Add files using upload-large-folder tool

.gitattributes

@@ -69,3 +69,4 @@ models/models/obj_000007.ply filter=lfs diff=lfs merge=lfs -text
 models/models/obj_000016.ply filter=lfs diff=lfs merge=lfs -text
 models/models/obj_000013.ply filter=lfs diff=lfs merge=lfs -text
 models/models/obj_000003.ply filter=lfs diff=lfs merge=lfs -text
+models/models/obj_000015.ply filter=lfs diff=lfs merge=lfs -text

models/models/obj_000015.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44cd6987bd8561f7fdeb1626bf6040da212652df1378a3e475cdb32fe97fc531
+size 58780287

test_bin/000012/scene_camera.json

@@ -0,0 +1,62 @@
+{
+    "0": {
+        "cam_K": [
+            1778.81005859375,
+            0.0,
+            967.9315795898438,
+            0.0,
+            1778.870361328125,
+            572.4088134765625,
+            0.0,
+            0.0,
+            1.0
+        ],
+        "depth_scale": 1.0,
+        "cam_R_w2c": [
+            -0.01421752403598392,
+            -0.9983511158159558,
+            0.05561395112129841,
+            -0.9567963526145851,
+            -0.0025705829032028355,
+            -0.2907475395028553,
+            0.2904110907553513,
+            -0.05734493571862918,
+            -0.9551821589171948
+        ],
+        "cam_t_w2c": [
+            46.58389365019442,
+            659.339857636344,
+            254.52191313349553
+        ]
+    },
+    "1": {
+        "cam_K": [
+            1778.81005859375,
+            0.0,
+            967.9315795898438,
+            0.0,
+            1778.870361328125,
+            572.4088134765625,
+            0.0,
+            0.0,
+            1.0
+        ],
+        "depth_scale": 1.0,
+        "cam_R_w2c": [
+            0.211948392288995,
+            -0.8904741723566743,
+            -0.4026582016696125,
+            -0.9719988793848705,
+            -0.14929909945312517,
+            -0.18146062211136055,
+            0.101469490393253,
+            0.42984360791825427,
+            -0.897183601751142
+        ],
+        "cam_t_w2c": [
+            -315.75389500001205,
+            673.0133066804713,
+            428.8022298083052
+        ]
+    }
+}

