metadata.json

{
  "total_images": 1000,
  "total_scenes": 1277,
  "seed": 1047092345,
  "image_size": {
    "height": 480,
    "width": 640
  },
  "classes": {
    "0": "sugar",
    "1": "mustard",
    "2": "banana"
  },
  "num_classes": 3,
  "max_instances_per_type": 5,
  "distance_range": [
    0.15,
    1.2
  ],
  "viewpoints_per_scene": 4,
  "cameras": [
    "ee_camera",
    "head_camera"
  ],
  "train_val_split": [
    850,
    150
  ],
  "stats": {
    "class_distribution": {
      "sugar": 772,
      "mustard": 842,
      "banana": 816
    },
    "avg_instances_per_scene": 5.899765074393109
  },
  "annotation_format": {
    "center_x": "pixel x-coordinate of object centroid (SAM point prompt)",
    "center_y": "pixel y-coordinate of object centroid (SAM point prompt)",
    "depth": "distance from camera to object center (meters)",
    "bbox": "[x_min, y_min, x_max, y_max] reference bbox in pixels"
  }
}