Publish audited protocols and seven-vehicle geometry release

.gitattributes

@@ -58,3 +58,10 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+assets/audi_etron_carla_attack/source/SM_Etron_from_ue.fbx filter=lfs diff=lfs merge=lfs -text
+assets/ford_mustang_carla_attack/source/SM_Mustang_v2.fbx filter=lfs diff=lfs merge=lfs -text
+assets/jeep_wrangler_rubicon_carla_attack/source/SM_JeepWranglerRubicon.fbx filter=lfs diff=lfs merge=lfs -text
+assets/lincoln_mkz_2017_carla_attack/source/SM_Lincoln_v2.fbx filter=lfs diff=lfs merge=lfs -text
+assets/nissan_patrol_2021_carla_attack/nissan_patrol_2021_carla_attack_uv.obj filter=lfs diff=lfs merge=lfs -text
+assets/tesla_model3_carla_attack/source/SM_TeslaM3_v2.fbx filter=lfs diff=lfs merge=lfs -text
+assets/toyota_prius_carla_attack/source/SK_Toyota_Prius.fbx filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,106 @@
+---
+license: cc-by-4.0
+pretty_name: DRC CARLA Multi-Vehicle Camouflage Dataset
+annotations_creators:
+- machine-generated
+source_datasets:
+- original
+task_categories:
+- object-detection
+size_categories:
+- 1K<n<10K
+tags:
+- autonomous-driving
+- carla
+- adversarial-robustness
+- differentiable-rendering
+- synthetic-data
+- 3d
+---
+
+# DRC CARLA Multi-Vehicle Camouflage Dataset
+
+This repository releases the audited synthetic data and geometry assets used to
+study whether one differentiable vehicle-camouflage generator transfers across
+vehicle shapes. The release preserves the original split manifests, collection
+protocols, audit records, and SHA-256 checksums. It is intended for reproducible
+adversarial-robustness research, including the analysis of negative results.
+
+## Release contents
+
+| Component | Vehicles and role | Samples | Status |
+| --- | --- | ---: | --- |
+| Stage 2 Town10 | Audi E-Tron, Tesla Model 3, Ford Mustang, and Jeep Wrangler Rubicon (train); Toyota Prius (validation); Lincoln MKZ 2017 (development holdout) | 864 | Audited |
+| Stage 3 Town10 | Nissan Patrol 2021 (outcome-sealed confirmation) | 144 | Audited; source-detector confirmation failed |
+| Geometry assets | Attack-UV OBJ, binary attack mask, object-position map, and object-normal map | 7 vehicles | Hash-audited |
+| Protocol records | Split manifests, collection plans, preregistrations, audits, and gate decisions | N/A | Versioned JSON |
+
+The Stage 2 images are `1152 x 1152` and contain 144 distinct camera positions
+per vehicle. The Stage 3 set contains the same 144-view grid for Nissan Patrol
+2021 under Town10HD_Opt/ClearNoon. Thirty-two clean views used earlier for Nissan
+mesh alignment are excluded from the released confirmation evaluation.
+
+## Sample format
+
+Each sample is a NumPy object array with seven ordered fields:
+
+1. `image`
+2. `background`
+3. `mask`
+4. `discrepancy`
+5. `labels`
+6. `camera_position`
+7. `metadata`
+
+Loading requires `numpy.load(path, allow_pickle=True)` because the record contains
+heterogeneous arrays and a metadata dictionary. Only load files from a trusted
+release revision and verify `SHA256SUMS` first.
+
+## Split semantics
+
+- Toyota is the validation vehicle used for checkpoint selection.
+- Lincoln is training-unseen but has been queried during method development, so it
+  is a development holdout rather than a sealed final test.
+- Nissan is the frozen negative confirmation vehicle and must not be used to tune
+  architectures, objectives, checkpoints, views, or seeds.
+- A future positive method requires a different, newly reserved confirmation
+  vehicle.
+
+## Integrity
+
+The accepted Stage 2 sample aggregate SHA-256 is
+`a1e355159dc4425159d47bc3a88941e60877ca22bd6e8071942873725fd3c04c`.
+Its split manifest SHA-256 is
+`aa358e04bca98ed64dc18a72c41fa9bbcc1af0b1a9cd4483b816dae162275090`.
+The Stage 3 Nissan sample aggregate SHA-256 is
+`81fa63944b61bc44e28c412331d42507d2db774319db9e1372bd0772f56be3aa`;
+its sealed manifest SHA-256 is
+`05f30d781d083fc49ea1bbe7dfe861204f28911cecd31ba747e980e07e5db748`.
+
+These aggregate values use the project audit procedure recorded in the included
+provenance files. `SHA256SUMS` additionally verifies every file in this Hub
+release.
+
+## Limitations and responsible use
+
+This is synthetic CARLA data from a limited map, weather, detector, and camera
+protocol. It does not establish physical-world effectiveness or safety. The
+released checkpoint did not produce a material attack effect on the sealed Nissan
+vehicle, and no held-out detector evaluation was run after that gate failed.
+Do not use this dataset to claim broad vehicle, detector, weather, map, or physical
+transfer without new evidence.
+
+The release is for defensive research, benchmarking, and reproducibility. Users
+are responsible for complying with applicable laws and deployment policies.
+
+## License and attribution
+
+The dataset and project-generated annotations are released under CC BY 4.0.
+The scenes and vehicle assets are derived from CARLA 0.9.15. CARLA-specific assets
+are distributed by the CARLA project under CC BY; this release modifies them by
+exporting geometry, constructing attack UVs, rasterizing masks, and computing
+object-space position/normal maps. Cite and attribute the CARLA project when using
+these materials: https://github.com/carla-simulator/carla
+
+The license does not cover unrelated third-party detector or foundation-model
+weights, which are intentionally excluded.

