Dataset Viewer
The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code: StreamingRowsError
Exception: TypeError
Message: Couldn't cast array of type
struct<0: struct<model_file_name: list<item: string>, obj_id: list<item: int64>, label: list<item: string>, cls_id: list<item: int64>, obj_tran: list<item: double>, obj_rot: list<item: list<item: double>>, obj_scale: list<item: double>, bbox3d_world: list<item: list<item: double>>, bbox3d_world_center: list<item: double>, half_length: list<item: double>, bbox3d_camera: list<item: list<item: double>>, bbox_2d_from_3d: list<item: list<item: double>>, bbox_2d: list<item: int64>, render_box: list<item: int64>, occ_iou: double>, 1: struct<model_file_name: list<item: string>, obj_id: list<item: int64>, label: list<item: string>, cls_id: list<item: int64>, obj_tran: list<item: double>, obj_rot: list<item: list<item: double>>, obj_scale: list<item: double>, bbox3d_world: list<item: list<item: double>>, bbox3d_world_center: list<item: double>, half_length: list<item: double>, bbox3d_camera: list<item: list<item: double>>, bbox_2d_from_3d: list<item: list<item: double>>, bbox_2d: list<item: int64>, render_box: list<item: int64>, occ_iou: double>, 2: struct<model_file_name: list<item: string>, obj_id: list<item: int64>, label: list<item: string>, cls_id: list<item: int64>, obj_tran: list<item: double>, obj_rot: list<item: list<item: double>>, obj_scale: list<item: double>, bbox3d_world: list<item: list<item: double>>, bbox3d_world_center: list<item: double>, half_length: list<item: double>, bbox3d_camera: list<item: list<item: double>>, bbox_2d_from_3d: list<item: list<item: double>>, b
...
t64>, label: list<item: string>, cls_id: list<item: int64>, obj_tran: list<item: double>, obj_rot: list<item: list<item: double>>, obj_scale: list<item: double>, bbox3d_world: list<item: list<item: double>>, bbox3d_world_center: list<item: double>, half_length: list<item: double>, bbox3d_camera: list<item: list<item: double>>, bbox_2d_from_3d: list<item: list<item: double>>, bbox_2d: list<item: int64>, render_box: list<item: int64>, occ_iou: double>, 5: struct<model_file_name: list<item: string>, obj_id: list<item: int64>, label: list<item: string>, cls_id: list<item: int64>, obj_tran: list<item: double>, obj_rot: list<item: list<item: double>>, obj_scale: list<item: double>, bbox3d_world: list<item: list<item: double>>, bbox3d_world_center: list<item: double>, half_length: list<item: double>, bbox3d_camera: list<item: list<item: double>>, bbox_2d_from_3d: list<item: list<item: double>>, bbox_2d: list<item: int64>, render_box: list<item: int64>, occ_iou: double>, 6: struct<model_file_name: list<item: string>, obj_id: list<item: int64>, label: list<item: string>, cls_id: list<item: int64>, obj_tran: list<item: double>, obj_rot: list<item: list<item: double>>, obj_scale: list<item: double>, bbox3d_world: list<item: list<item: double>>, bbox3d_world_center: list<item: double>, half_length: list<item: double>, bbox3d_camera: list<item: list<item: double>>, bbox_2d_from_3d: list<item: list<item: double>>, bbox_2d: list<item: int64>, render_box: list<item: int64>, occ_iou: double>>
to
{'0': {'model_file_name': List(Value('string')), 'obj_id': List(Value('int64')), 'label': List(Value('string')), 'cls_id': List(Value('int64')), 'obj_tran': List(Value('float64')), 'obj_rot': List(List(Value('float64'))), 'obj_scale': List(Value('float64')), 'bbox3d_world': List(List(Value('float64'))), 'bbox3d_world_center': List(Value('float64')), 'half_length': List(Value('float64')), 'bbox3d_camera': List(List(Value('float64'))), 'bbox_2d_from_3d': List(List(Value('float64'))), 'bbox_2d': List(Value('int64')), 'occ_iou': Value('null')}, '1': {'model_file_name': List(Value('string')), 'obj_id': List(Value('int64')), 'label': List(Value('string')), 'cls_id': List(Value('int64')), 'obj_tran': List(Value('float64')), 'obj_rot': List(List(Value('float64'))), 'obj_scale': List(Value('float64')), 'bbox3d_world': List(List(Value('float64'))), 'bbox3d_world_center': List(Value('float64')), 'half_length': List(Value('float64')), 'bbox3d_camera': List(List(Value('float64'))), 'bbox_2d_from_3d': List(List(Value('float64'))), 'bbox_2d': List(Value('int64')), 'render_box': List(Value('int64')), 'occ_iou': Value('float64')}, '2': {'model_file_name': List(Value('string')), 'obj_id': List(Value('int64')), 'label': List(Value('string')), 'cls_id': List(Value('int64')), 'obj_tran': List(Value('float64')), 'obj_rot': List(List(Value('float64'))), 