diff --git a/samples/-4eiU1SHpzY_111.9_123.8/masks.npz b/samples/-4eiU1SHpzY_111.9_123.8/masks.npz new file mode 100644 index 0000000000000000000000000000000000000000..096aac8321e41ffc82b5b882642eb32bb3c4ecaf --- /dev/null +++ b/samples/-4eiU1SHpzY_111.9_123.8/masks.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43c1406f3775cff8c95a1ac84355fa37e6d0dea360cc40ef80824bc797215931 +size 468569 diff --git a/samples/-4eiU1SHpzY_111.9_123.8/object_obb.bin b/samples/-4eiU1SHpzY_111.9_123.8/object_obb.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..8666e8ef8d8c29fec482b09617f552610389ff8c 100644 --- a/samples/-4eiU1SHpzY_111.9_123.8/object_obb.bin +++ b/samples/-4eiU1SHpzY_111.9_123.8/object_obb.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:668e1b04319e7a2a12be52f434556a4c465601b4ead7e187037bd24445abfa3b +size 480 diff --git a/samples/-4eiU1SHpzY_111.9_123.8/object_pose.bin b/samples/-4eiU1SHpzY_111.9_123.8/object_pose.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..c9c3f0d5359573d698fad1ece5e8ca458fc939a2 100644 --- a/samples/-4eiU1SHpzY_111.9_123.8/object_pose.bin +++ b/samples/-4eiU1SHpzY_111.9_123.8/object_pose.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c37bfc5ba12500a7ea7f17c49a695b0748054c3ee9d9b2ab5e578d2900f4faf5 +size 51840 diff --git a/samples/-4eiU1SHpzY_111.9_123.8/scene.json b/samples/-4eiU1SHpzY_111.9_123.8/scene.json index 2cf634cdcc058cd0eb9b96f34a6678894390a95f..4f7a222d30ec5cc1f3b19efe1999a2871f563ff3 100644 --- a/samples/-4eiU1SHpzY_111.9_123.8/scene.json +++ b/samples/-4eiU1SHpzY_111.9_123.8/scene.json @@ -40,17 +40,123 @@ "hand_verts": "hand_verts.bin", "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", - "objects": [], + "objects": [ + { + "id": 0, + "prompt": "blender", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 1, + "prompt": "blender", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 2, + "prompt": "bowl", + "color_hex": "#5a7daa", + "ply": "objects/obj_2.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 3, + "prompt": "bowl", + "color_hex": "#c89968", + "ply": "objects/obj_3.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 4, + "prompt": "blender", + "color_hex": "#7a8c4a", + "ply": "objects/obj_4.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + } + ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 162, - 0, + 5, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 0, + 5, 8, 3 ], @@ -68,15 +174,29 @@ 480, 853 ], - "masks_npz": null, - "masks_meta": null, + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 162, + 480, + 853 + ], + "oids": [ + 0, + 1, + 2, + 3, + 4 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, "bg_template": "bg_template.png", "pose_track": "pose_track.json" } }, "stats": { "n_frames": 162, - "n_objects": 0, + "n_objects": 5, "has_grasp": false, "mean_trust": null, "mean_iou": null diff --git a/samples/-4eiU1SHpzY_319.4_323.4/masks.npz b/samples/-4eiU1SHpzY_319.4_323.4/masks.npz new file mode 100644 index 0000000000000000000000000000000000000000..a410e6406f93d60f849e21449fa06a2924868fc2 --- /dev/null +++ b/samples/-4eiU1SHpzY_319.4_323.4/masks.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a9f55d3da0e10b5b1c0129839707cd392864755633051ea58f7de95a842a754 +size 49578 diff --git a/samples/-4eiU1SHpzY_319.4_323.4/object_obb.bin b/samples/-4eiU1SHpzY_319.4_323.4/object_obb.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..e8cd06e5f4fc1c06938a57b07536f6a6b16cbe06 100644 --- a/samples/-4eiU1SHpzY_319.4_323.4/object_obb.bin +++ b/samples/-4eiU1SHpzY_319.4_323.4/object_obb.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6c4ffaa88a3d2816a66e52b6436ae83ed6dcae7ff715540e1f38d2cecd452ca +size 480 diff --git a/samples/-4eiU1SHpzY_319.4_323.4/object_pose.bin b/samples/-4eiU1SHpzY_319.4_323.4/object_pose.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..7d2ba3df09c891a1571b76c15be0c3eb8cd4d891 100644 --- a/samples/-4eiU1SHpzY_319.4_323.4/object_pose.bin +++ b/samples/-4eiU1SHpzY_319.4_323.4/object_pose.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:35381111368adda98bf0a73ce0156a23df95f3c63b0ce577b3b98b9af85e9d4b +size 13440 diff --git a/samples/-4eiU1SHpzY_319.4_323.4/scene.json b/samples/-4eiU1SHpzY_319.4_323.4/scene.json index aba7a66f5cff975e46e410c54d39c55138eab520..018bcdd9b52d3a4911a53e653f43c3ab0b13e2ea 100644 --- a/samples/-4eiU1SHpzY_319.4_323.4/scene.json +++ b/samples/-4eiU1SHpzY_319.4_323.4/scene.json @@ -40,17 +40,123 @@ "hand_verts": "hand_verts.bin", "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", - "objects": [], + "objects": [ + { + "id": 0, + "prompt": "plastic container", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 1, + "prompt": "plastic container", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 2, + "prompt": "lid", + "color_hex": "#5a7daa", + "ply": "objects/obj_2.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 3, + "prompt": "lid", + "color_hex": "#c89968", + "ply": "objects/obj_3.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 4, + "prompt": "lid", + "color_hex": "#7a8c4a", + "ply": "objects/obj_4.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + } + ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 42, - 0, + 5, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 0, + 5, 8, 3 ], @@ -68,15 +174,29 @@ 480, 853 ], - "masks_npz": null, - "masks_meta": null, + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 42, + 480, + 853 + ], + "oids": [ + 0, + 1, + 2, + 3, + 4 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, "bg_template": "bg_template.png", "pose_track": "pose_track.json" } }, "stats": { "n_frames": 42, - "n_objects": 0, + "n_objects": 5, "has_grasp": false, "mean_trust": null, "mean_iou": null diff --git a/samples/-5nmuwQ0kwA_383.0_387.0/masks.npz b/samples/-5nmuwQ0kwA_383.0_387.0/masks.npz new file mode 100644 index 0000000000000000000000000000000000000000..f257a7670a68f4a3fa56aec447991e691c1bc057 --- /dev/null +++ b/samples/-5nmuwQ0kwA_383.0_387.0/masks.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1608a578e6b2ced1e3d062d929f0bfe2a5570eaad4ba0e06532695d072c3aaa4 +size 24105 diff --git a/samples/-5nmuwQ0kwA_383.0_387.0/object_obb.bin b/samples/-5nmuwQ0kwA_383.0_387.0/object_obb.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..00848851808db28ff6b20702e2dd7f2174a5c361 100644 --- a/samples/-5nmuwQ0kwA_383.0_387.0/object_obb.bin +++ b/samples/-5nmuwQ0kwA_383.0_387.0/object_obb.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01c37d0eb9a55a300eca45a2de031f2814cf0f69307f06a438f141e14ceec50a +size 96 diff --git a/samples/-5nmuwQ0kwA_383.0_387.0/object_pose.bin b/samples/-5nmuwQ0kwA_383.0_387.0/object_pose.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..c9b7e355129a168c3ea6b2ff5bf9de09fb3203c2 100644 --- a/samples/-5nmuwQ0kwA_383.0_387.0/object_pose.bin +++ b/samples/-5nmuwQ0kwA_383.0_387.0/object_pose.