SHA256SUMS

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assets/audi_etron_carla_attack/README.md

@@ -0,0 +1,62 @@
+# CARLA Audi E-Tron Attack UV Asset
+
+This directory contains an attack-ready Audi E-Tron mesh rebuilt from the
+CARLA 0.9.15 Unreal asset and mapped onto the reference FPA-style attack UV.
+
+## Source
+
+- Unreal asset: `/Game/Carla/Static/Car/4Wheeled/AudiETron/SM_Etron`
+- CARLA project: `/home/zqc/project/carla/Unreal/CarlaUE4/CarlaUE4.uproject`
+- UE export: `source/SM_Etron_from_ue.fbx`
+- Reference UV donor only:
+  `/home/zqc/下载/Differentiable-Render-Camouflage/asset/audi_etron/pytorch3d_Etron.obj`
+- Reference mask/template only:
+  `/home/zqc/下载/Differentiable-Render-Camouflage/mask.png`
+  and
+  `/home/zqc/下载/Differentiable-Render-Camouflage/asset/audi_etron/img_optim.png`
+
+The final OBJ keeps CARLA geometry. The GitHub/reference OBJ is not copied as
+the vehicle mesh; it is used only to transfer body attack UV coordinates and
+the attack-region template.
+
+## Outputs
+
+- `audi_etron_carla_clean.obj`: CARLA LOD0 geometry in this repo's coordinate system.
+- `audi_etron_carla_attack_uv.obj`: CARLA geometry with transferred attack UVs.
+- `audi_etron_carla_attack_mask.png`: 2048x2048 binary attack mask.
+- `img_optim.png`: 2048x2048 reference attack texture template.
+- `audi_etron_carla_attack_uv_audit.json`: transfer metrics.
+- `source_metadata.json`: CARLA export and clean OBJ metadata.
+
+## Rebuild
+
+Export FBX from the CARLA Unreal asset:
+
+```bash
+/home/zqc/project/UnrealEngine_4.26/Engine/Binaries/Linux/UE4Editor-Cmd \
+  /home/zqc/project/carla/Unreal/CarlaUE4/CarlaUE4.uproject \
+  -run=pythonscript \
+  -script=/home/zqc/project/Differentiable-Render-Camouflage/tools/export_carla_etron_asset.py \
+  -unattended -nop4 -nosplash -nullrhi
+```
+
+Build the clean OBJ from the exported FBX:
+
+```bash
+/home/zqc/app/blender-4.4.0-linux-x64/blender --background \
+  --python tools/build_carla_etron_clean_obj.py
+```
+
+Transfer the reference attack UV and mask:
+
+```bash
+conda run -n carla1 python tools/transfer_etron_attack_uv.py
+```
+
+Render a dataset preview:
+
+```bash
+conda run -n carla1 python tools/render_attack_uv_on_dataset_sample.py \
+  dataset/persional_data/MAP_Town03_WEATHER_ClearNoon_AZIMUTHS_90_0002.npy \
+  carla_attack_uv_az90
+```