'obj_scale': List(Value('float64')), 'bbox3d_world': List(List(Value('float64'))), 'bbox3d_world_center': List(Value('float64')), 'half_length': List(Value('float64')), 'bbox3d_camera': List(List(Value('float64'))), 'bbox_2d_from_3d': List(List(Value('float64'))), 'bbox_2d': List(Value('int64')), 'render_box': List(Value('int64')), 'occ_iou': Value('float64')}, '3': {'model_file_name': List(Value('string')), 'obj_id': List(Value('int64')), 'label': List(Value('string')), 'cls_id': List(Value('int64')), 'obj_tran': List(Value('float64')), 'obj_rot': List(List(Value('float64'))), 'obj_scale': List(Value('float64')), 'bbox3d_world': List(List(Value('float64'))), 'bbox3d_world_center': List(Value('float64')), 'half_length': List(Value('float64')), 'bbox3d_camera': List(List(Value('float64'))), 'bbox_2d_from_3d': List(List(Value('float64'))), 'bbox_2d': List(Value('int64')), 'render_box': List(Value('int64')), 'occ_iou': Value('float64')}}
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 149, in get_rows_or_raise
return get_rows(
dataset=dataset,
...<4 lines>...
column_names=column_names,
)
File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
return func(*args, **kwargs)
File "/src/services/worker/src/worker/utils.py", line 129, in get_rows
rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
File "/src/services/worker/src/worker/utils.py", line 489, in safe_iter
yield from ds.decode(False) if ds.features else ds
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2818, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2355, in __iter__
for key, pa_table in self._iter_arrow():
~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2380, in _iter_arrow
for key, pa_table in self.ex_iterable._iter_arrow():
~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 536, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 419, in _iter_arrow
for key, pa_table in self.generate_tables_fn(**gen_kwags):
~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 343, in _generate_tables
self._cast_table(pa_table, json_field_paths=json_field_paths),
~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
pa_table = table_cast(pa_table, self.info.features.arrow_schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2369, in table_cast
return cast_table_to_schema(table, schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2303, in cast_table_to_schema
cast_array_to_feature(
~~~~~~~~~~~~~~~~~~~~~^
table[name] if name in table_column_names else pa.array([None] * len(table), type=schema.field(name).type),
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
feature,
^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 1852, in wrapper
return pa.chunked_array([func(chunk, *args, **kwargs) for chunk in array.chunks])
~~~~^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2149, in cast_array_to_feature
raise TypeError(f"Couldn't cast array of type\n{_short_str(array.type)}\nto\n{_short_str(feature)}")
TypeError: Couldn't cast array of type
struct<0: struct<model_file_name: list<item: string>, obj_id: list<item: int64>, label: list<item: string>, cls_id: list<item: int64>, obj_tran: list<item: double>, obj_rot: list<item: list<item: double>>, obj_scale: list<item: double>, bbox3d_world: list<item: list<item: double>>, bbox3d_world_center: list<item: double>, half_length: list<item: double>, bbox3d_camera: list<item: list<item: double>>, bbox_2d_from_3d: list<item: list<item: double>>, bbox_2d: list<item: int64>, render_box: list<item: int64>, occ_iou: double>, 1: struct<model_file_name: list<item: string>, obj_id: list<item: int64>, label: list<item: string>, cls_id: list<item: int64>, obj_tran: list<item: double>, obj_rot: list<item: list<item: double>>, obj_scale: list<item: double>, bbox3d_world: list<item: list<item: double>>, bbox3d_world_center: list<item: double>, half_length: list<item: double>, bbox3d_camera: list<item: list<item: double>>, bbox_2d_from_3d: list<item: list<item: double>>, bbox_2d: list<item: int64>, render_box: list<item: int64>, occ_iou: double>, 2: struct<model_file_name: list<item: string>, obj_id: list<item: int64>, label: list<item: string>, cls_id: list<item: int64>, obj_tran: list<item: double>, obj_rot: list<item: list<item: double>>, obj_scale: list<item: double>, bbox3d_world: list<item: list<item: double>>, bbox3d_world_center: list<item: double>, half_length: list<item: double>, bbox3d_camera: list<item: list<item: double>>, bbox_2d_from_3d: list<item: list<item: double>>, b
...