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:266c9f1e1237e449864eb611157e3bb5fb9f013454002a536c51ec4b5391d27d +size 2496 diff --git a/samples/-5nmuwQ0kwA_383.0_387.0/scene.json b/samples/-5nmuwQ0kwA_383.0_387.0/scene.json index fa62b39a4d0088d87c42d66ac83f28f1603b37f5..676d81f7b8fa99f42a287c39d43a9a5420048343 100644 --- a/samples/-5nmuwQ0kwA_383.0_387.0/scene.json +++ b/samples/-5nmuwQ0kwA_383.0_387.0/scene.json @@ -40,17 +40,39 @@ "hand_verts": "hand_verts.bin", "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", - "objects": [], + "objects": [ + { + "id": 0, + "prompt": "white cloth", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + } + ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 39, - 0, + 1, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 0, + 1, 8, 3 ], @@ -68,15 +90,25 @@ 480, 853 ], - "masks_npz": null, - "masks_meta": null, + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 39, + 480, + 853 + ], + "oids": [ + 0 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, "bg_template": "bg_template.png", "pose_track": "pose_track.json" } }, "stats": { "n_frames": 39, - "n_objects": 0, + "n_objects": 1, "has_grasp": false, "mean_trust": null, "mean_iou": null diff --git a/samples/-6Z315Ts-Y4_78.3_83.8/masks.npz b/samples/-6Z315Ts-Y4_78.3_83.8/masks.npz new file mode 100644 index 0000000000000000000000000000000000000000..6a9d38a7994d74e0c3e1a97b57e1a0848e8852ea --- /dev/null +++ b/samples/-6Z315Ts-Y4_78.3_83.8/masks.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6009cdab2340d1bfd3aaf237f1bc265e03d9a21a81ced7f582a9a41b9abb78a +size 60663 diff --git a/samples/-6Z315Ts-Y4_78.3_83.8/object_obb.bin b/samples/-6Z315Ts-Y4_78.3_83.8/object_obb.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..df273f6953192f2defc76790f3a5ed618ce721cc 100644 --- a/samples/-6Z315Ts-Y4_78.3_83.8/object_obb.bin +++ b/samples/-6Z315Ts-Y4_78.3_83.8/object_obb.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32f50ccf44c93b321adfc428bf07b06f8496835999b8b8893197e1837ac74054 +size 96 diff --git a/samples/-6Z315Ts-Y4_78.3_83.8/object_pose.bin b/samples/-6Z315Ts-Y4_78.3_83.8/object_pose.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..e186f149edc75465e76f2dc1a41fb69798cef1f1 100644 --- a/samples/-6Z315Ts-Y4_78.3_83.8/object_pose.bin +++ b/samples/-6Z315Ts-Y4_78.3_83.8/object_pose.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a97fac7190e2d0cce959c4f041f2d435ffbc0d6458fc908ab1384f5b33efb533 +size 3584 diff --git a/samples/-6Z315Ts-Y4_78.3_83.8/scene.json b/samples/-6Z315Ts-Y4_78.3_83.8/scene.json index e2cc1212f413c7572fa673436e3b07acaebf0d0c..51b99f586c84a6a2241181f261753f942fd9e8df 100644 --- a/samples/-6Z315Ts-Y4_78.3_83.8/scene.json +++ b/samples/-6Z315Ts-Y4_78.3_83.8/scene.json @@ -40,17 +40,39 @@ "hand_verts": "hand_verts.bin", "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", - "objects": [], + "objects": [ + { + "id": 0, + "prompt": "board", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + } + ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 56, - 0, + 1, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 0, + 1, 8, 3 ], @@ -68,15 +90,25 @@ 480, 853 ], - "masks_npz": null, - "masks_meta": null, + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 56, + 480, + 853 + ], + "oids": [ + 0 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, "bg_template": "bg_template.png", "pose_track": "pose_track.json" } }, "stats": { "n_frames": 56, - "n_objects": 0, + "n_objects": 1, "has_grasp": false, "mean_trust": null, "mean_iou": null diff --git a/samples/-821U1ZYZOs_245.0_249.0/masks.npz b/samples/-821U1ZYZOs_245.0_249.0/masks.npz new file mode 100644 index 0000000000000000000000000000000000000000..82333452a273aed4755a7090436f24023de049f1 --- /dev/null +++ b/samples/-821U1ZYZOs_245.0_249.0/masks.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2c9365d31090596cddde8bd56e268f62a6706c23c2c356c8e0a068273eef753 +size 43786 diff --git a/samples/-821U1ZYZOs_245.0_249.0/object_obb.bin b/samples/-821U1ZYZOs_245.0_249.0/object_obb.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..1cdce33dc98e9f3b96ca5fdd8359e8432ae9dbc1 100644 --- a/samples/-821U1ZYZOs_245.0_249.0/object_obb.bin +++ b/samples/-821U1ZYZOs_245.0_249.0/object_obb.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0f043fe91743af50215133f947c7964b089008bb3a3bde7f425a4b71cd36ca2 +size 288 diff --git a/samples/-821U1ZYZOs_245.0_249.0/object_pose.bin b/samples/-821U1ZYZOs_245.0_249.0/object_pose.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..60291c04684b188394504f0d8e92b61b16da4102 100644 --- a/samples/-821U1ZYZOs_245.0_249.0/object_pose.bin +++ b/samples/-821U1ZYZOs_245.0_249.0/object_pose.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:430432bfce4ef418f823caefbfc1ac64c9d7eaa2d6990653962d086a1ed90b40 +size 7872 diff --git a/samples/-821U1ZYZOs_245.0_249.0/scene.json b/samples/-821U1ZYZOs_245.0_249.0/scene.json index e178508d6a02e7d0876f23ae4fb12846f983e4e9..ff8f58443a9d03adb008edce3734e4df190a63ee 100644 --- a/samples/-821U1ZYZOs_245.0_249.0/scene.json +++ b/samples/-821U1ZYZOs_245.0_249.0/scene.json @@ -40,17 +40,81 @@ "hand_verts": "hand_verts.bin", "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", - "objects": [], + "objects": [ + { + "id": 0, + "prompt": "pot", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 1, + "prompt": "plastic container", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 2, + "prompt": "plastic container", + "color_hex": "#5a7daa", + "ply": "objects/obj_2.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + } + ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 41, - 0, + 3, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 0, + 3, 8, 3 ], @@ -68,15 +132,27 @@ 480, 853 ], - "masks_npz": null, - "masks_meta": null, + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 41, + 480, + 853 + ], + "oids": [ + 0, + 1, + 2 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, "bg_template": "bg_template.png", "pose_track": "pose_track.json" } }, "stats": { "n_frames": 41, - "n_objects": 0, + "n_objects": 3, "has_grasp": false, "mean_trust": null, "mean_iou": null diff --git a/samples/-821U1ZYZOs_321.4_325.4/masks.npz b/samples/-821U1ZYZOs_321.4_325.4/masks.npz new file mode 100644 index 0000000000000000000000000000000000000000..0c0f13f1b45a5fc7082fe3757341f270b359a947 --- /dev/null +++ b/samples/-821U1ZYZOs_321.4_325.4/masks.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae864616088d887d3529b11d30417da3722285678b14c9ef6b9297d6e7993a77 +size 19743 diff --git a/samples/-821U1ZYZOs_321.4_325.4/object_obb.bin b/samples/-821U1ZYZOs_321.4_325.4/object_obb.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..da4136bf95a76df4f25c5917a00e0a3b87b24c72 100644 --- a/samples/-821U1ZYZOs_321.4_325.4/object_obb.bin +++ b/samples/-821U1ZYZOs_321.4_325.4/object_obb.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3db31f6a4caf8e945ee7ad0ef894a25557e31f68afb6dc530f606b66b4d04103 +size 96 diff --git a/samples/-821U1ZYZOs_321.4_325.4/object_pose.bin b/samples/-821U1ZYZOs_321.4_325.4/object_pose.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..199befce7a3d491a9ae7a4884587fd1e94f13de8 100644 --- a/samples/-821U1ZYZOs_321.4_325.4/object_pose.bin +++ b/samples/-821U1ZYZOs_321.4_325.4/object_pose.