assets/audi_etron_carla_attack/SM_Etron_from_ue.mtl

@@ -0,0 +1,34 @@
+# CARLA vehicle clean material file
+# Generated by tools/build_carla_vehicle_clean_obj.py
+
+newmtl MI_Interior_Etron
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+illum 2
+map_Kd ./Texture/MI_Interior_Etron_BaseColor.ppm
+
+newmtl MI_CarExterior_Etron
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+illum 2
+map_Kd ./Texture/MI_CarExterior_Etron_BaseColor.ppm
+
+newmtl M_LicensePlate
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+illum 2
+map_Kd ./Texture/M_LicensePlate_BaseColor.ppm
+
+newmtl MI_Wheels_Etron
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+illum 2
+map_Kd ./Texture/MI_Wheels_Etron_BaseColor.ppm

assets/audi_etron_carla_attack/audi_etron_carla_attack_uv.mtl

@@ -0,0 +1,50 @@
+# CARLA Audi E-Tron clean material file
+# Generated by tools/build_carla_etron_clean_obj.py
+
+newmtl MI_CarExterior_Etron
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+Kd 0.215861 0.215861 0.215861
+illum 2
+map_Kd audi_etron_carla_attack_base.png
+map_Ks ./Texture/MI_CarExterior_Etron_Specular.png
+map_Ns ./Texture/MI_CarExterior_Etron_Roughness.png
+map_refl ./Texture/MI_CarExterior_Etron_Metallic.png
+map_Ke ./Texture/MI_CarExterior_Etron_EmissiveColor.png
+map_Bump -bm 1.000000 ./Texture/MI_CarExterior_Etron_Normal.png
+
+newmtl MI_Interior_Etron
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd ./Texture/MI_Interior_Etron_BaseColor.png
+map_Ns ./Texture/MI_Interior_Etron_Roughness.png
+map_refl ./Texture/MI_Interior_Etron_Metallic.png
+map_Bump -bm 1.000000 ./Texture/MI_Interior_Etron_Normal.png
+
+newmtl MI_Wheels_Etron
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd ./Texture/MI_Wheels_Etron_BaseColor.png
+map_Ns ./Texture/MI_Wheels_Etron_Roughness.png
+map_refl ./Texture/MI_Wheels_Etron_Metallic.png
+map_Bump -bm 1.000000 ./Texture/MI_Wheels_Etron_Normal.png
+
+newmtl M_LicensePlate
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd ./Texture/M_LicensePlate_BaseColor.png

