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Datasets:
chrischoy
/
FCGF-3DMatch

Tasks:
Other
Modalities:
Text
Size:
1K<n<10K
Tags:
point-cloud
3d-registration
3dmatch
geometric-features
fcgf
correspondence
License:
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The dataset generation failed
Error code:   DatasetGenerationError
Exception:    IndexError
Message:      list index out of range
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1848, in _prepare_split_single
                  original_shard_lengths[original_shard_id] += len(table)
                  ~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^
              IndexError: list index out of range
              
              The above exception was the direct cause of the following exception:
              
              Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1369, in compute_config_parquet_and_info_response
                  parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
                                                                        ~~~~~~~~~~~~~~~~~~~~~~~~~^
                      builder, max_dataset_size_bytes=max_dataset_size_bytes
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  )
                  ^
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 948, in stream_convert_to_parquet
                  builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
                  ~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1683, in _prepare_split
                  for job_id, done, content in self._prepare_split_single(
                                               ~~~~~~~~~~~~~~~~~~~~~~~~~~^
                      gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  ):
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1869, in _prepare_split_single
                  raise DatasetGenerationError("An error occurred while generating the dataset") from e
              datasets.exceptions.DatasetGenerationError: An error occurred while generating the dataset

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text
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7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_001.npz 0.886878
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_002.npz 0.636459
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_003.npz 0.825012
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_004.npz 0.783642
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_005.npz 0.544810
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_006.npz 0.634872
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_007.npz 0.674227
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_008.npz 0.549223
7-scenes-chess@seq-01_001.npz 7-scenes-chess@seq-01_002.npz 0.648051
7-scenes-chess@seq-01_001.npz 7-scenes-chess@seq-01_003.npz 0.819005
7-scenes-chess@seq-01_001.npz 7-scenes-chess@seq-01_004.npz 0.720211
7-scenes-chess@seq-01_001.npz 7-scenes-chess@seq-01_005.npz 0.601056
7-scenes-chess@seq-01_001.npz 7-scenes-chess@seq-01_006.npz 0.699095
7-scenes-chess@seq-01_001.npz 7-scenes-chess@seq-01_007.npz 0.514433
7-scenes-chess@seq-01_001.npz 7-scenes-chess@seq-01_008.npz 0.516062
7-scenes-chess@seq-01_002.npz 7-scenes-chess@seq-01_003.npz 0.917808
7-scenes-chess@seq-01_002.npz 7-scenes-chess@seq-01_004.npz 0.681770
7-scenes-chess@seq-01_002.npz 7-scenes-chess@seq-01_005.npz 0.657534
7-scenes-chess@seq-01_002.npz 7-scenes-chess@seq-01_006.npz 0.443625
7-scenes-chess@seq-01_003.npz 7-scenes-chess@seq-01_004.npz 0.914515
7-scenes-chess@seq-01_003.npz 7-scenes-chess@seq-01_005.npz 0.678481
7-scenes-chess@seq-01_003.npz 7-scenes-chess@seq-01_006.npz 0.660996
7-scenes-chess@seq-01_003.npz 7-scenes-chess@seq-01_007.npz 0.700000
7-scenes-chess@seq-01_003.npz 7-scenes-chess@seq-01_008.npz 0.609326
7-scenes-chess@seq-01_004.npz 7-scenes-chess@seq-01_005.npz 0.616203
7-scenes-chess@seq-01_004.npz 7-scenes-chess@seq-01_006.npz 0.620292
7-scenes-chess@seq-01_004.npz 7-scenes-chess@seq-01_007.npz 0.721649
7-scenes-chess@seq-01_004.npz 7-scenes-chess@seq-01_008.npz 0.626943
7-scenes-chess@seq-01_005.npz 7-scenes-chess@seq-01_006.npz 0.509113
7-scenes-chess@seq-01_005.npz 7-scenes-chess@seq-01_007.npz 0.329897
7-scenes-chess@seq-01_006.npz 7-scenes-chess@seq-01_007.npz 0.901031
7-scenes-chess@seq-01_006.npz 7-scenes-chess@seq-01_008.npz 0.737824
7-scenes-chess@seq-01_007.npz 7-scenes-chess@seq-01_008.npz 0.819588
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_001.npz 0.886878
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_002.npz 0.636459
