# NAVI Eval Dataset

This directory contains the curated NAVI evaluation dataset for streaming image-to-3D generation.

Dataset root:

```text
/root/autodl-tmp/data/navi/navi_eval
```

Source code:

```text
/root/autodl-tmp/data/navi/navi_code
```

The loader in `navi_code/data_util.py` is prepared for this dataset layout.

## Subsets

There are two benchmark subsets:

| subset | objects | videos | total frames | purpose |
|---|---:|---:|---:|---|
| `normal` | 31 | 31 | 4333 | standard setting |
| `hard` | 31 | 31 | 4274 | challenging setting |

Both subsets contain the same 31 objects in the same order. Each object has exactly one selected video stream.

## Directory Structure

```text
navi_eval/
  README.md
  normal/
    subset_info.json
    3d_dollhouse_sink/
      model.glb
      info.json
      video/
        annotations.json
        video.mp4
        images/
          frame_00000.jpg
          frame_00015.jpg
          ...
        masks/
          frame_00000.png
          frame_00015.png
          ...
        depth/
          frame_00000.png
          frame_00015.png
          ...
    ...

  hard/
    subset_info.json
    3d_dollhouse_sink/
      model.glb
      info.json
      video/
        annotations.json
        video.mp4
        images/
        masks/
        depth/
    ...
```

Per object:

- `model.glb`: GT 3D model.
- `video/images/`: RGB video frames.
- `video/masks/`: binary object foreground masks.
- `video/depth/`: encoded GT depth maps.
- `video/annotations.json`: per-frame pose, intrinsics, filename, split, and occlusion metadata.
- `video/video.mp4`: original video file for quick visualization.
- `info.json`: object-level metadata, selected video name, frame count, camera model, and source/output paths.

Per subset:

- `subset_info.json`: stable object order and per-object frame counts.

## Quick Start

Use `navi_code/data_util.py` directly:

```python
from pathlib import Path
import sys

sys.path.insert(0, "/root/autodl-tmp/data/navi/navi_code")
import data_util

ROOT = Path("/root/autodl-tmp/data/navi/navi_eval")

objects = data_util.list_eval_objects(ROOT, "hard")
print(objects[:5])

sample = data_util.load_eval_object(
    ROOT,
    subset="hard",
    object_id=objects[0],
    max_num_images=4,
    load_images=True,
    load_depths=True,
    load_masks=True,
)

print(sample["object_id"])
print(sample["model_path"])
print(sample["video_root"])
print(len(sample["annotations"]))
print(sample["images"][0].size)
print(sample["depths"][0].shape)
print(sample["masks"][0].size)
print(sample["camera_matrices"][0][0].shape)  # object_to_world
print(sample["camera_matrices"][0][1].shape)  # intrinsics
```

The returned dictionary contains:

```python
{
    "subset": "hard",
    "object_id": "...",
    "index": 0,
    "record": ...,              # entry from subset_info.json
    "subset_info": ...,         # full subset_info.json
    "object_root": Path(...),
    "video_root": Path(...),
    "model_path": Path(...),
    "info_path": Path(...),
    "annotations_path": Path(...),
    "info": ...,                # info.json
    "annotations": [...],
    "camera_matrices": [...],   # list of (object_to_world, intrinsics)
    "images": [...],            # PIL images, if load_images=True
    "depths": [...],            # numpy arrays, if load_depths=True
    "masks": [...],             # PIL images, if load_masks=True
    "mesh": ...,                # trimesh object, if load_mesh=True
    "video": ...,               # mediapy video array, if load_video=True
}
```

## Iterate Through A Benchmark

```python
from pathlib import Path
import sys

sys.path.insert(0, "/root/autodl-tmp/data/navi/navi_code")
import data_util

ROOT = Path("/root/autodl-tmp/data/navi/navi_eval")

for item in data_util.iter_eval_subset(
    ROOT,
    "hard",
    max_num_images=64,
    load_images=True,
    load_depths=False,
    load_masks=False,
):
    object_id = item["object_id"]
    model_path = item["model_path"]
    images = item["images"]
    annotations = item["annotations"]

    # Feed images to your streaming image-to-3D model here.
    print(object_id, model_path, len(images), annotations[0]["filename"])
```

## Frame Order

The loader sorts annotations by numeric video frame id by default:

```text
frame_00000.jpg
frame_00015.jpg
frame_00030.jpg
...
```

This means `load_eval_object(..., max_num_images=64)` returns the first 64 chronological frames. If you need the raw JSON order, pass:

```python
sample = data_util.load_eval_object(ROOT, "hard", sort_frames=False)
```

## Loading Meshes And Videos

Image/depth/mask/camera loading works with the lightweight dependencies already available in most Python environments:

- `pillow`
- `numpy`
- `torch`

For `load_mesh=True`, install `trimesh`.

For `load_video=True`, install `mediapy`.