test_bin/000012/scene_gt.json

@@ -0,0 +1 @@
+{"0": [{"cam_R_m2c": [[-0.6761751568508582, -0.7349004447776789, 0.05204318901912953], [-0.7019464694365861, 0.6211794801033315, -0.34843537068452113], [0.22373714779450696, -0.2721348742151915, -0.935886904990481]], "cam_t_m2c": [-150.90721844075122, -109.99855888712614, 1026.7554981296007], "obj_id": 11}, {"cam_R_m2c": [[0.5728533671456091, 0.817483206707028, -0.05966763362099013], [-0.7648612530064376, 0.559307860506899, 0.31962787867239106], [0.2946629997121369, -0.13746244551580827, 0.9456626209560429]], "cam_t_m2c": [-169.69751094702616, -51.15193414233516, 902.5337364418498], "obj_id": 8}, {"cam_R_m2c": [[0.8161055554413003, -0.22353980572485727, -0.532918077789016], [0.3936871141255899, -0.46002902243984956, 0.7958541038937339], [-0.4230628541355403, -0.8593039356185488, -0.28742749986937755]], "cam_t_m2c": [-195.67566760040117, 127.56408358056578, 961.0206021641853], "obj_id": 6}, {"cam_R_m2c": [[0.30158747078638926, -0.9487450912922382, 0.09448676739921268], [-0.9043423781102877, -0.3160405410662353, -0.2868505526513591], [0.30200970285488915, 0.0010621447380439913, -0.9533042595258118]], "cam_t_m2c": [-192.22616348170612, 126.79270045324748, 975.301813316087], "obj_id": 13}, {"cam_R_m2c": [[0.9939537463193755, 0.05882979750131921, 0.09270925036710179], [-0.07105824883232176, -0.29904262752469035, 0.9515903699575837], [0.08370588659443212, -0.952424570162424, -0.2930541975477527]], "cam_t_m2c": [-2.3496304248454436, -125.23946778154088, 955.7758223229263], "obj_id": 7}, {"cam_R_m2c": [[-0.11558155298798943, -0.9864040128433965, -0.1168247750065302], [0.26379107418708725, 0.08290762880915624, -0.9610101946724913], [0.9576299774903171, -0.14189238362817372, 0.25062198163809946]], "cam_t_m2c": [-33.36231491964322, -29.255714516827588, 944.4476505905706], "obj_id": 3}, {"cam_R_m2c": [[-0.05066760298437411, 0.6140780015988324, -0.7876172940966967], [0.3054845448507678, 0.760361164137095, 0.5731754469003374], [0.9508480356319488, -0.21156348461978547, -0.22611701641052342]], "cam_t_m2c": [8.738377605628255, 83.31156542079128, 1006.2420336867452], "obj_id": 9}, {"cam_R_m2c": [[0.41344743213806384, -0.043211650289383466, -0.9095020473521286], [-0.27202361260898783, -0.9591168879253911, -0.0780893685431518], [-0.8689444027333382, 0.27969188149744406, -0.4082990036515186]], "cam_t_m2c": [62.02002061865583, 161.03538879176566, 965.2731381065131], "obj_id": 4}, {"cam_R_m2c": [[0.3424233873263736, -0.9377768888757414, -0.0576257798425798], [0.92227764071474, 0.32379205611836825, 0.21109869216148894], [-0.1793047050402862, -0.12543209750766607, 0.9757646292345488]], "cam_t_m2c": [104.9361665360457, -82.89330417956114, 931.3016384643213], "obj_id": 12}, {"cam_R_m2c": [[0.1602898833529052, 0.21570535588797682, -0.9632125169120028], [0.9301712673075138, -0.3595336830600551, 0.07427613493450588], [-0.33028558365488675, -0.9078583205470522, -0.25827253637047387]], "cam_t_m2c": [149.47976540152592, 90.25775221519751, 989.4274738209176], "obj_id": 5}, {"cam_R_m2c": [[0.03766113558519331, 0.036507147138158426, 0.9986234861419316], [0.1432943603404716, 0.9888074268248059, -0.0415523639606022], [-0.988963277963871, 0.14466202288068572, 0.03200834227227718]], "cam_t_m2c": [209.89843896970288, 155.10113594603996, 975.5344424925256], "obj_id": 2}, {"cam_R_m2c": [[-0.03891269545204209, -0.9986627381645153, 0.034037296226519666], [0.26269014572702837, -0.043088753364098155, -0.963917655545036], [0.9640952699140095, -0.02856737186517201, 0.26401555975765467]], "cam_t_m2c": [206.2914938516642, -33.52117096850511, 