|
| 146 |
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{
|
| 147 |
+
"index": 28,
|
| 148 |
+
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|
| 149 |
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|
| 150 |
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{
|
| 151 |
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|
| 152 |
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|
| 153 |
+
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|
| 154 |
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{
|
| 155 |
+
"index": 30,
|
| 156 |
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"frame_id": "003787"
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
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"invalid_views": [
|
| 160 |
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{
|
| 161 |
+
"index": 31,
|
| 162 |
+
"frame_id": "003914",
|
| 163 |
+
"reason": "invalid_pose"
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"frame_order": [
|
| 167 |
+
"000000",
|
| 168 |
+
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|
| 169 |
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|
| 170 |
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"000378",
|
| 171 |
+
"000505",
|
| 172 |
+
"000631",
|
| 173 |
+
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|
| 174 |
+
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|
| 175 |
+
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|
| 176 |
+
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
+
"002020",
|
| 184 |
+
"002146",
|
| 185 |
+
"002272",
|
| 186 |
+
"002398",
|
| 187 |
+
"002525",
|
| 188 |
+
"002651",
|
| 189 |
+
"002777",
|
| 190 |
+
"002903",
|
| 191 |
+
"003030",
|
| 192 |
+
"003156",
|
| 193 |
+
"003282",
|
| 194 |
+
"003408",
|
| 195 |
+
"003535",
|
| 196 |
+
"003661",
|
| 197 |
+
"003787"
|
| 198 |
+
]
|
| 199 |
+
}
|
metadata/val/scene0559_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
| 1 |
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| 18 |
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|
| 19 |
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|
| 20 |
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| 83 |
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| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
metadata/val/scene0568_01_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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| 35 |
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|
| 36 |
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| 37 |
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|
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| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
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|
| 45 |
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|
| 46 |
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| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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| 51 |
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|
| 52 |
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|
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|
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| 55 |
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|
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|
| 57 |
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| 59 |
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|
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|
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|
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| 65 |
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|
| 66 |
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|
| 68 |
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|
| 69 |
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| 70 |
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| 71 |
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|
| 168 |
+
"000130",
|
| 169 |
+
"000174",
|
| 170 |
+
"000217",
|
| 171 |
+
"000261",
|
| 172 |
+
"000305",
|
| 173 |
+
"000348",
|
| 174 |
+
"000392",
|
| 175 |
+
"000435",
|
| 176 |
+
"000479",
|
| 177 |
+
"000522",
|
| 178 |
+
"000566",
|
| 179 |
+
"000610",
|
| 180 |
+
"000653",
|
| 181 |
+
"000697",
|
| 182 |
+
"000740",
|
| 183 |
+
"000784",
|
| 184 |
+
"000828",
|
| 185 |
+
"000871",
|
| 186 |
+
"000915",
|
| 187 |
+
"000958",
|
| 188 |
+
"001002",
|
| 189 |
+
"001045",
|
| 190 |
+
"001089",
|
| 191 |
+
"001133",
|
| 192 |
+
"001176",
|
| 193 |
+
"001220",
|
| 194 |
+
"001263",
|
| 195 |
+
"001307",
|
| 196 |
+
"001351"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0578_00_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0578_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": "scene0578_00.pt",