assets/audi_etron_carla_attack/audi_etron_carla_attack_uv_audit.json

@@ -0,0 +1,19 @@
+{
+  "source_obj": "/home/zqc/project/Differentiable-Render-Camouflage/asset/audi_etron_carla_attack/audi_etron_carla_clean.obj",
+  "reference_obj": "/home/zqc/下载/Differentiable-Render-Camouflage/asset/audi_etron/pytorch3d_Etron.obj",
+  "output_obj": "/home/zqc/project/Differentiable-Render-Camouflage/asset/audi_etron_carla_attack/audi_etron_carla_attack_uv.obj",
+  "output_mtl": "/home/zqc/project/Differentiable-Render-Camouflage/asset/audi_etron_carla_attack/audi_etron_carla_attack_uv.mtl",
+  "output_texture": "/home/zqc/project/Differentiable-Render-Camouflage/asset/audi_etron_carla_attack/img_optim.png",
+  "output_base_texture": "/home/zqc/project/Differentiable-Render-Camouflage/asset/audi_etron_carla_attack/audi_etron_carla_attack_base.png",
+  "output_demo_texture": "/home/zqc/project/Differentiable-Render-Camouflage/asset/audi_etron_carla_attack/audi_etron_carla_attack_demo.png",
+  "output_mask": "/home/zqc/project/Differentiable-Render-Camouflage/asset/audi_etron_carla_attack/audi_etron_carla_attack_mask.png",
+  "source_body_material": "MI_CarExterior_Etron",
+  "source_faces": 22687,
+  "body_faces": 6354,
+  "direct_body_face_matches": 4747,
+  "fallback_body_face_matches": 1607,
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+  "fallback_error_mean": 1.3019111834423082e-05,
+  "coverage_ratio": 0.3138611316680908,
+  "attack_mask_ratio": 0.28851747512817383
+}

assets/audi_etron_carla_attack/audi_etron_carla_attack_uv_geometry_audit.json

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+{
+  "attack_mask": "asset/audi_etron_carla_attack/audi_etron_carla_attack_mask.png",
+  "attack_mask_sha256": "320a12126089ed19eb842dfc5cbf8dd099a2ea8ea2fb3b0966d7b1b2ddc5c283",
+  "mask_pixels": 18877,
+  "normal_length_max": 1.0000001192092896,
+  "normal_length_min": 0.9999998807907104,
+  "normal_map": "asset/audi_etron_carla_attack/audi_etron_carla_attack_uv_normal.npy",
+  "normal_map_sha256": "e59be758e8cef262b443ef3b0e697d1912b6e0c1b2b4c13ecba95c15fd88d674",
+  "normalization": "(position - object_bbox_center) / max_bbox_half_extent",
+  "object_center": [
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+    0.0035975000000001423
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+  "padded_mask_pixels": 1034,
+  "padding_max_distance_pixels": 1.399993896484375,
+  "position_map": "asset/audi_etron_carla_attack/audi_etron_carla_attack_uv_position.npy",
+  "position_map_sha256": "7bd2e2820577d47dc3d4b625bcb19151c8c0c506e5f8f8f79354dc7c0ac4857c",
+  "position_max": [
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+    0.32573971152305603,
+    0.9998089075088501
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+    -0.2545284032821655,
+    -0.9916563034057617
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+  "rasterized_mask_coverage": 0.9452243470890501,
+  "rasterized_pixels": 20098,
+  "resolution": [
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+    256
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+  "selected_pixels": 18877,
+  "source_obj": "asset/audi_etron_carla_attack/audi_etron_carla_attack_uv.obj",
+  "source_obj_sha256": "a00fe38201cc17a4a73bd980e93884970065de325a61e3b1663faf812d31610f",
+  "target_face_count": 6354,
+  "target_materials": [
+    "MI_CarExterior_Etron"
+  ],
+  "triangle_count": 6354
+}

assets/audi_etron_carla_attack/audi_etron_carla_attack_uv_normal.npy

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+version https://git-lfs.github.com/spec/v1
+oid sha256:e59be758e8cef262b443ef3b0e697d1912b6e0c1b2b4c13ecba95c15fd88d674
+size 786560

assets/audi_etron_carla_attack/audi_etron_carla_attack_uv_position.npy

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+version https://git-lfs.github.com/spec/v1
+oid sha256:7bd2e2820577d47dc3d4b625bcb19151c8c0c506e5f8f8f79354dc7c0ac4857c
+size 786560