1040.6480381570498], "obj_id": 1}], "1": [{"cam_R_m2c": [[-0.4141320467396193, -0.8217978423595788, -0.39133483636955907], [-0.815884628844149, 0.5257523871376729, -0.24065888688115286], [0.4035181783750151, 0.21961952033499346, -0.8882231397620403]], "cam_t_m2c": [-38.14432396294798, -191.0573757163448, 1064.0532912291067], "obj_id": 11}, {"cam_R_m2c": [[0.7050432012579227, 0.5909641861804067, 0.3920145596940308], [-0.6940320769402109, 0.6885777978712238, 0.21019060982086898], [-0.14571739957202048, -0.4202641394777126, 0.8956251964583288]], "cam_t_m2c": [-121.04778121124554, -123.60263386736644, 975.6003602912267], "obj_id": 8}, {"cam_R_m2c": [[0.46158367491646113, -0.581938524005948, -0.6695431765975907], [0.5542089704271588, -0.40016384265074534, 0.7298776035288757], [-0.6926708656704718, -0.7079664210347589, 0.13780645318181478]], "cam_t_m2c": [-129.31154208150033, 42.261220463093416, 1067.5562473174812], "obj_id": 6}, {"cam_R_m2c": [[0.4860681930674594, -0.7924398381023494, -0.3684790559536022], [-0.8733443653580112, -0.45577109577844055, -0.17187881704948765], [-0.03173848114745999, 0.40535393329933544, -0.9136087004693038]], "cam_t_m2c": [-119.16717453175276, 40.59616664551444, 1078.080814071481], "obj_id": 13}, {"cam_R_m2c": [[0.9059269107121266, -0.3978177849708419, -0.145042898510999], [0.0735928587244689, -0.18940143602776535, 0.9791379816835718], [-0.4169898363177933, -0.8977015684466125, -0.14230730977763423]], "cam_t_m2c": [56.12832876493267, -176.21909514594068, 929.026445690842], "obj_id": 7}, {"cam_R_m2c": [[0.354336352140218, -0.9293275395521348, 0.10390415671153617], [0.14555080523519523, -0.05494838333482871, -0.9878236878432649], [0.9237211227677689, 0.3651451757847295, 0.11579416200219103]], "cam_t_m2c": [15.705140002449186, -85.45376436610408, 949.777722852801], "obj_id": 3}, {"cam_R_m2c": [[0.40354529859270255, 0.3616845207208307, -0.840437683266683], [0.1971400870266469, 0.8626055673627409, 0.4658834846202752], [0.8934690694539185, -0.3536890479301652, 0.27679790335802945]], "cam_t_m2c": [73.39762663606497, 25.445177267067894, 1001.1139511576823], "obj_id": 9}, {"cam_R_m2c": [[-0.05231582967009873, 0.18177280080528438, -0.9819479124950242], [-0.11703960527449421, -0.9776339501394473, -0.17473863434263925], [-0.9917483474970458, 0.10578519944747494, 0.07242034807109152]], "cam_t_m2c": [92.55617182337706, 114.1124573973277, 952.8496767174519], "obj_id": 4}, {"cam_R_m2c": [[0.12961504344114108, -0.8992457952244849, 0.41780012001533867], [0.9770514216362621, 0.18765349595547384, 0.1007803797087848], [-0.16902798582574696, 0.3951495479268201, 0.9029320986546632]], "cam_t_m2c": [133.07802608774054, -115.73840358571204, 863.2749779717961], "obj_id": 12}, {"cam_R_m2c": [[-0.10340581638916263, -0.2351337953456643, -0.9664467576764049], [0.9721424931767912, -0.22937954961012763, -0.0482078331878819], [-0.2103478312151243, -0.94450893087731, 0.25230273362786887]], "cam_t_m2c": [186.0015621786037, 55.464869874770784, 920.1306878914348], "obj_id": 5}, {"cam_R_m2c": [[-0.47117151004439156, 0.020960860278583363, 0.8817925212082869], [0.24591523911634847, 0.9631990399326519, 0.10850485999787955], [-0.8470673546376538, 0.26797061743630085, -0.4589865410858704]], "cam_t_m2c": [225.86114771632825, 129.8410318790907, 889.675855513586], "obj_id": 2}, {"cam_R_m2c": [[0.42385408490286347, -0.873053818183094, 0.24109074073277606], [0.15553289436394352, -0.19207104015086165, -0.9689779328272331], [0.8922764333332626, 0.44820279572007266, 0.05437849231802323]], "cam_t_m2c": [270.85937322943187, -62.69042086583952, 916.8413568675289], "obj_id": 1}]}