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12366721417f03f712c3befe75d014fbfc7a27e05a5ed56d1cec8a42908a750f +size 2624 diff --git a/samples/-821U1ZYZOs_321.4_325.4/scene.json b/samples/-821U1ZYZOs_321.4_325.4/scene.json index 802500217dd93f71d74d11cd69306873b4002d0f..7e1c6f06818819587cb369c156acd002c07eb23d 100644 --- a/samples/-821U1ZYZOs_321.4_325.4/scene.json +++ b/samples/-821U1ZYZOs_321.4_325.4/scene.json @@ -40,17 +40,39 @@ "hand_verts": "hand_verts.bin", "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", - "objects": [], + "objects": [ + { + "id": 0, + "prompt": "pan", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + } + ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 41, - 0, + 1, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 0, + 1, 8, 3 ], @@ -68,15 +90,25 @@ 480, 853 ], - "masks_npz": null, - "masks_meta": null, + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 41, + 480, + 853 + ], + "oids": [ + 0 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, "bg_template": "bg_template.png", "pose_track": "pose_track.json" } }, "stats": { "n_frames": 41, - "n_objects": 0, + "n_objects": 1, "has_grasp": false, "mean_trust": null, "mean_iou": null diff --git a/samples/-8WOMg810tk_122.7_130.7/masks.npz b/samples/-8WOMg810tk_122.7_130.7/masks.npz new file mode 100644 index 0000000000000000000000000000000000000000..657d8d3713ba5b14d78a653e3aa443512def6df2 --- /dev/null +++ b/samples/-8WOMg810tk_122.7_130.7/masks.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4b3dedc0be849759b20e37eb072879287b2d4c655d7b5113b8fdaa113b32f26 +size 272466 diff --git a/samples/-8WOMg810tk_122.7_130.7/object_obb.bin b/samples/-8WOMg810tk_122.7_130.7/object_obb.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..76576709d186989a921b3e10e95541566df05795 100644 --- a/samples/-8WOMg810tk_122.7_130.7/object_obb.bin +++ b/samples/-8WOMg810tk_122.7_130.7/object_obb.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87564868f2412db607e5192452e39079f577c77288d5ceec0412aa644afff90b +size 480 diff --git a/samples/-8WOMg810tk_122.7_130.7/object_pose.bin b/samples/-8WOMg810tk_122.7_130.7/object_pose.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..57313bfa897ea3cb12bbd8126cc166ce02fdfab7 100644 --- a/samples/-8WOMg810tk_122.7_130.7/object_pose.bin +++ b/samples/-8WOMg810tk_122.7_130.7/object_pose.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e036a5c4d253e525ae0432d25e3866fea84b50fec705b943eddbda6b7b6a6f40 +size 25600 diff --git a/samples/-8WOMg810tk_122.7_130.7/scene.json b/samples/-8WOMg810tk_122.7_130.7/scene.json index 95288c5fab239ad7bc94bf7043094265b82edff5..241e99b8e473d8b582349da40a2f13876b517d79 100644 --- a/samples/-8WOMg810tk_122.7_130.7/scene.json +++ b/samples/-8WOMg810tk_122.7_130.7/scene.json @@ -40,17 +40,123 @@ "hand_verts": "hand_verts.bin", "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", - "objects": [], + "objects": [ + { + "id": 0, + "prompt": "cutting board", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 1, + "prompt": "knife", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 2, + "prompt": "bacon", + "color_hex": "#5a7daa", + "ply": "objects/obj_2.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 3, + "prompt": "seasoning bottle", + "color_hex": "#c89968", + "ply": "objects/obj_3.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 4, + "prompt": "bacon", + "color_hex": "#7a8c4a", + "ply": "objects/obj_4.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + } + ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 80, - 0, + 5, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 0, + 5, 8, 3 ], @@ -68,15 +174,29 @@ 480, 853 ], - "masks_npz": null, - "masks_meta": null, + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 80, + 480, + 853 + ], + "oids": [ + 0, + 1, + 2, + 3, + 4 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, "bg_template": "bg_template.png", "pose_track": "pose_track.json" } }, "stats": { "n_frames": 80, - "n_objects": 0, + "n_objects": 5, "has_grasp": false, "mean_trust": null, "mean_iou": null diff --git a/samples/-8WOMg810tk_333.9_339.5/masks.npz b/samples/-8WOMg810tk_333.9_339.5/masks.npz new file mode 100644 index 0000000000000000000000000000000000000000..6f8cf33446fd6ba98a69a4c4f5be783c62ad9adc --- /dev/null +++ b/samples/-8WOMg810tk_333.9_339.5/masks.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2d22f332882845d68baff974dfb2dcb8e1001ea19772f7b27c9bbfdfa81a2b7 +size 159710 diff --git a/samples/-8WOMg810tk_333.9_339.5/object_obb.bin b/samples/-8WOMg810tk_333.9_339.5/object_obb.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..3c3eced2f7ebf4ba880342224712f4047b566b43 100644 --- a/samples/-8WOMg810tk_333.9_339.5/object_obb.bin +++ b/samples/-8WOMg810tk_333.9_339.5/object_obb.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8deb370fe0fc6d121eecb489de3b122a93e22c455f195467130c31e412da4fcf +size 288 diff --git a/samples/-8WOMg810tk_333.9_339.5/object_pose.bin b/samples/-8WOMg810tk_333.9_339.5/object_pose.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..8a8bdb3f4df178f2a7f7625b7fb46e2411f8c1be 100644 --- a/samples/-8WOMg810tk_333.9_339.5/object_pose.bin +++ b/samples/-8WOMg810tk_333.9_339.5/object_pose.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52c474cfef41981d89df66070ed1254dcfaf6c5b151769f2fbe4dced537c90f8 +size 13440 diff --git a/samples/-8WOMg810tk_333.9_339.5/scene.json b/samples/-8WOMg810tk_333.9_339.5/scene.json index 54facdb07dd599166f6ca725b0ef1f2a0a5d6588..dacb419ee7c49d9573a8c93e70dcc8c3bde914e2 100644 --- a/samples/-8WOMg810tk_333.9_339.5/scene.json +++ b/samples/-8WOMg810tk_333.9_339.5/scene.json @@ -40,17 +40,81 @@ "hand_verts": "hand_verts.bin", "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", - "objects": [], + "objects": [ + { + "id": 0, + "prompt": "sausage", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 1, + "prompt": "knife", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 2, + "prompt": "grill", + "color_hex": "#5a7daa", + "ply": "objects/obj_2.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + } + ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 70, - 0, + 3, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 0, + 3, 8, 3 ], @@ -68,15 +132,27 @@ 480, 853 ], - "masks_npz": null, - "masks_meta": null, + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 70, + 480, + 853 + ], + "oids": [ + 0, + 1, + 2 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, "bg_template": "bg_template.png", "pose_track": "pose_track.json" } }, "stats": { "n_frames": 70, - "n_objects": 0, + "n_objects": 3, "has_grasp": false, "mean_trust": null, "mean_iou": null diff --git a/samples/-8WOMg810tk_48.4_60.3/bg_template.png b/samples/-8WOMg810tk_48.4_60.3/bg_template.png index 1a16ed6b09e463c7f48e1d08cca314ef4126f424..f31a9706a3bfbf358146ebbdee1f486670d338ad 100644 Binary files a/samples/-8WOMg810tk_48.4_60.3/bg_template.png and b/samples/-8WOMg810tk_48.4_60.3/bg_template.png differ diff --git a/samples/-8WOMg810tk_48.4_60.3/camera.json b/samples/-8WOMg810tk_48.4_60.3/camera.json index a08094d9572074f99a1480c8a978fa1ee95363f2..0efc290cbef64cd20b29f1b3b7bc39a75564a222 100644 --- a/samples/-8WOMg810tk_48.4_60.3/camera.json +++ b/samples/-8WOMg810tk_48.4_60.3/camera.json @@ -5,8 +5,8 @@ "width": 853, "height": 480, "gravity_up": [ - 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-0.005142040550708771, - -0.9102804660797119, - -0.41396018862724304 + -0.002568003721535206, + -0.9100583791732788, + -0.4144721031188965 ] }, "reconstruction": { @@ -40,17 +40,102 @@ "hand_verts": "hand_verts.bin", "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", - "objects": [], + "objects": [ + { + "id": 0, + "prompt": "cutting board", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 1, + "prompt": "seasoning packet", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 2, + "prompt": "silver can", + "color_hex": "#5a7daa", + "ply": "objects/obj_2.