|
| 18 |
+
"indices_file": "scene0578_00_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0578_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": "000047"
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"index": 2,
|
| 44 |
+
"frame_id": "000095"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"index": 3,
|
| 48 |
+
"frame_id": "000143"
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"index": 4,
|
| 52 |
+
"frame_id": "000191"
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"index": 5,
|
| 56 |
+
"frame_id": "000239"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"index": 6,
|
| 60 |
+
"frame_id": "000287"
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"index": 7,
|
| 64 |
+
"frame_id": "000334"
|
| 65 |
+
},
|
| 66 |
+
{
|
| 67 |
+
"index": 8,
|
| 68 |
+
"frame_id": "000382"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"index": 9,
|
| 72 |
+
"frame_id": "000430"
|
| 73 |
+
},
|
| 74 |
+
{
|
| 75 |
+
"index": 10,
|
| 76 |
+
"frame_id": "000478"
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"index": 11,
|
| 80 |
+
"frame_id": "000526"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"index": 12,
|
| 84 |
+
"frame_id": "000574"
|
| 85 |
+
},
|
| 86 |
+
{
|
| 87 |
+
"index": 13,
|
| 88 |
+
"frame_id": "000621"
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"index": 14,
|
| 92 |
+
"frame_id": "000669"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"index": 15,
|
| 96 |
+
"frame_id": "000717"
|
| 97 |
+
},
|
| 98 |
+
{
|
| 99 |
+
"index": 16,
|
| 100 |
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"frame_id": "000765"
|
| 101 |
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},
|
| 102 |
+
{
|
| 103 |
+
"index": 17,
|
| 104 |
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"frame_id": "000813"
|
| 105 |
+
},
|
| 106 |
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{
|
| 107 |
+
"index": 18,
|
| 108 |
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"frame_id": "000861"
|
| 109 |
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},
|
| 110 |
+
{
|
| 111 |
+
"index": 19,
|
| 112 |
+
"frame_id": "000908"
|
| 113 |
+
},
|
| 114 |
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{
|
| 115 |
+
"index": 20,
|
| 116 |
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"frame_id": "000956"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"index": 21,
|
| 120 |
+
"frame_id": "001004"
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"index": 22,
|
| 124 |
+
"frame_id": "001052"
|
| 125 |
+
},
|
| 126 |
+
{
|
| 127 |
+
"index": 23,
|
| 128 |
+
"frame_id": "001100"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"index": 24,
|
| 132 |
+
"frame_id": "001148"
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"index": 25,
|
| 136 |
+
"frame_id": "001195"
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"index": 26,
|
| 140 |
+
"frame_id": "001243"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"index": 27,
|
| 144 |
+
"frame_id": "001291"
|
| 145 |
+
},
|
| 146 |
+
{
|
| 147 |
+
"index": 28,
|
| 148 |
+
"frame_id": "001339"
|
| 149 |
+
},
|
| 150 |
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{
|
| 151 |
+
"index": 29,
|
| 152 |
+
"frame_id": "001387"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"index": 30,
|
| 156 |
+
"frame_id": "001435"
|
| 157 |
+
},
|
| 158 |
+
{
|
| 159 |
+
"index": 31,
|
| 160 |
+
"frame_id": "001483"
|
| 161 |
+
}
|
| 162 |
+
],
|
| 163 |
+
"invalid_views": [],
|
| 164 |
+
"frame_order": [
|
| 165 |
+
"000000",
|
| 166 |
+
"000047",
|
| 167 |
+
"000095",
|
| 168 |
+
"000143",
|
| 169 |
+
"000191",
|
| 170 |
+
"000239",
|
| 171 |
+
"000287",
|
| 172 |
+
"000334",
|
| 173 |
+
"000382",
|
| 174 |
+
"000430",
|
| 175 |
+
"000478",
|
| 176 |
+
"000526",
|
| 177 |
+
"000574",
|
| 178 |
+
"000621",
|
| 179 |
+
"000669",
|
| 180 |
+
"000717",
|
| 181 |
+
"000765",
|
| 182 |
+
"000813",
|
| 183 |
+
"000861",
|
| 184 |
+
"000908",
|
| 185 |
+
"000956",
|
| 186 |
+
"001004",
|
| 187 |
+
"001052",
|
| 188 |
+
"001100",
|
| 189 |
+
"001148",
|
| 190 |
+
"001195",
|
| 191 |
+
"001243",
|
| 192 |
+
"001291",
|
| 193 |
+
"001339",
|
| 194 |
+
"001387",
|
| 195 |
+
"001435",
|
| 196 |
+
"001483"
|
| 197 |
+
]
|
| 198 |
+
}
|
metadata/val/scene0591_02_metadata.json
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
|
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|
|
|
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|
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scene_name": "scene0591_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": "scene0591_02.pt",
|
| 18 |
+
"indices_file": "scene0591_02_indices.pt",
|
| 19 |
+
"transform_to_world_file": "scene0591_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 |
+
],
|
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