test_bin/000012/scene_gt_info.json

@@ -0,0 +1,4 @@
+{
+  "0": [{"bbox_obj": [628, 276, 151, 193], "bbox_visib": [655, 276, 110, 91], "px_count_all": 20638, "px_count_valid": 20259, "px_count_visib": 3967, "visib_fract": 0.1922182382013761}, {"bbox_obj": [369, 162, 462, 542], "bbox_visib": [369, 162, 462, 542], "px_count_all": 132659, "px_count_valid": 88889, "px_count_visib": 129545, "visib_fract": 0.9765262816695437}, {"bbox_obj": [508, 706, 192, 199], "bbox_visib": [508, 706, 192, 199], "px_count_all": 19406, "px_count_valid": 18397, "px_count_visib": 18568, "visib_fract": 0.9568174791301659}, {"bbox_obj": [446, 634, 317, 319], "bbox_visib": [446, 634, 317, 315], "px_count_all": 79127, "px_count_valid": 69863, "px_count_visib": 55464, "visib_fract": 0.7009491071315733}, {"bbox_obj": [892, 180, 161, 277], "bbox_visib": [892, 180, 161, 255], "px_count_all": 37301, "px_count_valid": 25219, "px_count_visib": 26965, "visib_fract": 0.722902871236696}, {"bbox_obj": [831, 376, 193, 242], "bbox_visib": [831, 376, 193, 242], "px_count_all": 36805, "px_count_valid": 19796, "px_count_visib": 33627, "visib_fract": 0.9136530362722456}, {"bbox_obj": [765, 545, 414, 355], "bbox_visib": [765, 545, 414, 355], "px_count_all": 65296, "px_count_valid": 61333, "px_count_visib": 63405, "visib_fract": 0.9710395736339132}, {"bbox_obj": [971, 783, 223, 174], "bbox_visib": [971, 783, 223, 170], "px_count_all": 34569, "px_count_valid": 31100, "px_count_visib": 30502, "visib_fract": 0.8823512395498857}, {"bbox_obj": [1072, 242, 239, 283], "bbox_visib": [1072, 242, 239, 283], "px_count_all": 45602, "px_count_valid": 37633, "px_count_visib": 41483, "visib_fract": 0.9096750142537608}, {"bbox_obj": [1037, 680, 368, 111], "bbox_visib": [1037, 680, 368, 111], "px_count_all": 27426, "px_count_valid": 24876, "px_count_visib": 25311, "visib_fract": 0.9228833953183111}, {"bbox_obj": [1228, 762, 260, 195], "bbox_visib": [1228, 762, 260, 190], "px_count_all": 43929, "px_count_valid": 38198, "px_count_visib": 36335, "visib_fract": 0.8271301418197546}, {"bbox_obj": [1190, 324, 276, 375], "bbox_visib": [1193, 328, 273, 371], "px_count_all": 93226, "px_count_valid": 84028, "px_count_visib": 81407, "visib_fract": 0.8732220625147491}],
+  "1": [{"bbox_obj": [804, 154, 192, 182], "bbox_visib": [804, 154, 192, 145], "px_count_all": 21706, "px_count_valid": 16305, "px_count_visib": 17194, "visib_fract": 0.7921312079609325}, {"bbox_obj": [450, 70, 549, 497], "bbox_visib": [450, 70, 549, 497], "px_count_all": 111839, "px_count_valid": 95712, "px_count_visib": 101210, "visib_fract": 0.9049615965807992}, {"bbox_obj": [665, 555, 178, 170], "bbox_visib": [665, 555, 178, 170], "px_count_all": 15830, "px_count_valid": 15395, "px_count_visib": 15037, "visib_fract": 0.9499052432090966}, {"bbox_obj": [616, 487, 264, 285], "bbox_visib": [616, 487, 264, 285], "px_count_all": 58335, "px_count_valid": 50086, "px_count_visib": 39466, "visib_fract": 0.6765406702665638}, {"bbox_obj": [891, 91, 322, 248], "bbox_visib": [891, 91, 241, 202], "px_count_all": 43740, "px_count_valid": 39652, "px_count_visib": 23962, "visib_fract": 0.5478280749885688}, {"bbox_obj": [843, 292, 290, 209], "bbox_visib": [843, 292, 290, 209], "px_count_all": 39953, "px_count_valid": 28407, "px_count_visib": 36567, "visib_fract": 0.9152504192426101}, {"bbox_obj": [875, 453, 436, 317], "bbox_visib": [875, 453, 436, 317], "px_count_all": 65217, "px_count_valid": 61254, "px_count_visib": 60827, "visib_fract": 0.9326862627842434}, {"bbox_obj": [1026, 690, 227, 192], "bbox_visib": [1026, 690, 227, 192], "px_count_all": 33614, "px_count_valid": 32151, "px_count_visib": 32814, "visib_fract": 0.9762003926935205}, {"bbox_obj": [1047, 169, 320, 271], "bbox_visib": [1047, 169, 320, 271], "px_count_all": 55945, "px_count_valid": 50272, "px_count_visib": 51061, "visib_fract": 0.9126999731879525}, {"bbox_obj": [1113, 629, 398, 103], "bbox_visib": [1113, 629, 398, 103], "px_count_all": 31984, "px_count_valid": 30161, "px_count_visib": 30191, "visib_fract": 0.9439407203601801}, {"bbox_obj": [1262, 720, 297, 247], "bbox_visib": [1262, 720, 286, 240], "px_count_all": 53734, "px_count_valid": 42874, "px_count_visib": 46142, "visib_fract": 0.8587114303792757}, {"bbox_obj": [1307, 226, 374, 447], "bbox_visib": [1307, 226, 370, 447], "px_count_all": 122253, "px_count_valid": 101528, "px_count_visib": 102222, "visib_fract": 0.8361512600917769}]
+}

test_bin/000029/scene_camera.json

@@ -0,0 +1,62 @@
+{
+    "0": {
+        "cam_K": [
+            1778.81005859375,
+            0.0,
+            967.9315795898438,
+            0.0,
+            1778.870361328125,
+            572.4088134765625,
+            0.0,
+            0.0,
+            1.0
+        ],
+        "depth_scale": 1.0,
+        "cam_R_w2c": [
+            -0.01411549440390103,
+            -0.9983523518820491,
+            0.05561775174631628,
+            -0.9567761640134671,
+            -0.00267340376560921,
+            -0.29081304112433015,
+            0.29048257227139934,
+            -0.057318709021465734,
+            -0.9551619971516372
+        ],
+        "cam_t_w2c": [
+            46.570041849159345,
+            659.4032493169182,
+            254.51396010472826
+        ]
+    },
+    "1": {
+        "cam_K": [
+            1778.81005859375,
+            0.0,
+            967.9315795898438,
+            0.0,
+            1778.870361328125,
+            572.4088134765625,
+            0.0,
+            0.0,
+            1.0
+        ],
+        "depth_scale": 1.0,
+        "cam_R_w2c": [
+            0.2119326842209853,
+            -0.890483686875873,
+            -0.40264542809628456,
+            -0.9719917512479322,
+            -0.14924322700190798,
+            -0.18154474572411805,
+            0.1015705314787013,
+            0.4298433000548096,
+            -0.8971723159645114
+        ],
+        "cam_t_w2c": [
+            -315.7794096118423,
+            673.0530948400117,
+            428.74484642317816
+        ]
+    }
+}