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 3, + "prompt": "bacon", + "color_hex": "#c89968", + "ply": "objects/obj_3.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + } + ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 151, - 0, + 4, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 0, + 4, 8, 3 ], @@ -68,15 +153,28 @@ 480, 853 ], - "masks_npz": null, - "masks_meta": null, + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 151, + 480, + 853 + ], + "oids": [ + 0, + 1, + 2, + 3 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, "bg_template": "bg_template.png", "pose_track": "pose_track.json" } }, "stats": { "n_frames": 151, - "n_objects": 0, + "n_objects": 4, "has_grasp": false, "mean_trust": null, "mean_iou": null diff --git a/samples/-8WOMg810tk_52.2_56.3/masks.npz b/samples/-8WOMg810tk_52.2_56.3/masks.npz new file mode 100644 index 0000000000000000000000000000000000000000..67adbd2d4fe666c89a56c94b2cd6a1ba3ca719b0 --- /dev/null +++ b/samples/-8WOMg810tk_52.2_56.3/masks.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f18b5c8d2b744f1691fe9383aa2d02aba7db574f460561d63c92550c82682b29 +size 149680 diff --git a/samples/-8WOMg810tk_52.2_56.3/object_obb.bin b/samples/-8WOMg810tk_52.2_56.3/object_obb.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..fb0c1830e7646dce4232b463bb4b7f128b607cee 100644 --- a/samples/-8WOMg810tk_52.2_56.3/object_obb.bin +++ b/samples/-8WOMg810tk_52.2_56.3/object_obb.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e66fa4fe0be2c718e7790489b13eab544ad5eb84eac4e1b6b5f6dc4b1378828 +size 288 diff --git a/samples/-8WOMg810tk_52.2_56.3/object_pose.bin b/samples/-8WOMg810tk_52.2_56.3/object_pose.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..84ff956891a80e920ef4834c45436efd282d9861 100644 --- a/samples/-8WOMg810tk_52.2_56.3/object_pose.bin +++ b/samples/-8WOMg810tk_52.2_56.3/object_pose.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:abf1ef7cf026353f1c947dfed4fd9c1c46a50fab9ab858fa35bdd260829a885d +size 10368 diff --git a/samples/-8WOMg810tk_52.2_56.3/scene.json b/samples/-8WOMg810tk_52.2_56.3/scene.json index 8923df4025bc93071c804ef868f5b8b76e00a573..d1a1894a094a6bf3afd6b5108aefd4522ecff61d 100644 --- a/samples/-8WOMg810tk_52.2_56.3/scene.json +++ b/samples/-8WOMg810tk_52.2_56.3/scene.json @@ -40,17 +40,81 @@ "hand_verts": "hand_verts.bin", "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", - "objects": [], + "objects": [ + { + "id": 0, + "prompt": "cutting board", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 1, + "prompt": "knife", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 2, + "prompt": "bacon", + "color_hex": "#5a7daa", + "ply": "objects/obj_2.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + } + ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 54, - 0, + 3, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 0, + 3, 8, 3 ], @@ -68,15 +132,27 @@ 480, 853 ], - "masks_npz": null, - "masks_meta": null, + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 54, + 480, + 853 + ], + "oids": [ + 0, + 1, + 2 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, "bg_template": "bg_template.png", "pose_track": "pose_track.json" } }, "stats": { "n_frames": 54, - "n_objects": 0, + "n_objects": 3, "has_grasp": false, "mean_trust": null, "mean_iou": null diff --git a/samples/-8WOMg810tk_56.3_60.3/masks.npz b/samples/-8WOMg810tk_56.3_60.3/masks.npz new file mode 100644 index 0000000000000000000000000000000000000000..28a38fb61df886471ba37b3d557e4b9b1e55f8cf --- /dev/null +++ b/samples/-8WOMg810tk_56.3_60.3/masks.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:336e635e92e466487f7ce0eb7b6ea5e4c4376c41436497bf1235ca9ccacee7e5 +size 106194 diff --git a/samples/-8WOMg810tk_56.3_60.3/object_obb.bin b/samples/-8WOMg810tk_56.3_60.3/object_obb.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..2b7b5842772b71264123f4bdc7c6771da0ba998f 100644 --- a/samples/-8WOMg810tk_56.3_60.3/object_obb.bin +++ b/samples/-8WOMg810tk_56.3_60.3/object_obb.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c0e3df2eb21fbda75b6fc35f1005a71b0bd193580655bc351e90a2b312be4d5 +size 288 diff --git a/samples/-8WOMg810tk_56.3_60.3/object_pose.bin b/samples/-8WOMg810tk_56.3_60.3/object_pose.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..c51288f2b3e9bfe2bb1f72741438b8a0062e8820 100644 --- a/samples/-8WOMg810tk_56.3_60.3/object_pose.bin +++ b/samples/-8WOMg810tk_56.3_60.3/object_pose.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7305ab25ed7cc2418d04028bb4d4e57dc7a399943df3bc59d0979853e1d5e260 +size 7296 diff --git a/samples/-8WOMg810tk_56.3_60.3/scene.json b/samples/-8WOMg810tk_56.3_60.3/scene.json index 151bd12e096aedda13b0efded0576df6aca83aa1..02aa2f7d7c34b0ef0d5cf5d02bc7a2f6cfc89550 100644 --- a/samples/-8WOMg810tk_56.3_60.3/scene.json +++ b/samples/-8WOMg810tk_56.3_60.3/scene.json @@ -40,17 +40,81 @@ "hand_verts": "hand_verts.bin", "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", - "objects": [], + "objects": [ + { + "id": 0, + "prompt": "cutting board", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 1, + "prompt": "knife", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 2, + "prompt": "bacon", + "color_hex": "#5a7daa", + "ply": "objects/obj_2.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + } + ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 38, - 0, + 3, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 0, + 3, 8, 3 ], @@ -68,15 +132,27 @@ 480, 853 ], - "masks_npz": null, - "masks_meta": null, + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 38, + 480, + 853 + ], + "oids": [ + 0, + 1, + 2 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, "bg_template": "bg_template.png", "pose_track": "pose_track.json" } }, "stats": { "n_frames": 38, - "n_objects": 0, + "n_objects": 3, "has_grasp": false, "mean_trust": null, "mean_iou": null diff --git a/samples/-8WOMg810tk_92.8_97.6/masks.npz b/samples/-8WOMg810tk_92.8_97.6/masks.npz new file mode 100644 index 0000000000000000000000000000000000000000..b3496d6a619540aa3e46bc01077cddaad0c090fb --- /dev/null +++ b/samples/-8WOMg810tk_92.8_97.6/masks.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa10a07b6c01603ce8f770617bf08a95641ecfc8173974ad2a7621670e42a28c +size 311984 diff --git a/samples/-8WOMg810tk_92.8_97.6/object_obb.bin b/samples/-8WOMg810tk_92.8_97.6/object_obb.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..f3a4250340805452cfb3484596cddb1169b13a1b 100644 --- a/samples/-8WOMg810tk_92.8_97.6/object_obb.bin +++ b/samples/-8WOMg810tk_92.8_97.6/object_obb.