t64>, label: list<item: string>, cls_id: list<item: int64>, obj_tran: list<item: double>, obj_rot: list<item: list<item: double>>, obj_scale: list<item: double>, bbox3d_world: list<item: list<item: double>>, bbox3d_world_center: list<item: double>, half_length: list<item: double>, bbox3d_camera: list<item: list<item: double>>, bbox_2d_from_3d: list<item: list<item: double>>, bbox_2d: list<item: int64>, render_box: list<item: int64>, occ_iou: double>, 5: struct<model_file_name: list<item: string>, obj_id: list<item: int64>, label: list<item: string>, cls_id: list<item: int64>, obj_tran: list<item: double>, obj_rot: list<item: list<item: double>>, obj_scale: list<item: double>, bbox3d_world: list<item: list<item: double>>, bbox3d_world_center: list<item: double>, half_length: list<item: double>, bbox3d_camera: list<item: list<item: double>>, bbox_2d_from_3d: list<item: list<item: double>>, bbox_2d: list<item: int64>, render_box: list<item: int64>, occ_iou: double>, 6: struct<model_file_name: list<item: string>, obj_id: list<item: int64>, label: list<item: string>, cls_id: list<item: int64>, obj_tran: list<item: double>, obj_rot: list<item: list<item: double>>, obj_scale: list<item: double>, bbox3d_world: list<item: list<item: double>>, bbox3d_world_center: list<item: double>, half_length: list<item: double>, bbox3d_camera: list<item: list<item: double>>, bbox_2d_from_3d: list<item: list<item: double>>, bbox_2d: list<item: int64>, render_box: list<item: int64>, occ_iou: double>>
to
{'0': {'model_file_name': List(Value('string')), 'obj_id': List(Value('int64')), 'label': List(Value('string')), 'cls_id': List(Value('int64')), 'obj_tran': List(Value('float64')), 'obj_rot': List(List(Value('float64'))), 'obj_scale': List(Value('float64')), 'bbox3d_world': List(List(Value('float64'))), 'bbox3d_world_center': List(Value('float64')), 'half_length': List(Value('float64')), 'bbox3d_camera': List(List(Value('float64'))), 'bbox_2d_from_3d': List(List(Value('float64'))), 'bbox_2d': List(Value('int64')), 'occ_iou': Value('null')}, '1': {'model_file_name': List(Value('string')), 'obj_id': List(Value('int64')), 'label': List(Value('string')), 'cls_id': List(Value('int64')), 'obj_tran': List(Value('float64')), 'obj_rot': List(List(Value('float64'))), 'obj_scale': List(Value('float64')), 'bbox3d_world': List(List(Value('float64'))), 'bbox3d_world_center': List(Value('float64')), 'half_length': List(Value('float64')), 'bbox3d_camera': List(List(Value('float64'))), 'bbox_2d_from_3d': List(List(Value('float64'))), 'bbox_2d': List(Value('int64')), 'render_box': List(Value('int64')), 'occ_iou': Value('float64')}, '2': {'model_file_name': List(Value('string')), 'obj_id': List(Value('int64')), 'label': List(Value('string')), 'cls_id': List(Value('int64')), 'obj_tran': List(Value('float64')), 'obj_rot': List(List(Value('float64'))), 'obj_scale': List(Value('float64')), 'bbox3d_world': List(List(Value('float64'))), 'bbox3d_world_center': List(Value('float64')), 'half_length': List(Value('float64')), 'bbox3d_camera': List(List(Value('float64'))), 'bbox_2d_from_3d': List(List(Value('float64'))), 'bbox_2d': List(Value('int64')), 'render_box': List(Value('int64')), 'occ_iou': Value('float64')}, '3': {'model_file_name': List(Value('string')), 'obj_id': List(Value('int64')), 'label': List(Value('string')), 'cls_id': List(Value('int64')), 'obj_tran': List(Value('float64')), 'obj_rot': List(List(Value('float64'))), 'obj_scale': List(Value('float64')), 'bbox3d_world': List(List(Value('float64'))), 'bbox3d_world_center': List(Value('float64')), 'half_length': List(Value('float64')), 'bbox3d_camera': List(List(Value('float64'))), 'bbox_2d_from_3d': List(List(Value('float64'))), 'bbox_2d': List(Value('int64')), 'render_box': List(Value('int64')), 'occ_iou': Value('float64')}}Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
Fire3D Single-Image Data
20 indoor scenes rendered from 3D-FRONT. Each scene is one RGB view with metric depth, an empty-room depth map, ground-truth object meshes, and per-object 3D boxes — for single-image 3D scene reconstruction and evaluation. ~305 MiB.