test_bin/000029/scene_gt.json

@@ -0,0 +1 @@
+{"0": [{"cam_R_m2c": [[0.05393091363191395, -0.05429546223605968, 0.9970674296833657], [-0.2539479966898681, 0.9649440900354734, 0.0662821098247034], [-0.9657131414307383, -0.25677793107310454, 0.03825209251513129]], "cam_t_m2c": [-149.86870283712784, 42.493381119591575, 1006.3073371000742], "obj_id": 9}, {"cam_R_m2c": [[0.9792120197579507, -0.07103319670161862, 0.18999501395536506], [0.20209831956329227, 0.2616665706280349, -0.9437620860394083], [0.017323094159041156, 0.9625408514874091, 0.2705827408144218]], "cam_t_m2c": [-115.54144793043902, 135.08536994736883, 972.6397549862788], "obj_id": 3}, {"cam_R_m2c": [[0.1470109135481672, 0.1198344646473623, 0.981849017100088], [-0.866272296347974, -0.4635425370966375, 0.186281037365638], [0.4774516728190817, -0.8779339481901174, 0.03566346502468919]], "cam_t_m2c": [-80.31552087533197, -54.839480337150874, 1011.924969856288], "obj_id": 2}, {"cam_R_m2c": [[0.4015174341876413, 0.9071886228791494, -0.12566842309030546], [-0.26339023635627407, -0.01703759418193169, -0.9645389073420919], [-0.8771598106591266, 0.42037902291042356, 0.23210373469920315]], "cam_t_m2c": [42.527754826803466, 2.9660408589594933, 1018.5390516745884], "obj_id": 11}, {"cam_R_m2c": [[0.04812180924771122, 0.011796772298321323, 0.9987718095931943], [-0.23603410716580017, 0.9717447654548749, -0.00010519264576967789], [-0.970552518789769, -0.2357391502792667, 0.0495465568575541]], "cam_t_m2c": [88.3113047670839, -81.86239546003817, 1061.3794729715974], "obj_id": 5}, {"cam_R_m2c": [[0.7988946551824091, 0.599426217587151, 0.04955340139828549], [0.585122588549266, -0.7554600849566077, -0.29480776178174195], [-0.1392798847299256, 0.2645151596913097, -0.95427084415437]], "cam_t_m2c": [128.47179269363443, 72.62243035546199, 1022.94452513881], "obj_id": 7}, {"cam_R_m2c": [[0.02397646763581035, -0.3103036115901154, -0.9503350975491955], [-0.26886553457526047, -0.9175857964487477, 0.2928269633641577], [-0.9628792516807403, 0.24849139781820354, -0.10543041256244343]], "cam_t_m2c": [147.23009039524584, 56.77054142681181, 988.546361710481], "obj_id": 4}], "1": [{"cam_R_m2c": [[-0.41241896401747724, -0.254937047214253, 0.8745957352265239], [-0.14449826733821, 0.9661978037947282, 0.21349954257210593], [-0.8994614215490299, -0.03832630819582672, -0.43531625887976233]], "cam_t_m2c": [-60.25476424595635, -38.92737454091616, 1070.7340956412324], "obj_id": 9}, {"cam_R_m2c": [[0.8374563663398258, 0.3954287241484774, 0.3772306437647919], [0.346406300053064, 0.14979526360225673, -0.9260475442901814], [-0.42269316266109375, 0.9061994830723707, -0.011532004115715892]], "cam_t_m2c": [-55.060703617706764, 60.72542426970466, 1040.2794681882297], "obj_id": 3}, {"cam_R_m2c": [[0.4365079404691674, -0.29440060082025227, 0.8501700442523467], [-0.8771889901232451, -0.3493197009182346, 0.3294164873787499], [0.20000073378346916, -0.8895527150130369, -0.4107257889383183]], "cam_t_m2c": [10.714096185586024, -124.57113522366535, 1026.3330152116298], "obj_id": 2}, {"cam_R_m2c": [[-0.0674177200874018, 0.9939057975956778, 0.08721305248593744], [-0.10962249921022522, 0.07950371169296837, -0.9907886088838249], [-0.9916843039420947, -0.07635722187677822, 0.10359447853114431]], "cam_t_m2c": [115.27879035058399, -49.6538881604338, 982.4089264796916], "obj_id": 11}, {"cam_R_m2c": [[-0.4213341756264918, -0.18796384700796048, 0.8872131111898137], [-0.12728658708861254, 0.9808590330464626, 0.14735563117333142], [-0.8979285256614095, -0.05084436555928352, -0.4371947086761189]], "cam_t_m2c": [183.18489748650592, -130.36807029125902, 983.5403711147834], "obj_id": 5}, {"cam_R_m2c": [[0.5719616545720241, 0.712126244030122, -0.4071069616977623], [0.7111863553444601, -0.6778174333347855, -0.18648725168039187], [-0.40874666196935744, -0.1828653592974833, -0.8941400487048464]], "cam_t_m2c": [185.89091719841173, 31.504955808164468, 956.2370326488143], "obj_id": 7}, {"cam_R_m2c": [[-0.4356369599195594, -0.06800674330778529, -0.8975497323361599], [-0.16402093510707155, -0.9744497800332689, 0.15344301561072454], [-0.8850522990189, 0.21406239524442422, 0.413351810137049]], "cam_t_m2c": [186.3089534326065, 22.235851917422167, 915.0023540241409], "obj_id": 4}]}