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7471c3016cba77222891c8cc630a4ab429ee8d6dfb2ad4cbb45436fb2960eb4d +size 288 diff --git a/samples/-8WOMg810tk_92.8_97.6/object_pose.bin b/samples/-8WOMg810tk_92.8_97.6/object_pose.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..5f10fc71b6b6a8238ff8f5feb45440a76ec4fe74 100644 --- a/samples/-8WOMg810tk_92.8_97.6/object_pose.bin +++ b/samples/-8WOMg810tk_92.8_97.6/object_pose.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e4a476105893aa1e4cdfb05023aedaa45017ad345aef7310add874759616c29 +size 16896 diff --git a/samples/-8WOMg810tk_92.8_97.6/scene.json b/samples/-8WOMg810tk_92.8_97.6/scene.json index 92902ca241a0d169dac51ccfc4803c5db7be79e5..af7269bd028451394b8e30fd71c268abeaf118f7 100644 --- a/samples/-8WOMg810tk_92.8_97.6/scene.json +++ b/samples/-8WOMg810tk_92.8_97.6/scene.json @@ -40,17 +40,81 @@ "hand_verts": "hand_verts.bin", "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", - "objects": [], + "objects": [ + { + "id": 0, + "prompt": "cutting board", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 1, + "prompt": "bacon", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 2, + "prompt": "knife", + "color_hex": "#5a7daa", + "ply": "objects/obj_2.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + } + ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 88, - 0, + 3, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 0, + 3, 8, 3 ], @@ -68,15 +132,27 @@ 480, 853 ], - "masks_npz": null, - "masks_meta": null, + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 88, + 480, + 853 + ], + "oids": [ + 0, + 1, + 2 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, "bg_template": "bg_template.png", "pose_track": "pose_track.json" } }, "stats": { "n_frames": 88, - "n_objects": 0, + "n_objects": 3, "has_grasp": false, "mean_trust": null, "mean_iou": null diff --git a/samples/-9A2VyaIkX4_105.4_109.4/masks.npz b/samples/-9A2VyaIkX4_105.4_109.4/masks.npz new file mode 100644 index 0000000000000000000000000000000000000000..cb7b33c168af262f733518312516d5332b5b1d33 --- /dev/null +++ b/samples/-9A2VyaIkX4_105.4_109.4/masks.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dce4fe31bb3bed94f56ce0055ed8507ccbe505f4370b5eb8817cda583f6db2be +size 44431 diff --git a/samples/-9A2VyaIkX4_105.4_109.4/object_obb.bin b/samples/-9A2VyaIkX4_105.4_109.4/object_obb.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..eda5a024684247473bcae78305b5ef9682568338 100644 --- a/samples/-9A2VyaIkX4_105.4_109.4/object_obb.bin +++ b/samples/-9A2VyaIkX4_105.4_109.4/object_obb.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e84e784f969515d71b8e75ed6aa6802c3d19040637f276301b38c9862fe5823 +size 96 diff --git a/samples/-9A2VyaIkX4_105.4_109.4/object_pose.bin b/samples/-9A2VyaIkX4_105.4_109.4/object_pose.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..762f001c2844c1e7a93acab3d4087671fadd391c 100644 --- a/samples/-9A2VyaIkX4_105.4_109.4/object_pose.bin +++ b/samples/-9A2VyaIkX4_105.4_109.4/object_pose.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd3e0ff541d83d155fab0c4746bba4926cc76234cc5bc2981e739298f7bfd582 +size 3392 diff --git a/samples/-9A2VyaIkX4_105.4_109.4/scene.json b/samples/-9A2VyaIkX4_105.4_109.4/scene.json index 8ba65d4f1cdbc0fdfe7accac0699a805d4da0b33..40ef17730d5cf22ece9c77922b7d86acdf9b2e57 100644 --- a/samples/-9A2VyaIkX4_105.4_109.4/scene.json +++ b/samples/-9A2VyaIkX4_105.4_109.4/scene.json @@ -40,17 +40,39 @@ "hand_verts": "hand_verts.bin", "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", - "objects": [], + "objects": [ + { + "id": 0, + "prompt": "cereal box", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + } + ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 53, - 0, + 1, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 0, + 1, 8, 3 ], @@ -68,15 +90,25 @@ 480, 853 ], - "masks_npz": null, - "masks_meta": null, + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 53, + 480, + 853 + ], + "oids": [ + 0 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, "bg_template": "bg_template.png", "pose_track": "pose_track.json" } }, "stats": { "n_frames": 53, - "n_objects": 0, + "n_objects": 1, "has_grasp": false, "mean_trust": null, "mean_iou": null diff --git a/samples/-B1sQkAK-GA_567.2_572.4/masks.npz b/samples/-B1sQkAK-GA_567.2_572.4/masks.npz new file mode 100644 index 0000000000000000000000000000000000000000..f62bcc4325f7298ca212104bd2289b197435ef4e --- /dev/null +++ b/samples/-B1sQkAK-GA_567.2_572.4/masks.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12e542f85782d89303088baa5d76cc347c8a05b12e1da76932a5b1d04a229a10 +size 492730 diff --git a/samples/-B1sQkAK-GA_567.2_572.4/object_obb.bin b/samples/-B1sQkAK-GA_567.2_572.4/object_obb.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..fce50b33c6a9e00d32561a38da6166472098f666 100644 --- a/samples/-B1sQkAK-GA_567.2_572.4/object_obb.bin +++ b/samples/-B1sQkAK-GA_567.2_572.4/object_obb.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb645a3b934da334845ea45098172ceaa65df7d28327c0223b877dbd845110db +size 480 diff --git a/samples/-B1sQkAK-GA_567.2_572.4/object_pose.bin b/samples/-B1sQkAK-GA_567.2_572.4/object_pose.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..434288e029cf663e99f3b805f402c8d9bd8208b3 100644 --- a/samples/-B1sQkAK-GA_567.2_572.4/object_pose.bin +++ b/samples/-B1sQkAK-GA_567.2_572.4/object_pose.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff9ddfa262e87698de5be4518c6a565935b6d10e60229eb77b292a32256bb96b +size 29440 diff --git a/samples/-B1sQkAK-GA_567.2_572.4/scene.json b/samples/-B1sQkAK-GA_567.2_572.4/scene.json index 01a6530a1aad2aff6a687f18783af46b01db0b2b..af25a32b0b17045fc04c27253737cc32955621f9 100644 --- a/samples/-B1sQkAK-GA_567.2_572.4/scene.json +++ b/samples/-B1sQkAK-GA_567.2_572.4/scene.json @@ -40,17 +40,123 @@ "hand_verts": "hand_verts.bin", "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", - "objects": [], + "objects": [ + { + "id": 0, + "prompt": "chair", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 1, + "prompt": "fabric", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 2, + "prompt": "fabric", + "color_hex": "#5a7daa", + "ply": "objects/obj_2.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 3, + "prompt": "chair", + "color_hex": "#c89968", + "ply": "objects/obj_3.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 4, + "prompt": "fabric", + "color_hex": "#7a8c4a", + "ply": "objects/obj_4.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + } + ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 92, - 0, + 5, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 0, + 5, 8, 3 ], @@ -68,15 +174,29 @@ 480, 853 ], - "masks_npz": null, - "masks_meta": null, + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 92, + 480, + 853 + ], + "oids": [ + 0, + 1, + 2, + 3, + 4 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, "bg_template": "bg_template.png", "pose_track": "pose_track.json" } }, "stats": { "n_frames": 92, - "n_objects": 0, + "n_objects": 5, "has_grasp": false, "mean_trust": null, "mean_iou": null diff --git a/samples/-DVV5l5eEQg_102.7_113.7/masks.npz b/samples/-DVV5l5eEQg_102.7_113.7/masks.npz new file mode 100644 index 0000000000000000000000000000000000000000..a4548b8634c5c13fe42ecda9d54a9d253d9fa333 --- /dev/null +++ b/samples/-DVV5l5eEQg_102.7_113.7/masks.