The full dependency set is listed in:

```text
/root/autodl-tmp/data/navi/navi_code/requirements.txt
```

Install it with:

```bash
cd /root/autodl-tmp/data/navi/navi_code
pip install -r requirements.txt
```

Example:

```python
sample = data_util.load_eval_object(
    ROOT,
    "hard",
    object_id="3d_dollhouse_sink",
    load_mesh=True,
    load_video=True,
)

mesh = sample["mesh"]
video = sample["video"]
```

## Camera Matrices

Each annotation contains:

```json
{
  "camera": {
    "q": [qw, qx, qy, qz],
    "t": [tx, ty, tz],
    "focal_length": 3024.0,
    "camera_model": "pixel_5"
  },
  "filename": "frame_00000.jpg",
  "image_size": [1920, 1080]
}
```

Use:

```python
object_to_world, intrinsics = data_util.camera_matrices_from_annotation(annotation)
```

`load_eval_object` already computes these for every returned annotation:

```python
object_to_world, intrinsics = sample["camera_matrices"][0]
```

## Depth Maps

Depth PNGs are encoded disparity images. Do not read raw PNG values as depth.

Use:

```python
depth = data_util.read_depth_from_png(depth_path)
```

or load all selected depths through:

```python
sample = data_util.load_eval_object(ROOT, "hard", load_depths=True)
depths = sample["depths"]
```

The decoder is:

```python
disparity = uint16_png.astype(np.float32) / (((2**16) - 1) * 10.0)
disparity[disparity == 0] = np.inf
depth = 1.0 / disparity
```

## Masks

Mask PNGs are binary foreground masks. Foreground pixels are nonzero:

```python
import numpy as np

mask = np.array(sample["masks"][0]) > 0
```

Use masks for foreground-only appearance and geometry metrics.

## Suggested Evaluation Loop

For each object:

1. Load the object with `data_util.load_eval_object`.
2. Use the first `N` chronological RGB frames as streaming input.
3. Generate a predicted 3D model.
4. Render the predicted model using the annotation cameras.
5. Compare rendered RGB/depth with GT `images`, `depths`, and `masks`.

Example skeleton:

```python
ROOT = "/root/autodl-tmp/data/navi/navi_eval"

for item in data_util.iter_eval_subset(
    ROOT,
    "hard",
    max_num_images=64,
    load_images=True,
    load_depths=True,
    load_masks=True,
):
    object_id = item["object_id"]
    images = item["images"]
    gt_depths = item["depths"]
    masks = item["masks"]
    annotations = item["annotations"]
    camera_matrices = item["camera_matrices"]
    gt_model = item["model_path"]

    # pred_model = your_model.generate(images)
    # rendered_rgb, rendered_depth = render(pred_model, camera_matrices)
    # compute PSNR/SSIM/LPIPS and depth metrics on mask foreground.
```

## Metric Notes

Appearance metrics:

- PSNR
- SSIM
- LPIPS

Geometry metrics:

- Depth MAE
- Depth RMSE
- Acc@5cm
- RelAcc@5

Foreground-only depth metric example:

```python
import numpy as np

valid = (mask > 0) & np.isfinite(gt_depth) & np.isfinite(pred_depth)
err = np.abs(pred_depth - gt_depth)

depth_mae = err[valid].mean()
depth_rmse = np.sqrt((err[valid] ** 2).mean())
acc_5cm = (err[valid] < 5.0).mean()
relacc_5 = ((err[valid] / gt_depth[valid]) < 0.05).mean()
```

## Validation

The dataset and loader were checked after preparation:

- `normal`: 31 objects, 31 videos, 4333 frames.
- `hard`: 31 objects, 31 videos, 4274 frames.
- Every object has `model.glb`, `video/`, and `info.json`.
- For every object, `len(images) == len(masks) == len(depth) == len(annotations)`.
- First image/mask/depth dimensions match for every object.
- No symlinks were found under `navi_eval`.
- `data_util.load_eval_object` successfully loaded RGB images, depth maps, masks, and camera matrices.
- `model.glb` files were loaded with `trimesh`.
- GT mesh surface points were projected into RGB frames using the annotation camera poses.
- Projected mesh bounding boxes were compared with GT mask bounding boxes on first/middle/last frames for all 62 subset entries.
- Alignment check result: 186 frame checks, 0 failures, minimum bbox IoU `0.9583`, mean per-object minimum bbox IoU `0.9926`.

## Validation Notebook

The validation notebook is:

```text
/root/autodl-tmp/data/navi/navi_eval/src_code/NAVI Dataset Tutorial.ipynb
```

A rendered HTML preview is available at:

```text
/root/autodl-tmp/data/navi/navi_eval/src_code/NAVI Dataset Tutorial.html
```

The notebook demonstrates:

- loading `hard` and `normal` with `data_util.py`
- loading RGB frames, masks, decoded depth maps, camera poses, and `model.glb`
- visualizing RGB / mask / depth
- projecting sampled GT mesh surface points onto the RGB image
- overlaying projected mesh points with the GT foreground mask
- validating mesh-camera-mask alignment across all entries

The mesh alignment example image is saved at:

```text
/root/autodl-tmp/data/navi/navi_eval/src_code/mesh_alignment_overlay_example.png
```

To rerun the notebook:

```bash
cd /root/autodl-tmp/data/navi/navi_eval/src_code
jupyter nbconvert --to notebook --execute --inplace "NAVI Dataset Tutorial.ipynb" --ExecutePreprocessor.timeout=600
jupyter nbconvert --to html "NAVI Dataset Tutorial.ipynb" --output "NAVI Dataset Tutorial.html"
```