test_bin/000029/scene_gt_info.json

@@ -0,0 +1,4 @@
+{
+  "0": [{"bbox_obj": [487, 554, 471, 186], "bbox_visib": [487, 554, 471, 186], "px_count_all": 66344, "px_count_valid": 63660, "px_count_visib": 64950, "visib_fract": 0.9789883033883998}, {"bbox_obj": [475, 708, 496, 203], "bbox_visib": [475, 708, 496, 203], "px_count_all": 47454, "px_count_valid": 44300, "px_count_visib": 46189, "visib_fract": 0.973342605470561}, {"bbox_obj": [706, 360, 239, 209], "bbox_visib": [706, 360, 239, 209], "px_count_all": 36999, "px_count_valid": 35480, "px_count_visib": 33883, "visib_fract": 0.9157815076083138}, {"bbox_obj": [971, 460, 139, 217], "bbox_visib": [971, 460, 139, 217], "px_count_all": 24622, "px_count_valid": 22861, "px_count_visib": 23987, "visib_fract": 0.9742100560474373}, {"bbox_obj": [963, 383, 341, 105], "bbox_visib": [963, 383, 341, 105], "px_count_all": 32433, "px_count_valid": 30551, "px_count_visib": 29000, "visib_fract": 0.8941510190238338}, {"bbox_obj": [1006, 475, 369, 446], "bbox_visib": [1006, 475, 369, 446], "px_count_all": 58862, "px_count_valid": 54849, "px_count_visib": 36889, "visib_fract": 0.6267031361489586}, {"bbox_obj": [1112, 569, 245, 215], "bbox_visib": [1112, 569, 245, 215], "px_count_all": 33224, "px_count_valid": 29922, "px_count_visib": 32954, "visib_fract": 0.9918733445701903}],
+  "1": [{"bbox_obj": [686, 401, 406, 217], "bbox_visib": [686, 401, 406, 217], "px_count_all": 54046, "px_count_valid": 52086, "px_count_visib": 52941, "visib_fract": 0.9795544536135884}, {"bbox_obj": [651, 547, 420, 247], "bbox_visib": [651, 547, 420, 247], "px_count_all": 39331, "px_count_valid": 32097, "px_count_visib": 38390, "visib_fract": 0.9760748518979939}, {"bbox_obj": [859, 237, 259, 220], "bbox_visib": [859, 237, 259, 220], "px_count_all": 40786, "px_count_valid": 32721, "px_count_visib": 37942, "visib_fract": 0.9302701907517286}, {"bbox_obj": [1095, 363, 155, 219], "bbox_visib": [1095, 363, 155, 219], "px_count_all": 26240, "px_count_valid": 24105, "px_count_visib": 24294, "visib_fract": 0.9258384146341463}, {"bbox_obj": [1132, 269, 377, 138], "bbox_visib": [1132, 269, 377, 137], "px_count_all": 38972, "px_count_valid": 36400, "px_count_visib": 36472, "visib_fract": 0.9358513804782921}, {"bbox_obj": [1094, 396, 466, 444], "bbox_visib": [1094, 396, 466, 444], "px_count_all": 74221, "px_count_valid": 68099, "px_count_visib": 44782, "visib_fract": 0.6033602349739292}, {"bbox_obj": [1206, 512, 246, 205], "bbox_visib": [1206, 512, 246, 205], "px_count_all": 39565, "px_count_valid": 37287, "px_count_visib": 39382, "visib_fract": 0.9953746998609883}]
+}

test_bin/000030/scene_camera.json

@@ -0,0 +1,62 @@
+{
+    "0": {
+        "cam_K": [
+            1778.81005859375,
+            0.0,
+            967.9315795898438,
+            0.0,
+            1778.870361328125,
+            572.4088134765625,
+            0.0,
+            0.0,
+            1.0
+        ],
+        "depth_scale": 1.0,
+        "cam_R_w2c": [
+            -0.014104337019747278,
+            -0.9983524757980947,
+            0.05561835798590528,
+            -0.9567984882499799,
+            -0.002679861764335153,
+            -0.29073952470119596,
+            0.29040957380876187,
+            -0.05731624908120718,
+            -0.9551843419107512
+        ],
+        "cam_t_w2c": [
+            46.564437831310116,
+            659.3260116958359,
+            254.519562534007
+        ]
+    },
+    "1": {
+        "cam_K": [
+            1778.81005859375,
+            0.0,
+            967.9315795898438,
+            0.0,
+            1778.870361328125,
+            572.4088134765625,
+            0.0,
+            0.0,
+            1.0
+        ],
+        "depth_scale": 1.0,
+        "cam_R_w2c": [
+            0.21196849588842523,
+            -0.8904844692828899,
+            -0.40262484612448973,
+            -0.9719831898856319,
+            -0.1492756847077919,
+            -0.18156389656198732,
+            0.10157773048533228,
+            0.42983040832517916,
+            -0.8971776773574225
+        ],
+        "cam_t_w2c": [
+            -315.7857445291769,
+            673.0411978779028,
+            428.78609798777444
+        ]
+    }
+}