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:edf97ba5dd1039f7a6ef94594aca23e2bda572b29be4211c460cd6d68fb7d85b +size 45347 diff --git a/samples/-DVV5l5eEQg_102.7_113.7/object_obb.bin b/samples/-DVV5l5eEQg_102.7_113.7/object_obb.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..593d74623ff1305537ed6603a89a574bce737563 100644 --- a/samples/-DVV5l5eEQg_102.7_113.7/object_obb.bin +++ b/samples/-DVV5l5eEQg_102.7_113.7/object_obb.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:214c2d2e075ca9d26bd3864158174bc9080b05d1f3ebf4cbd98da57737f59027 +size 192 diff --git a/samples/-DVV5l5eEQg_102.7_113.7/object_pose.bin b/samples/-DVV5l5eEQg_102.7_113.7/object_pose.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..721b6fa6893dbe9a2ae402c86bd22c66c14aabb2 100644 --- a/samples/-DVV5l5eEQg_102.7_113.7/object_pose.bin +++ b/samples/-DVV5l5eEQg_102.7_113.7/object_pose.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d507f82b17bcef87a4b753c83b1d9da77c3c4615e367cf9fe6413e3a1e8aedc +size 9344 diff --git a/samples/-DVV5l5eEQg_102.7_113.7/scene.json b/samples/-DVV5l5eEQg_102.7_113.7/scene.json index 1b43647dec5015d270edbcdfa0a4d85d63beab26..76a8df9490526f2ef2b52c87b9f164272e76ffe0 100644 --- a/samples/-DVV5l5eEQg_102.7_113.7/scene.json +++ b/samples/-DVV5l5eEQg_102.7_113.7/scene.json @@ -40,17 +40,60 @@ "hand_verts": "hand_verts.bin", "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", - "objects": [], + "objects": [ + { + "id": 0, + "prompt": "plate", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 1, + "prompt": "oil bottle", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + } + ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 73, - 0, + 2, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 0, + 2, 8, 3 ], @@ -68,15 +111,26 @@ 480, 853 ], - "masks_npz": null, - "masks_meta": null, + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 73, + 480, + 853 + ], + "oids": [ + 0, + 1 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, "bg_template": "bg_template.png", "pose_track": "pose_track.json" } }, "stats": { "n_frames": 73, - "n_objects": 0, + "n_objects": 2, "has_grasp": false, "mean_trust": null, "mean_iou": null diff --git a/samples/-H6qlPWRoZM_1269.5_1274.3/masks.npz b/samples/-H6qlPWRoZM_1269.5_1274.3/masks.npz new file mode 100644 index 0000000000000000000000000000000000000000..b610b890e7d257e9926b2be021374a55e6928f5a --- /dev/null +++ b/samples/-H6qlPWRoZM_1269.5_1274.3/masks.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7846be025f17019faee1171b2349020ac4501d8e4310f0a68b12616cdb697d23 +size 377282 diff --git a/samples/-H6qlPWRoZM_1269.5_1274.3/object_obb.bin b/samples/-H6qlPWRoZM_1269.5_1274.3/object_obb.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..e438df40395b36acb62dffe6ac205b8fc8733a4a 100644 --- a/samples/-H6qlPWRoZM_1269.5_1274.3/object_obb.bin +++ b/samples/-H6qlPWRoZM_1269.5_1274.3/object_obb.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf96b9162f916b8a4ecce1b45f5d64016341e1c916c1e1a9f5ebb6679fdac393 +size 480 diff --git a/samples/-H6qlPWRoZM_1269.5_1274.3/object_pose.bin b/samples/-H6qlPWRoZM_1269.5_1274.3/object_pose.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..376348d27a37aafce35d2c12d90daa2fa0352e4e 100644 --- a/samples/-H6qlPWRoZM_1269.5_1274.3/object_pose.bin +++ b/samples/-H6qlPWRoZM_1269.5_1274.3/object_pose.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be8b140c9e89c158f500983750bd682d2c55aa6c76a352da06bd5928961cc09d +size 28160 diff --git a/samples/-H6qlPWRoZM_1269.5_1274.3/scene.json b/samples/-H6qlPWRoZM_1269.5_1274.3/scene.json index 90cc1f9c99b0abbe0f2d7f069410ef12b8fb9257..3902f41fa54de088c9718bc5220b588f5645e3e0 100644 --- a/samples/-H6qlPWRoZM_1269.5_1274.3/scene.json +++ b/samples/-H6qlPWRoZM_1269.5_1274.3/scene.json @@ -40,17 +40,123 @@ "hand_verts": "hand_verts.bin", "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", - "objects": [], + "objects": [ + { + "id": 0, + "prompt": "paper", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 1, + "prompt": "paper", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 2, + "prompt": "paper", + "color_hex": "#5a7daa", + "ply": "objects/obj_2.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 3, + "prompt": "ink pad", + "color_hex": "#c89968", + "ply": "objects/obj_3.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 4, + "prompt": "paper", + "color_hex": "#7a8c4a", + "ply": "objects/obj_4.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + } + ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 88, - 0, + 5, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 0, + 5, 8, 3 ], @@ -68,15 +174,29 @@ 480, 853 ], - "masks_npz": null, - "masks_meta": null, + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 88, + 480, + 853 + ], + "oids": [ + 0, + 1, + 2, + 3, + 4 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, "bg_template": "bg_template.png", "pose_track": "pose_track.json" } }, "stats": { "n_frames": 88, - "n_objects": 0, + "n_objects": 5, "has_grasp": false, "mean_trust": null, "mean_iou": null diff --git a/samples/-HJPuU5UjII_177.7_186.2/masks.npz b/samples/-HJPuU5UjII_177.7_186.2/masks.npz new file mode 100644 index 0000000000000000000000000000000000000000..ececfcf8b40a3df54a2ebbc1dcdc4756fb1dc0b9 --- /dev/null +++ b/samples/-HJPuU5UjII_177.7_186.2/masks.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c905618188e34c931b0ab4d51b4cb6aab235a53c140bdb48aec347d0130f543 +size 91442 diff --git a/samples/-HJPuU5UjII_177.7_186.2/object_obb.bin b/samples/-HJPuU5UjII_177.7_186.2/object_obb.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..22db42b21efbbbd44dfe5742088484d01777f923 100644 --- a/samples/-HJPuU5UjII_177.7_186.2/object_obb.bin +++ b/samples/-HJPuU5UjII_177.7_186.2/object_obb.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:261f127e32c5ecebb5963bceea8418bc6747f3b9e8abd47d68c3f144d45b2520 +size 192 diff --git a/samples/-HJPuU5UjII_177.7_186.2/object_pose.bin b/samples/-HJPuU5UjII_177.7_186.2/object_pose.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..b85a483c49bafe4370d241dda5cb34d92e464bb8 100644 --- a/samples/-HJPuU5UjII_177.7_186.2/object_pose.bin +++ b/samples/-HJPuU5UjII_177.7_186.2/object_pose.