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_003.npz 0.825012
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_004.npz 0.783642
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_005.npz 0.544810
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_006.npz 0.634872
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_007.npz 0.674227
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_008.npz 0.549223
7-scenes-chess@seq-01_001.npz 7-scenes-chess@seq-01_002.npz 0.648051
7-scenes-chess@seq-01_001.npz 7-scenes-chess@seq-01_003.npz 0.819005
7-scenes-chess@seq-01_001.npz 7-scenes-chess@seq-01_004.npz 0.720211
7-scenes-chess@seq-01_001.npz 7-scenes-chess@seq-01_005.npz 0.601056
7-scenes-chess@seq-01_001.npz 7-scenes-chess@seq-01_006.npz 0.699095
7-scenes-chess@seq-01_001.npz 7-scenes-chess@seq-01_007.npz 0.514433
7-scenes-chess@seq-01_001.npz 7-scenes-chess@seq-01_008.npz 0.516062
7-scenes-chess@seq-01_002.npz 7-scenes-chess@seq-01_003.npz 0.917808
7-scenes-chess@seq-01_002.npz 7-scenes-chess@seq-01_004.npz 0.681770
7-scenes-chess@seq-01_002.npz 7-scenes-chess@seq-01_005.npz 0.657534
7-scenes-chess@seq-01_003.npz 7-scenes-chess@seq-01_004.npz 0.914515
7-scenes-chess@seq-01_003.npz 7-scenes-chess@seq-01_005.npz 0.678481
7-scenes-chess@seq-01_003.npz 7-scenes-chess@seq-01_006.npz 0.660996
7-scenes-chess@seq-01_003.npz 7-scenes-chess@seq-01_007.npz 0.700000
7-scenes-chess@seq-01_003.npz 7-scenes-chess@seq-01_008.npz 0.609326
7-scenes-chess@seq-01_004.npz 7-scenes-chess@seq-01_005.npz 0.616203
7-scenes-chess@seq-01_004.npz 7-scenes-chess@seq-01_006.npz 0.620292
7-scenes-chess@seq-01_004.npz 7-scenes-chess@seq-01_007.npz 0.721649
7-scenes-chess@seq-01_004.npz 7-scenes-chess@seq-01_008.npz 0.626943
7-scenes-chess@seq-01_005.npz 7-scenes-chess@seq-01_006.npz 0.509113
7-scenes-chess@seq-01_006.npz 7-scenes-chess@seq-01_007.npz 0.901031
7-scenes-chess@seq-01_006.npz 7-scenes-chess@seq-01_008.npz 0.737824
7-scenes-chess@seq-01_007.npz 7-scenes-chess@seq-01_008.npz 0.819588
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_001.npz 0.886878
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_003.npz 0.825012
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_004.npz 0.783642
7-scenes-chess@seq-01_001.npz 7-scenes-chess@seq-01_003.npz 0.819005
7-scenes-chess@seq-01_001.npz 7-scenes-chess@seq-01_004.npz 0.720211
7-scenes-chess@seq-01_002.npz 7-scenes-chess@seq-01_003.npz 0.917808
7-scenes-chess@seq-01_003.npz 7-scenes-chess@seq-01_004.npz 0.914515
7-scenes-chess@seq-01_004.npz 7-scenes-chess@seq-01_007.npz 0.721649
7-scenes-chess@seq-01_006.npz 7-scenes-chess@seq-01_007.npz 0.901031
7-scenes-chess@seq-01_006.npz 7-scenes-chess@seq-01_008.npz 0.737824
7-scenes-chess@seq-01_007.npz 7-scenes-chess@seq-01_008.npz 0.819588
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_001.npz 0.886878
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_002.npz 0.636459
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_003.npz 0.825012
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_004.npz 0.783642
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_005.npz 0.544810
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_006.npz 0.634872
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_007.npz 0.674227
7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_008.npz 0.549223
7-scenes-chess@seq-01_001.npz 7-scenes-chess@seq-01_002.npz 0.648051
7-scenes-chess@seq-01_001.npz 7-scenes-chess@seq-01_003.npz 0.819005
7-scenes-chess@seq-01_001.npz 7-scenes-chess@seq-01_004.npz 0.720211
7-scenes-chess@seq-01_001.npz 7-scenes-chess@seq-01_005.npz 0.601056
7-scenes-chess@seq-01_001.npz 7-scenes-chess@seq-01_006.npz 0.699095
7-scenes-chess@seq-01_001.npz 7-scenes-chess@seq-01_007.npz 0.514433
7-scenes-chess@seq-01_001.npz 7-scenes-chess@seq-01_008.npz 0.516062
7-scenes-chess@seq-01_002.npz 7-scenes-chess@seq-01_003.npz 0.917808
7-scenes-chess@seq-01_002.npz 7-scenes-chess@seq-01_004.npz 0.681770
7-scenes-chess@seq-01_002.npz 7-scenes-chess@seq-01_005.npz 0.657534
7-scenes-chess@seq-01_002.npz 7-scenes-chess@seq-01_006.npz 0.443625
7-scenes-chess@seq-01_002.npz 7-scenes-chess@seq-01_007.npz 0.261856
7-scenes-chess@seq-01_002.npz 7-scenes-chess@seq-01_008.npz 0.284510
7-scenes-chess@seq-01_003.npz 7-scenes-chess@seq-01_004.npz 0.914515
7-scenes-chess@seq-01_003.npz 7-scenes-chess@seq-01_005.npz 0.678481
7-scenes-chess@seq-01_003.npz 7-scenes-chess@seq-01_006.npz 0.660996
7-scenes-chess@seq-01_003.npz 7-scenes-chess@seq-01_007.npz 0.700000
End of preview.

