| { |
| "format_version": 1, |
| "split": "train", |
| "clips_per_shard": 100, |
| "num_clips": 100, |
| "num_frames": 32, |
| "image_size": [ |
| 512, |
| 512 |
| ], |
| "rgb_encoding": "JPEG quality 100, 4:4:4", |
| "voxels_file": "voxels_train.npz", |
| "num_assets": 228, |
| "conventions": { |
| "camera": "opencv (x right, y down, z forward)", |
| "world": "right-handed, Z up", |
| "T_cw": "world -> camera, 4x4, row-major", |
| "pose": "x_c = R_co @ (s_co * x_o) + t_co, with R_co = R_cw @ R_wo and t_co = R_cw @ t_wo + t_cw", |
| "arrays": "row-major, matrices as nested lists", |
| "pixel_centers": "integer coordinates", |
| "units": "arbitrary scene units, no metric scale", |
| "voxels": "bool 64^3 surface occupancy, np.packbits (C order, big-endian bits) of the flattened grid", |
| "visible": "uint8, 0 = background, k = object k (1-based, matches objects[k-1])" |
| }, |
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| { |
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