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67e78fa69e82aec1008ef369d146fc1e39547ebc3af240af5fc8b641adb0bd55 +size 16000 diff --git a/samples/-HJPuU5UjII_177.7_186.2/scene.json b/samples/-HJPuU5UjII_177.7_186.2/scene.json index 3b0a46c1c06f8899059372d7518e60a3aaadfb14..a9e1ed43fe95f90cb069e852fa89100094ee4353 100644 --- a/samples/-HJPuU5UjII_177.7_186.2/scene.json +++ b/samples/-HJPuU5UjII_177.7_186.2/scene.json @@ -40,17 +40,60 @@ "hand_verts": "hand_verts.bin", "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", - "objects": [], + "objects": [ + { + "id": 0, + "prompt": "red bowl", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 1, + "prompt": "whisk", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + } + ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 125, - 0, + 2, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 0, + 2, 8, 3 ], @@ -68,15 +111,26 @@ 480, 853 ], - "masks_npz": null, - "masks_meta": null, + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 125, + 480, + 853 + ], + "oids": [ + 0, + 1 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, "bg_template": "bg_template.png", "pose_track": "pose_track.json" } }, "stats": { "n_frames": 125, - "n_objects": 0, + "n_objects": 2, "has_grasp": false, "mean_trust": null, "mean_iou": null diff --git a/samples/-HJPuU5UjII_182.2_186.2/masks.npz b/samples/-HJPuU5UjII_182.2_186.2/masks.npz new file mode 100644 index 0000000000000000000000000000000000000000..5b8747a45f07ff7c1c8c6c41fec6eb1553a52393 --- /dev/null +++ b/samples/-HJPuU5UjII_182.2_186.2/masks.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:431ccf28667505cf4a1cd79a7c58622fcce6c96b3fe093b84e9bfabd8ca21e7f +size 156273 diff --git a/samples/-HJPuU5UjII_182.2_186.2/object_obb.bin b/samples/-HJPuU5UjII_182.2_186.2/object_obb.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..6d7166da676782c25ccccee1cee3b59cbe573128 100644 --- a/samples/-HJPuU5UjII_182.2_186.2/object_obb.bin +++ b/samples/-HJPuU5UjII_182.2_186.2/object_obb.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4fc3ea903a7aacdf728c41552dc4b923870e2554a061118af7f65b60ea8bcc9 +size 480 diff --git a/samples/-HJPuU5UjII_182.2_186.2/object_pose.bin b/samples/-HJPuU5UjII_182.2_186.2/object_pose.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..c1e0d59f38b10ab0a36202f7c38616b87b48d492 100644 --- a/samples/-HJPuU5UjII_182.2_186.2/object_pose.bin +++ b/samples/-HJPuU5UjII_182.2_186.2/object_pose.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d758c22e822cfc5570ce866f6254a245c276407c295ea54d381901f32c0a2bbf +size 26240 diff --git a/samples/-HJPuU5UjII_182.2_186.2/scene.json b/samples/-HJPuU5UjII_182.2_186.2/scene.json index 6426f5c8c11655fc53f77d7424c2cc10162b2349..4a63846ec841d33f2a9b45ba582635eeecdd7bc7 100644 --- a/samples/-HJPuU5UjII_182.2_186.2/scene.json +++ b/samples/-HJPuU5UjII_182.2_186.2/scene.json @@ -40,17 +40,123 @@ "hand_verts": "hand_verts.bin", "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", - "objects": [], + "objects": [ + { + "id": 0, + "prompt": "knife", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 1, + "prompt": "red bowl", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 2, + "prompt": "whisk", + "color_hex": "#5a7daa", + "ply": "objects/obj_2.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 3, + "prompt": "chopping board", + "color_hex": "#c89968", + "ply": "objects/obj_3.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 4, + "prompt": "chopping board", + "color_hex": "#7a8c4a", + "ply": "objects/obj_4.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + } + ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 82, - 0, + 5, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 0, + 5, 8, 3 ], @@ -68,15 +174,29 @@ 480, 853 ], - "masks_npz": null, - "masks_meta": null, + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 82, + 480, + 853 + ], + "oids": [ + 0, + 1, + 2, + 3, + 4 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, "bg_template": "bg_template.png", "pose_track": "pose_track.json" } }, "stats": { "n_frames": 82, - "n_objects": 0, + "n_objects": 5, "has_grasp": false, "mean_trust": null, "mean_iou": null diff --git a/samples/-HJPuU5UjII_235.4_239.4/masks.npz b/samples/-HJPuU5UjII_235.4_239.4/masks.npz new file mode 100644 index 0000000000000000000000000000000000000000..1252031c8715e95927d40328ce6fc159e7ddc701 --- /dev/null +++ b/samples/-HJPuU5UjII_235.4_239.4/masks.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6febcb8e6764731a079c54c4849ad38389b657b9d3c1d75a090f2023f30f1ebc +size 23381 diff --git a/samples/-HJPuU5UjII_235.4_239.4/object_obb.bin b/samples/-HJPuU5UjII_235.4_239.4/object_obb.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..ad7252dba4ebe123793f51bcfa3b6ee0cb0fc4a1 100644 --- a/samples/-HJPuU5UjII_235.4_239.4/object_obb.bin +++ b/samples/-HJPuU5UjII_235.4_239.4/object_obb.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c2f054623ad99e4ca020639d1053a70f157e8fd249e456cd8252f282a928f06 +size 288 diff --git a/samples/-HJPuU5UjII_235.4_239.4/object_pose.bin b/samples/-HJPuU5UjII_235.4_239.4/object_pose.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..36677f25adda5ca9dbd439e5b4e424f5c0ef1e49 100644 --- a/samples/-HJPuU5UjII_235.4_239.4/object_pose.bin +++ b/samples/-HJPuU5UjII_235.4_239.4/object_pose.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d2ca95407e5ad9f2b486bbaf8275f9a0c6705a9f8ce5fa507952cf51b1039f1 +size 5376 diff --git a/samples/-HJPuU5UjII_235.4_239.4/scene.json b/samples/-HJPuU5UjII_235.4_239.4/scene.json index 669f2ed3db8c69efc092920dd4f5d119b43df478..ba9bea62952e077ff4c3efd14f1070e9cdc555d8 100644 --- a/samples/-HJPuU5UjII_235.4_239.4/scene.json +++ b/samples/-HJPuU5UjII_235.4_239.4/scene.json @@ -40,17 +40,81 @@ "hand_verts": "hand_verts.bin", "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", - "objects": [], + "objects": [ + { + "id": 0, + "prompt": "bowl of chicken", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 1, + "prompt": "tongs", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 2, + "prompt": "shaker", + "color_hex": "#5a7daa", + "ply": "objects/obj_2.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + } + ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 28, - 0, + 3, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 0, + 3, 8, 3 ], @@ -68,15 +132,27 @@ 480, 853 ], - "masks_npz": null, - "masks_meta": null, + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 28, + 480, + 853 + ], + "oids": [ + 0, + 1, + 2 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, "bg_template": "bg_template.png", "pose_track": "pose_track.json" } }, "stats": { "n_frames": 28, - "n_objects": 0, + "n_objects": 3, "has_grasp": false, "mean_trust": null, "mean_iou": null diff --git a/samples/-QALmP1nHtM_678.2_682.2/masks.npz b/samples/-QALmP1nHtM_678.2_682.2/masks.npz new file mode 100644 index 0000000000000000000000000000000000000000..127485f5fae7c005029fd4307f9fcf868d7d41cd --- /dev/null +++ b/samples/-QALmP1nHtM_678.2_682.2/masks.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c112575ad7464fb372a9564795a0030ae2572b02cc78e2e90b07452d6b910fcb +size 41026 diff --git a/samples/-QALmP1nHtM_678.2_682.2/object_obb.bin b/samples/-QALmP1nHtM_678.2_682.2/object_obb.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..e3c9c5571ee30c5fe31b53594ffdfd3b26b5a6f5 100644 --- a/samples/-QALmP1nHtM_678.2_682.2/object_obb.bin +++ b/samples/-QALmP1nHtM_678.2_682.2/object_obb.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:150f5a3cf2ed2fff9cdd4e1b9af1915c6a218794f5a584faf0ceacd35854c217 +size 288 diff --git a/samples/-QALmP1nHtM_678.2_682.2/object_pose.bin b/samples/-QALmP1nHtM_678.2_682.2/object_pose.bin index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..d2c0464335fb7b99d5ed1ed8cd668c364aac217e 100644 --- a/samples/-QALmP1nHtM_678.2_682.2/object_pose.bin +++ b/samples/-QALmP1nHtM_678.2_682.2/object_pose.