diff --git a/.gitattributes b/.gitattributes index 58caf9ecd8c8c6f0900562f5c2e8185dc558135d..2f8a1c61de8be23d3b4872a63a64ab1da0755eef 100644 --- a/.gitattributes +++ b/.gitattributes @@ -252,3 +252,4 @@ Synthetic_Train_Sets/4K_RGB_Exponential/yolo/labels/val.cache filter=lfs diff=lf Synthetic_Train_Sets/4k_Physics/coco/coco_annotations.json filter=lfs diff=lfs merge=lfs -text Synthetic_Train_Sets/4k_Physics/yolo/labels/train.cache filter=lfs diff=lfs merge=lfs -text Synthetic_Train_Sets/4k_Physics/yolo/labels/val.cache filter=lfs diff=lfs merge=lfs -text +Synthetic_Train_Sets/4K_Physics_RGB_EXP/coco/coco_annotations.json filter=lfs diff=lfs merge=lfs -text diff --git a/Synthetic_Train_Sets/4K_Physics_RGB_EXP/coco/coco_annotations.json b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/coco/coco_annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..8c1621d560565c69c6920607c9a555fa9895e199 --- /dev/null +++ b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/coco/coco_annotations.json @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc37068af1ea7a9cc775b3986b08124f4875e958bd8921a2901c109e393a401e +size 283143390 diff --git a/Synthetic_Train_Sets/4K_Physics_RGB_EXP/config_Physics_RGB_EXP.yaml b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/config_Physics_RGB_EXP.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d2670bc4b8592f481a95adff40ac6def497432be --- /dev/null +++ b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/config_Physics_RGB_EXP.yaml @@ -0,0 +1,127 @@ +default_scene: "" #"/media/vrt/shared/DATASETS/Digital Twin/KLT.box.blend" +output_dir: "/media/vrt/4.0 TB/Outputs/BASE_TEST_4K_Physics" # "/media/vrt/shared/Synthetic_Data/output_Framework/test" +train_models_dir: "/media/vrt/shared/Texture_CAD_25_8_25_parts/blendFiles" +distractors_dir: "/media/vrt/shared/DATASETS/General_assets/distractors" +backgrounds_dir: "/media/vrt/shared/DATASETS/General_assets/backgrounds" +planes_dir: "/media/vrt/shared/DATASETS/General_assets/materials/plane_materials" + +seed: 0 # If seed is set to -1, it will be a random seed +cycles_samples: 100 #100 # By default it is set to 1024 +render_options: ["segmasks", "depth", "normals"] # Possible render options: [segmasks, depth, normals] +save_hdf5: True # If enabled, saves the rendered data as an hdf5 file (Needed for coco and yolo annotations) +save_raw: False # If enabled, saves the rendered raw data separated in (rgb/, depth/, normals/, segmasks/) + +coco_to_yolo_category_mapping: {"1": 0, "2": 1, "3": 2, "4": 3, "5": 4, "6": 5, "7": 6, "8": 7, "9": 8, "10": 9, "11": 10, "12": 11, "13": 12, "14": 13, "15": 14, "16": 15, "17": 16, "18": 17, "19": 18, "20": 19, "21": 20, "22": 21, "23": 22, "24": 23, "25": 24, "26": 25, "27": 26, "28": 27, "29": 28, "30": 29, "31": 30, "32": 31, "33": 32} + +# Dataload white lists: +train_models_whitelist: [] +distraction_models_whitelist: [] +backgrounds_whitelist: [] +planes_whitelist: [] + +# Dataload black lists: +train_models_blacklist: ["washer.ply"] +distraction_models_blacklist: ["Dining_table_2.blend"] +backgrounds_blacklist: [] +planes_blacklist: [] + +physics: + simulate_physics: True # If enabled, simulates the physics. + simulate_actives: True # Sets train models as rigidbody active (can move and can collide with other rigidbodies). + simulate_passives: True # Sets the distractors as rigidbody passive (fixed but can collide with other rigidbodies). + reorientate_camera: True # Recalculates the orientation of the camera to look towards the active objects. + default_scene_as_passives: True # Enables pasive physics for the loaded models of the default scene. + create_ground_plane: True # Create invisible ground so objects can fall on it. + max_simulation_time: 10 # Simulation is accelerated: 1 simulation second != 1 real second (this depends on how slow is the simulation) + check_interval: 2.5 # Interval at which check if objects stopped moving (In simulation seconds). + stopped_location_threshold: 0.5 # Minimum movement per second to be considered as stopped. + stopped_rotation_threshold: 0.5 # Minimum rotation per second to be considered as stopped. + +world: + background_light_strength: [0.01, 1] # with steps of 0.01 + default_background_img: "sylvan_highlands.exr" + random_backgrounds: True + +lights: + lights_dir: [[0.323, -0.855, 0.405], [0.914, 0.028, 0.405], [-0.895, -0.186, 