assets/audi_etron_carla_attack/audi_etron_carla_clean.mtl

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+# CARLA Audi E-Tron clean material file
+# Generated by tools/build_carla_etron_clean_obj.py
+
+newmtl MI_CarExterior_Etron
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+Kd 0.215861 0.215861 0.215861
+illum 2
+map_Kd ./Texture/MI_CarExterior_Etron_BaseColor.png
+map_Ks ./Texture/MI_CarExterior_Etron_Specular.png
+map_Ns ./Texture/MI_CarExterior_Etron_Roughness.png
+map_refl ./Texture/MI_CarExterior_Etron_Metallic.png
+map_Ke ./Texture/MI_CarExterior_Etron_EmissiveColor.png
+map_Bump -bm 1.000000 ./Texture/MI_CarExterior_Etron_Normal.png
+
+newmtl MI_Interior_Etron
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd ./Texture/MI_Interior_Etron_BaseColor.png
+map_Ns ./Texture/MI_Interior_Etron_Roughness.png
+map_refl ./Texture/MI_Interior_Etron_Metallic.png
+map_Bump -bm 1.000000 ./Texture/MI_Interior_Etron_Normal.png
+
+newmtl MI_Wheels_Etron
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd ./Texture/MI_Wheels_Etron_BaseColor.png
+map_Ns ./Texture/MI_Wheels_Etron_Roughness.png
+map_refl ./Texture/MI_Wheels_Etron_Metallic.png
+map_Bump -bm 1.000000 ./Texture/MI_Wheels_Etron_Normal.png
+
+newmtl M_LicensePlate
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd ./Texture/M_LicensePlate_BaseColor.png

assets/audi_etron_carla_attack/source/SM_Etron_from_ue.fbx

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+version https://git-lfs.github.com/spec/v1
+oid sha256:03c8807495d3bcd5d4e3f878f584353d990b23e9ecb5b1f54d638d7182d46129
+size 1153792

assets/audi_etron_carla_attack/source_metadata.json

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+{
+  "input_fbx": "/home/zqc/project/Differentiable-Render-Camouflage/asset/audi_etron_carla_attack/source/SM_Etron_from_ue.fbx",
+  "output_obj": "/home/zqc/project/Differentiable-Render-Camouflage/asset/audi_etron_carla_attack/SM_Etron_from_ue.obj",
+  "output_mtl": "/home/zqc/project/Differentiable-Render-Camouflage/asset/audi_etron_carla_attack/SM_Etron_from_ue.mtl",
+  "mesh_object": "SM_Etron_LOD0",
+  "vertices": 20383,
+  "faces": 22687,
+  "materials": {
+    "MI_Interior_Etron": 10273,
+    "MI_CarExterior_Etron": 6354,
+    "M_LicensePlate": 20,
+    "MI_Wheels_Etron": 6040
+  },
+  "material_textures": {
+    "MI_Interior_Etron": "MI_Interior_Etron_BaseColor.ppm",
+    "MI_CarExterior_Etron": "MI_CarExterior_Etron_BaseColor.ppm",
+    "M_LicensePlate": "M_LicensePlate_BaseColor.ppm",
+    "MI_Wheels_Etron": "MI_Wheels_Etron_BaseColor.ppm"
+  },
+  "bbox_min": [
+    -1.0163782835006714,
+    -0.0041766357608139515,
+    -2.4242568016052246
+  ],
+  "bbox_max": [
+    1.0163782835006714,
+    1.645182728767395,
+    2.4314515590667725
+  ],
+  "coordinate_transform": "repo_xyz = (blender_world_y, blender_world_z, -blender_world_x)"
+}

assets/ford_mustang_carla_attack/SM_Mustang_v2.mtl

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+# CARLA vehicle clean material file
+# Generated by tools/build_carla_vehicle_clean_obj.py
+
+newmtl M_LicensePlate_Master
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+illum 2
+map_Kd ./Texture/M_LicensePlate_Master_BaseColor.ppm
+
+newmtl MI_Details_Mustang
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+illum 2
+map_Kd ./Texture/MI_Details_Mustang_BaseColor.ppm
+
+newmtl MI_CarGlass_Mustang
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+illum 2
+map_Kd ./Texture/MI_CarGlass_Mustang_BaseColor.ppm
+
+newmtl MI_BodyWork_Mustang2
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+illum 2
+map_Kd ./Texture/MI_BodyWork_Mustang2_BaseColor.ppm
+
+newmtl MI_LightsText_Mustang
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+illum 2
+map_Kd ./Texture/MI_LightsText_Mustang_BaseColor.ppm