<index>/ # e.g. 3025, index06 = 003025
├── rgb_<index06>.jpeg # 1296x968 RGB
├── depth_<index06>.npy # (968, 1296) float64, metric z-depth
├── bgdepth_<index06>.npy # (484, 648) float64, depth of the empty room (half res)
├── annotation_<index06>.json # intrinsics, extrinsics, per-object boxes + labels
└── sceneobjgt_<index06>.ply # GT object meshes, OpenCV camera frame
lift_3d_pcd.py # reference loader: depth -> point cloud, + viewer
Scenes: 3025 3084 3126 3200 3266 3277 3376 3392 3401 3431 3454 3477 3844 3847 3966 4033 4087 4091 4124 4135
Download
pip install -U "huggingface_hub[cli]"
hf download TianhangCheng7/Fire3DSingleImageData --repo-type dataset --local-dir single_image
# one scene
hf download TianhangCheng7/Fire3DSingleImageData --repo-type dataset \
--local-dir single_image --include "3025/*"
Resumable — re-run if interrupted. In Python: snapshot_download("TianhangCheng7/Fire3DSingleImageData", repo_type="dataset").
Conventions
depthis z-depth (along the optical axis), in metres. Windows / sky are stored as ~9e3 — mask withdepth < 100.bgdepthis the same view without objects, at half resolution; upsample before comparing withdepth.camera_intrinsicsis a pinholeKfor the full 968×1296 image, with integer pixel indices (u= column,v= row).camera_extrinsics=[R|t]maps world → OpenGL camera (x right, y up, z back) and is the frame ofbbox3d_camera.camera_pose_rot/camera_pose_tranare its inverse.sceneobjgt_*.plyis in the OpenCV camera frame (x right, y down, z forward) — the frame you get by unprojectingdepthwithK, so it overlays the lifted cloud directly.- World frame is 3D-FRONT: z up, floor at z = 0.
- 2D boxes (
bbox_2d,bbox_2d_from_3d,render_box) are at half resolution — multiply by 2 for full-res pixels.
Each obj_dict entry has label / cls_id, obj_id / model_file_name,
obj_tran / obj_rot (local→world) / obj_scale, bbox3d_world (3, 8) corners,
bbox3d_world_center + half_length, bbox3d_camera, the 2D boxes, and occ_iou.
Point clouds and visualization
lift_3d_pcd.py sits in the dataset root and finds the scenes next to itself, so it runs
with no configuration:
pip install numpy open3d pillow
cd single_image
1. Point cloud only (no window, writes files):
python lift_3d_pcd.py --scene 3025 --save --no-viz --no-gt --no-boxes
Writes to out/lift_3d_pcd/003025/: points_world.ply, points_world.npz
(xyz, rgb, uv, xyz_cam), meta_world.json.
2. Visualize everything (cloud + GT meshes + 3D boxes + camera frustum):
python lift_3d_pcd.py --scene 3025
Drag = rotate, scroll = zoom, shift+drag = pan, q = quit.
3. All scenes, foreground only (no window, object pixels only — uses bgdepth):
python lift_3d_pcd.py --scene all --mask fg --save --no-viz --no-gt --no-boxes
One folder per scene under out/lift_3d_pcd/ (003025/, 003084/, …).
Run python lift_3d_pcd.py --help for the remaining flags.
License
Derived from 3D-FRONT / 3D-FUTURE (Alibaba); conventions cross-checked against Gen3DSR. Use is subject to the original 3D-FRONT license terms (non-commercial research) — please also cite the 3D-FRONT papers.
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