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:afb0cc61163c9d519e8ae19c81b8fc067f9bfbba22f54ce467a2ac908e1d7715 +size 8064 diff --git a/samples/-QALmP1nHtM_678.2_682.2/scene.json b/samples/-QALmP1nHtM_678.2_682.2/scene.json index 75714a1b7f3ced0306d8ae328457704a4ffad7f7..dc809c1ce33b16cd1d6e463d60e92670f18ab604 100644 --- a/samples/-QALmP1nHtM_678.2_682.2/scene.json +++ b/samples/-QALmP1nHtM_678.2_682.2/scene.json @@ -40,17 +40,81 @@ "hand_verts": "hand_verts.bin", "hand_faces": "hand_faces.bin", "hand_meta": "hand_meta.json", - "objects": [], + "objects": [ + { + "id": 0, + "prompt": "large knife", + "color_hex": "#d97757", + "ply": "objects/obj_0.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 1, + "prompt": "square plate of sliced turkey", + "color_hex": "#6a9460", + "ply": "objects/obj_1.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + }, + { + "id": 2, + "prompt": "square plate of sliced turkey", + "color_hex": "#5a7daa", + "ply": "objects/obj_2.ply", + "n_points": 0, + "scale_correction": 1.0, + "tracker_ok": false, + "canonical_translation": [ + 0, + 0, + 0 + ], + "canonical_rotation_quat": [ + 0, + 0, + 0, + 1 + ], + "canonical_scale": 1.0 + } + ], "object_pose_traj": "object_pose.bin", "object_pose_shape": [ 42, - 0, + 3, 4, 4 ], "object_obb": "object_obb.bin", "object_obb_shape": [ - 0, + 3, 8, 3 ], @@ -68,15 +132,27 @@ 480, 854 ], - "masks_npz": null, - "masks_meta": null, + "masks_npz": "masks.npz", + "masks_meta": { + "shape": [ + 42, + 480, + 854 + ], + "oids": [ + 0, + 1, + 2 + ], + "decode": "np.unpackbits(arr[oid_K][t])[: H*W].reshape(H, W).astype(bool)" + }, "bg_template": "bg_template.png", "pose_track": "pose_track.json" } }, "stats": { "n_frames": 42, - "n_objects": 0, + "n_objects": 3, "has_grasp": false, "mean_trust": null, "mean_iou": null diff --git a/samples/index.json b/samples/index.json index 12711999a23c56db2e62370ff22fa3f888746ca1..3cf870320774a0a11cde35fa41f394c6b0aeb139 100644 --- a/samples/index.json +++ b/samples/index.json @@ -12,8 +12,14 @@ "end_sec": 123.8, "duration_sec": 23.799999999999983, "n_frames": 162, - "n_objects": 0, - "objects": [], + "n_objects": 5, + "objects": [ + "blender", + "blender", + "bowl", + "bowl", + "blender" + ], "has_grasp": false, "mean_trust": null, "mean_iou": null, @@ -33,8 +39,14 @@ "end_sec": 323.4, "duration_sec": 8.0, "n_frames": 42, - "n_objects": 0, - "objects": [], + "n_objects": 5, + "objects": [ + "plastic container", + "plastic container", + "lid", + "lid", + "lid" + ], "has_grasp": false, "mean_trust": null, "mean_iou": null, @@ -75,8 +87,10 @@ "end_sec": 387.0, "duration_sec": 8.0, "n_frames": 39, - "n_objects": 0, - "objects": [], + "n_objects": 1, + "objects": [ + "white cloth" + ], "has_grasp": false, "mean_trust": null, "mean_iou": null, @@ -96,8 +110,10 @@ "end_sec": 83.8, "duration_sec": 11.0, "n_frames": 56, - "n_objects": 0, - "objects": [], + "n_objects": 1, + "objects": [ + "board" + ], "has_grasp": false, "mean_trust": null, "mean_iou": null, @@ -117,8 +133,12 @@ "end_sec": 249.0, "duration_sec": 8.0, "n_frames": 41, - "n_objects": 0, - "objects": [], + "n_objects": 3, + "objects": [ + "pot", + "plastic container", + "plastic container" + ], "has_grasp": false, "mean_trust": null, "mean_iou": null, @@ -138,8 +158,10 @@ "end_sec": 325.4, "duration_sec": 8.0, "n_frames": 41, - "n_objects": 0, - "objects": [], + "n_objects": 1, + "objects": [ + "pan" + ], "has_grasp": false, "mean_trust": null, "mean_iou": null, @@ -159,8 +181,14 @@ "end_sec": 130.7, "duration_sec": 15.999999999999972, "n_frames": 80, - "n_objects": 0, - "objects": [], + "n_objects": 5, + "objects": [ + "cutting board", + "knife", + "bacon", + "seasoning bottle", + "bacon" + ], "has_grasp": false, "mean_trust": null, "mean_iou": null, @@ -180,8 +208,12 @@ "end_sec": 339.5, "duration_sec": 11.200000000000045, "n_frames": 70, - "n_objects": 0, - "objects": [], + "n_objects": 3, + "objects": [ + "sausage", + "knife", + "grill" + ], "has_grasp": false, "mean_trust": null, "mean_iou": null, @@ -201,8 +233,13 @@ "end_sec": 60.3, "duration_sec": 23.799999999999997, "n_frames": 151, - "n_objects": 0, - "objects": [], + "n_objects": 4, + "objects": [ + "cutting board", + "seasoning packet", + "silver can", + "bacon" + ], "has_grasp": false, "mean_trust": null, "mean_iou": null, @@ -222,8 +259,12 @@ "end_sec": 56.3, "duration_sec": 8.199999999999989, "n_frames": 54, - "n_objects": 0, - "objects": [], + "n_objects": 3, + "objects": [ + "cutting board", + "knife", + "bacon" + ], "has_grasp": false, "mean_trust": null, "mean_iou": null, @@ -243,8 +284,12 @@ "end_sec": 60.3, "duration_sec": 8.0, "n_frames": 38, - "n_objects": 0, - "objects": [], + "n_objects": 3, + "objects": [ + "cutting board", + "knife", + "bacon" + ], "has_grasp": false, "mean_trust": null, "mean_iou": null, @@ -264,8 +309,12 @@ "end_sec": 97.6, "duration_sec": 9.599999999999994, "n_frames": 88, - "n_objects": 0, - "objects": [], + "n_objects": 3, + "objects": [ + "cutting board", + "bacon", + "knife" + ], "has_grasp": false, "mean_trust": null, "mean_iou": null, @@ -285,8 +334,10 @@ "end_sec": 109.4, "duration_sec": 8.0, "n_frames": 53, - "n_objects": 0, - "objects": [], + "n_objects": 1, + "objects": [ + "cereal box" + ], "has_grasp": false, "mean_trust": null, "mean_iou": null, @@ -306,8 +357,14 @@ "end_sec": 572.4, "duration_sec": 10.399999999999864, "n_frames": 92, - "n_objects": 0, - "objects": [], + "n_objects": 5, + "objects": [ + "chair", + "fabric", + "fabric", + "chair", + "fabric" + ], "has_grasp": false, "mean_trust": null, "mean_iou": null, @@ -327,8 +384,11 @@ "end_sec": 113.7, "duration_sec": 22.0, "n_frames": 73, - "n_objects": 0, - "objects": [], + "n_objects": 2, + "objects": [ + "plate", + "oil bottle" + ], "has_grasp": false, "mean_trust": null, "mean_iou": null, @@ -348,8 +408,14 @@ "end_sec": 1274.3, "duration_sec": 9.599999999999909, "n_frames": 88, - "n_objects": 0, - "objects": [], + "n_objects": 5, + "objects": [ + "paper", + "paper", + "paper", + "ink pad", + "paper" + ], "has_grasp": false, "mean_trust": null, "mean_iou": null, @@ -369,8 +435,11 @@ "end_sec": 186.2, "duration_sec": 17.0, "n_frames": 125, - "n_objects": 0, - "objects": [], + "n_objects": 2, + "objects": [ + "red bowl", + "whisk" + ], "has_grasp": false, "mean_trust": null, "mean_iou": null, @@ -390,8 +459,14 @@ "end_sec": 186.2, "duration_sec": 8.0, "n_frames": 82, - "n_objects": 0, - "objects": [], + "n_objects": 5, + "objects": [ + "knife", + "red bowl", + "whisk", + "chopping board", + "chopping board" + ], "has_grasp": false, "mean_trust": null, "mean_iou": null, @@ -411,8 +486,12 @@ "end_sec": 239.4, "duration_sec": 8.0, "n_frames": 28, - "n_objects": 0, - "objects": [], + "n_objects": 3, + "objects": [ + "bowl of chicken", + "tongs", + "shaker" + ], "has_grasp": false, "mean_trust": null, "mean_iou": null, @@ -432,8 +511,12 @@ "end_sec": 682.21, "duration_sec": 8.0, "n_frames": 42, - "n_objects": 0, - "objects": [], + "n_objects": 3, + "objects": [ + "large knife", + "square plate of sliced turkey", + "square plate of sliced turkey" + ], "has_grasp": false, "mean_trust": null, "mean_iou": null,