Voxel51/reflect3er

Dataset Card for reflect3r

This is a FiftyOne grouped dataset containing the synthetic evaluation benchmark from Reflect3r: Single-View 3D Stereo Reconstruction Aided by Mirror Reflections (3DV 2026). It contains 16 synthetic Blender interior scenes, each with a mirror, rendered from both a real camera and a geometrically derived virtual mirror camera, along with ground-truth point clouds.

Installation

pip install -U fiftyone openexr

Usage

import fiftyone as fo
from huggingface_hub import snapshot_download


# Download the dataset snapshot to the current working directory

snapshot_download(
    repo_id="Voxel51/reflect3er", 
    local_dir=".", 
    repo_type="dataset"
    )



# Load dataset from current directory using FiftyOne's native format
dataset = fo.Dataset.from_dir(
    dataset_dir=".",  # Current directory contains the dataset files
    dataset_type=fo.types.FiftyOneDataset,  # Specify FiftyOne dataset format
    name="reflect3er"  # Assign a name to the dataset for identification
)

Dataset Details

Dataset Description

Reflect3r is a synthetic evaluation dataset constructed to benchmark single-view 3D reconstruction methods in the presence of mirror reflections. The core insight of the accompanying paper is that a mirror in a scene provides a second, geometrically consistent viewpoint for free — a virtual camera whose pose is fully determined by reflecting the real camera pose across the mirror plane. This transforms an ostensibly single-view problem into a stereo reconstruction problem.

The dataset consists of 16 photorealistic interior Blender scenes (bedrooms, living rooms, gyms, bathrooms, etc.), each manually augmented with a mirror surface positioned in a plausible location. Each scene is rendered from two cameras: the real physical camera (Cam_Main) and the virtual mirror camera (Cam_Mirror), whose extrinsics are derived via the Householder reflection matrix. Ground-truth XYZRGB point clouds are provided for quantitative evaluation.

• Created by: Jing Wu, Zirui Wang, Iro Laina, Victor Adrian Prisacariu (University of Oxford)
• Funded by: Zirui Wang is supported by an ARIA research gift grant from Meta Reality Lab
• License: MIT
• Paper: arXiv:2509.20607
• Project page: https://jingwu2121.github.io/reflect3r/
• GitHub: https://github.com/jingwu2121/reflect3r

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FiftyOne Dataset Structure

This dataset is loaded as a FiftyOne grouped dataset with 16 groups (one per scene) and 3 slices per group. The default slice is cam_main.

Group Slices

Slice	Media type	Primary file	Fields
cam_main	Image	Cam_Main/rgb_0001.png	depth, inside_mask, outside_mask, intrinsics, extrinsics, clip_params, scene_name
cam_mirror	Image	Cam_Mirror/rgb_0001.png	depth, flipped_inside_mask, intrinsics, extrinsics, clip_params, scene_name
cam_mirror_3d	3D	point_cloud_gt.fo3d	scene_name

Field Descriptions

depth (fo.Heatmap) — Per-pixel metric depth rendered from the Blender scene. Stored as a normalized uint8 grayscale PNG derived from the original EXR files. See Depth Normalization below.

inside_mask / outside_mask (fo.Segmentation, on cam_main) — Binary segmentation masks separating mirror interior (inside_mask, class 1) from the surrounding real scene (outside_mask, class 1). These are in the coordinate frame of Cam_Main.

flipped_inside_mask (fo.Segmentation, on cam_mirror) — The mirror region mask horizontally flipped to align with the virtual camera's coordinate frame. This is the mask used by the Reflect3r pipeline to isolate the reflection region as seen from the virtual camera's perspective.

intrinsics (list[list[float]]) — 3×3 camera intrinsic matrix K stored as a nested Python list. Both cameras share the same intrinsics per scene, though focal length varies across scenes (e.g. gym uses fx=1600 while most others use fx≈2667).

extrinsics (list[list[float]]) — 4×4 camera-to-world transform stored as a nested Python list. The Cam_Mirror extrinsics are the reflection of Cam_Main extrinsics across the mirror plane, derived via the Householder matrix: C_vir = diag(-1,1,1,1) · (I - 2nn⊤) · C_real.

clip_params (list[float]) — [near, far] clipping distances in metres used during Blender rendering.

scene_name (str) — The scene identifier (e.g. archiviz, gym, terrazzo).