FCGF Preprocessed 3DMatch Dataset

Preprocessed 3DMatch training data used by FCGF: Fully Convolutional Geometric Features (ICCV 2019).

Each .npz file stores a fragment point cloud, and the accompanying .txt files list overlapping fragment pairs (with their overlap ratio) used to sample positive correspondences during training. This is the exact data produced by scripts/download_datasets.sh in the FCGF repository.

Contents 

threedmatch/
├── <scene>@seq-XX_YYY.npz          # 2189 fragment point clouds
└── <scene>@seq-XX-<overlap>.txt    #  401 overlapping-pair lists
  • 2,590 files total (2,189 .npz + 401 .txt), ~8.2 GB.
  • Scenes are drawn from the standard 3DMatch compilation: 7-scenes, sun3d, bundlefusion, rgbd-scenes-v2, analysis-by-synthesis, etc.

Usage

Download with the Hugging Face CLI:

hf download chrischoy/FCGF-3DMatch --repo-type dataset --local-dir ./data
# data/threedmatch/*.npz

or from Python:

from huggingface_hub import snapshot_download

snapshot_download(
    repo_id="chrischoy/FCGF-3DMatch",
    repo_type="dataset",
    local_dir="./data",
)

Then train FCGF:

python train.py --threed_match_dir ./data/threedmatch/

A single fragment file can be inspected with NumPy:

import numpy as np

data = np.load("data/threedmatch/7-scenes-chess@seq-02_000.npz")
print(data.files)          # e.g. ['pcd', ...]
xyz = data["pcd"]          # (N, 3) point coordinates

License & attribution

This is a redistribution of preprocessed data derived from the 3DMatch benchmark, which itself aggregates several RGB-D datasets (SUN3D, 7-Scenes, BundleFusion, RGB-D Scenes v2, and others). It is provided for non-commercial research purposes only. Please also comply with the licenses of the original constituent datasets and cite 3DMatch. The FCGF source code is released separately under the MIT License.

Citation

If you use this data, please cite FCGF and 3DMatch:

@inproceedings{FCGF2019,
    author    = {Christopher Choy and Jaesik Park and Vladlen Koltun},
    title     = {Fully Convolutional Geometric Features},
    booktitle = {ICCV},
    year      = {2019},
}

@inproceedings{zeng20163dmatch,
    author    = {Andy Zeng and Shuran Song and Matthias Nie{\ss}ner and
                 Matthew Fisher and Jianxiong Xiao and Thomas Funkhouser},
    title     = {3DMatch: Learning Local Geometric Descriptors from RGB-D Reconstructions},
    booktitle = {CVPR},
    year      = {2017},
}
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