test_bin/000030/scene_gt.json

@@ -0,0 +1 @@
+{"0": [{"cam_R_m2c": [[0.10795012296236685, -0.9867717896778064, -0.12094712087713001], [0.028451597919637237, -0.11854176207031032, 0.9925413629774261], [-0.9937491019005911, -0.11058610103138156, 0.015278636406687847]], "cam_t_m2c": [-219.30497650203085, 48.83191861305405, 949.5430482157892], "obj_id": 12}, {"cam_R_m2c": [[0.027511438316450205, -0.10212203926135065, 0.9943913766012162], [-0.18608965962437646, 0.976855566938545, 0.10546961610841891], [-0.982147524225685, -0.1879475736429624, 0.007870846147618689]], "cam_t_m2c": [-150.0637949512679, 44.281831724649564, 1006.9812676244317], "obj_id": 9}, {"cam_R_m2c": [[-0.08050846057299259, 0.04747269750469046, 0.9956227853799815], [-0.8852976848582258, -0.46237836512196157, -0.04954045469921509], [0.45800261676198906, -0.8854109726329179, 0.07925283957310388]], "cam_t_m2c": [-121.34689901317927, -109.02475165760468, 1048.0830834571289], "obj_id": 6}, {"cam_R_m2c": [[0.20491616448428032, 0.696838335282117, -0.6873323068314933], [-0.15801000053601266, -0.6694712546945969, -0.7258381905550664], [-0.9659410982371874, 0.2573413562156174, -0.027078056013054196]], "cam_t_m2c": [53.25738556862582, 32.354897085176376, 985.3405542416745], "obj_id": 8}, {"cam_R_m2c": [[-0.5517938928495191, 0.7981414030081642, -0.2418549164646751], [-0.8335513626392212, -0.5371118109558937, 0.12924019643276913], [-0.026751180465027214, 0.27291244628239925, 0.9616668711190414]], "cam_t_m2c": [74.54922961389023, 36.93490242085736, 895.165660430358], "obj_id": 4}, {"cam_R_m2c": [[0.04983649941432759, -0.0010444125121658542, 0.9987568435453291], [-0.34152505359973667, 0.9396998265502253, 0.01802425435837666], [-0.9385504574021711, -0.3419987502666973, 0.04647465681631567]], "cam_t_m2c": [88.38781983469087, -82.8042736309349, 1060.3064743715738], "obj_id": 5}, {"cam_R_m2c": [[0.8491206947972004, 0.5204685570267393, -0.09003625277424551], [-0.48862938843298254, 0.8387466739362477, 0.24030259615845764], [0.20058755302045345, -0.16005154828176366, 0.9665133912501558]], "cam_t_m2c": [241.46566045209073, 113.36382463680579, 974.3633379418911], "obj_id": 11}], "1": [{"cam_R_m2c": [[-0.4032125050291058, -0.8973086611370392, -0.17960189986914288], [0.14411402091252143, -0.256078641267917, 0.9558529585991788], [-0.9036873490121348, 0.3595287139225863, 0.2325688695861766]], "cam_t_m2c": [-148.9550780043462, -37.47091725310198, 1056.310879471798], "obj_id": 12}, {"cam_R_m2c": [[-0.4490286653620323, -0.26307582540158675, 0.8539112177342936], [-0.08026036649684327, 0.9636860917019339, 0.25469077374346283], [-0.8899053496035307, 0.04582823092293004, -0.45383724174806345]], "cam_t_m2c": [-60.219681431915305, -37.135949611040225, 1071.8063870106062], "obj_id": 9}, {"cam_R_m2c": [[0.2319824409449473, -0.36066113405329836, 0.9033867906254832], [-0.928628964546848, -0.35855670381758414, 0.09531703075586662], [0.28953824151201485, -0.8610230174222154, -0.4180992348369843]], "cam_t_m2c": [-2.20334370825645, -187.60264720369997, 1068.5192365580883], "obj_id": 6}, {"cam_R_m2c": [[-0.2900992542431938, 0.7855689687276242, -0.5465563265206637], [-0.027199186661023212, -0.5776536653844666, -0.8158286873559117], [-0.9566099659383254, -0.22180540624635514, 0.18894373455441094]], "cam_t_m2c": [105.6104924908076, -15.656842436909422, 953.5309624061106], "obj_id": 8}, {"cam_R_m2c": [[-0.4203585836484007, 0.8697651291385156, 0.25847104535667914], [-0.9010742235043215, -0.43361918674916683, -0.00629639730936866], [0.10660161766687878, -0.23554834114817366, 0.9659984855542734]], "cam_t_m2c": [78.7840842771523, 1.1397955365262669, 866.3297736484533], "obj_id": 4}, {"cam_R_m2c": [[-0.3951144823190341, -0.2492750291957658, 0.884164297900119], [-0.23404597111642245, 0.9580337092992686, 0.16551101247486996], [-0.8883169644141293, -0.1415392937163956, -0.4368748093771616]], "cam_t_m2c": [182.82207543767302, -131.03504612581457, 982.546695466436], "obj_id": 5}, {"cam_R_m2c": [[0.8737924857691638, 0.29999765506715653, 0.3827376369885201], [-0.37091724626843714, 0.920135133375267, 0.12558555947688715], [-0.3144949733048036, -0.25169970854709117, 0.9152814695400097]], "cam_t_m2c": [255.9426234326312, 93.8186460658379, 866.8091763374273], "obj_id": 11}]}