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Parsing Decisions

Several non-trivial choices were made when converting the raw rendered data into FiftyOne format.

What Was Ignored

The imgs/ subdirectory in each scene contains pre-composited and masked variants of the main image (image.png, image_outside_masked.png, flipped_image_inside_masked.png, outside.png). These are fully derivable from Cam_Main/rgb_0001.png combined with the masks and were excluded to avoid redundancy. The blender_source_files/ directory containing raw .blend files and texture assets was also excluded.

Depth Normalization

The Blender-rendered depth_png_0001.png files are unusable — they are all-white because Blender normalizes depth over the full [near, far] clip range (typically 0.1 m to 1000 m), which collapses all real scene depth variation into a tiny portion of the value range.

Instead, the raw depth_exr_0001.exr files are read directly. Blender stores metric depth identically in the R, G, B channels of the EXR. Some scenes (e.g. gym, terrazzo, livingroom) contain pixels with a sentinel value of ~1×10¹⁰ m assigned to background geometry, transparent surfaces, and the mirror plane itself (which has no real depth). These pixels are excluded from the normalization range and mapped to 255 (farthest depth) in the output. Valid pixels are min-max normalized per-image to uint8 and saved as depth_norm_0001.png.

Mask Binarization

The source mask PNGs (inside_mask.png, outside_mask.png, flipped_inside_mask.png) use pixel values {0, 255}. FiftyOne's fo.Segmentation treats pixel values as integer class indices, and class 255 has no guaranteed color in the viewer's default palette, causing masks to render as invisible. The masks are remapped to {0, 1} and saved as *_bin.png files, ensuring class 1 is reliably rendered.

3D Slice Placement

Each scene's ground-truth point cloud (point_cloud_gt.ply) is associated with the cam_mirror_3d slice rather than cam_main. This is a deliberate semantic choice: the GT point cloud is the reconstruction target for the virtual mirror camera, which is the central contribution of the paper. FiftyOne allows only one 3D slice per sample, so this placement best reflects the paper's intent. The .fo3d scene is written with up="Z" to match Blender's coordinate convention.

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Dataset Creation

Source Scenes

The 16 Blender scenes were sourced from Blender Demo, BlenderKit, and CGTrader. Each was manually augmented by the authors with a mirror surface. In some scenes, additional geometry was modelled to ensure consistent scene complexity. A full list of original source URLs is provided in the dataset README.

Rendering

Scenes were rendered using Blender Cycles. The Blender toolkit provided with the dataset (render_depth.py) renders RGB, depth (EXR and PNG), and camera parameters for both cameras. The virtual camera pose is computed via the reflection transformation in add_mirrored_cam.py. All images are 1920×1080.

Ground-Truth Point Clouds

GT point clouds were generated using syn_gt_point_cloud_gen.py and saved as binary little-endian PLY files with XYZRGB vertex attributes (Open3D format). Point counts range from hundreds of thousands to several million points per scene.

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Evaluation

The dataset is used to evaluate 3D reconstruction quality using four metrics: accuracy, completeness, F1 score, and Chamfer distance. Accuracy and completeness measure the percentage of predicted-to-GT and GT-to-predicted nearest-neighbour distances below a 1 cm threshold. Chamfer distance measures average nearest-neighbour distance between the two point sets.

The paper benchmarks Reflect3r against DUSt3R, MASt3R, VGGT, and MoGe. All baselines fail to correctly handle mirror regions — either hallucinating false geometry or producing degenerate flat reconstructions — while Reflect3r recovers correct geometry for both the real and reflected portions of the scene.

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Citation

@article{wu2026reflect3r,
  author = {Wu, Jing and Wang, Zirui and Laina, Iro and Prisacariu, Victor},
  title  = {{Reflect3r: Single-View 3D Stereo Reconstruction Aided by Mirror Reflections}},
  journal = {3DV},
  year   = {2026},
}