test_bin/000030/scene_gt_info.json

@@ -0,0 +1,4 @@
+{
+  "0": [{"bbox_obj": [452, 403, 218, 547], "bbox_visib": [452, 403, 218, 547], "px_count_all": 82000, "px_count_valid": 72800, "px_count_visib": 77995, "visib_fract": 0.9511585365853659}, {"bbox_obj": [488, 550, 469, 200], "bbox_visib": [488, 563, 444, 187], "px_count_all": 66508, "px_count_valid": 60840, "px_count_visib": 34933, "visib_fract": 0.5252450832982498}, {"bbox_obj": [668, 337, 195, 96], "bbox_visib": [668, 337, 195, 96], "px_count_all": 16215, "px_count_valid": 15671, "px_count_visib": 15959, "visib_fract": 0.9842121492445267}, {"bbox_obj": [747, 303, 635, 647], "bbox_visib": [747, 303, 635, 625], "px_count_all": 209691, "px_count_valid": 190994, "px_count_visib": 190740, "visib_fract": 0.9096241612658627}, {"bbox_obj": [997, 553, 242, 181], "bbox_visib": [997, 553, 242, 181], "px_count_all": 23263, "px_count_valid": 17658, "px_count_visib": 22964, "visib_fract": 0.98714697158578}, {"bbox_obj": [963, 380, 341, 106], "bbox_visib": [1095, 386, 209, 100], "px_count_all": 31785, "px_count_valid": 30651, "px_count_visib": 13362, "visib_fract": 0.420386974988202}, {"bbox_obj": [1314, 689, 188, 165], "bbox_visib": [1314, 689, 188, 165], "px_count_all": 21410, "px_count_valid": 7654, "px_count_visib": 20062, "visib_fract": 0.9370387669313405}],
+  "1": [{"bbox_obj": [629, 271, 202, 486], "bbox_visib": [629, 271, 202, 486], "px_count_all": 64312, "px_count_valid": 59966, "px_count_visib": 61847, "visib_fract": 0.9616712277646473}, {"bbox_obj": [690, 398, 397, 229], "bbox_visib": [780, 417, 294, 210], "px_count_all": 53701, "px_count_valid": 47569, "px_count_visib": 22060, "visib_fract": 0.4107930951006499}, {"bbox_obj": [868, 208, 188, 102], "bbox_visib": [868, 208, 188, 99], "px_count_all": 15351, "px_count_valid": 13794, "px_count_visib": 13677, "visib_fract": 0.8909517295290209}, {"bbox_obj": [854, 197, 629, 687], "bbox_visib": [854, 197, 629, 687], "px_count_all": 218537, "px_count_valid": 207636, "px_count_visib": 196860, "visib_fract": 0.9008085587337613}, {"bbox_obj": [1010, 494, 223, 164], "bbox_visib": [1010, 494, 223, 164], "px_count_all": 21385, "px_count_valid": 18799, "px_count_visib": 20619, "visib_fract": 0.9641805003507131}, {"bbox_obj": [1131, 266, 378, 141], "bbox_visib": [1191, 269, 318, 138], "px_count_all": 38466, "px_count_valid": 35745, "px_count_visib": 26703, "visib_fract": 0.6941974730931212}, {"bbox_obj": [1399, 671, 183, 167], "bbox_visib": [1399, 671, 182, 167], "px_count_all": 22459, "px_count_valid": 16750, "px_count_visib": 16470, "visib_fract": 0.7333363017053297}]
+}