0.405]] + light_size: 0.25 + contrasts: [1, 1, 1] # Energy multiplier for each light. + distance: 6 + light_intensity: [0, 160] + randomize_color: True + exponential_lights: True + exponential_factor: 2.33 + +camera: + resolution: [1024, 1024] + f-stop: [128, 256] # A higher fstop value makes the resulting image look sharper, while a low value decreases the sharpness. + sensor_size: 36 # Sensor size in milimiters. + intrinsic_parameters_path: "" # Path to a YAML file containing the camera intrinsic parameters matrix (k) + pos_shell_radius: [0.4, 0.8] + pos_shell_elevation: [60, 80] # Angle in degrees (min and max) + +empty_object: + center: [0, 0, 0.25] + pos_shell_radius: [0, 0.15] + pos_shell_elevation: [0, 0] + +models: + trains: + sample_size: [-1, -1] # If value is set to -1, it will be the maximum + scale: 1 + n_copies: 1 # Creates copies of loaded models. If the model has a custom n_copies value it will use the custom one. + dynamic_origin: True # Uses the emtpy object as origin. + static_origin: [0, 0, 0.5] # If "dynamic_origin" is False, it will use this location as fixed origin. + pos_min: [-0.1, -0.1, 0] # Min value for x,y,z using origin as reference frame. + pos_max: [0.1, 0.1, 0] # Max value of x,y,z using origin as reference frame. + rot_min: [0,0,0] # Angles in radians + rot_max: [3.1415, 3.1415, 3.1415] # Angles in radians + keep_children: False # If true, keeps al the mesh models loaded with a common parent. Else, joins all the meshes into a single model. + combined_parent: True # If true, sets as parent a merged copy of the children. + simplify_models: False # If true, runs convex hull decomposition (on parent if combined_parent enabled or on children otherwise) + + distractors: + sample_size: [5, -1] # If value is set to -1, it will be the maximum + scale: 1 + n_copies: 0 # Creates copies of loaded train_models. If the model has a custom n_copies value it will use the custom one. + pos_min: [-1.5, -1.5, 0] + pos_max: [1.5, 1.5, 0] + rot_min: [0, 0, 0] # Angles in radians + rot_max: [0, 0, 3.1415] # Angles in radians + keep_children: True # If true, keeps al the mesh models loaded with a common parent. Else, joins all the meshes into a single model. + combined_parent: True # If true, sets as parent a merged copy of the children. + simplify_models: False # If true, runs convex hull decomposition (on parent if combined_parent enabled or on children otherwise) + +fake_models: + trains: + sample_size: [-1, -1] # If value is set to -1, it will be the maximum + scale: 1 + n_copies: 0 + simple_trains: 0 # If bigger than 0, creates simple distractors that will replace train models. + similar_trains: 0 # If bigger than 0, creates n deformed copies of each loaded train model. + + distractors: + sample_size: [-1, -1] + scale: 1 + n_copies: 0 + simple_distractors: 0 # If bigger than 0, creates distractors with simple geometric shapes. + +plane: + simple_planes: 0 + x_length: 4 + y_length: 4 + +custom_models: + example.obj: + scale: 0.001 # Scale factor for the model. + n_copies: 0 # Number of copies of the model. + keep_children: True # If true, keeps al the mesh models loaded with a common parent. 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--git a/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/000524.txt b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/000524.txt new file mode 100644 index 0000000000000000000000000000000000000000..26bd92aca7557e0439f74685e9d2783022a75a5b --- /dev/null +++ b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/000524.txt @@ -0,0 +1,48 @@ +2 0.948730 0.025391 0.102539 0.050781 +3 0.445312 0.482910 0.107422 0.172852 +5 0.842285 0.663574 0.053711 0.051758 +6 0.375977 0.592285 0.111328 0.036133 +7 0.341309 0.346680 0.124023 0.123047 +8 0.448730 0.728027 0.125977 0.112305 +9 0.926758 0.917480 0.146484 0.165039 +10 0.959473 0.408691 0.081055 0.157227 +11 0.427246 0.636230 0.151367 0.043945 +12 0.134766 0.562500 0.044922 0.054688 +13 0.864258 0.458984 0.085938 0.070312 +14 0.831543 0.835449 0.081055 0.083008 +15 0.805664 0.618164 0.054688 0.054688 +17 0.577148 0.756836 0.101562 0.103516 +18 0.401855 0.685059 0.047852 0.047852 +19 0.896484 0.578613 0.085938 0.083008 +21 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a/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/000776.txt b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/000776.txt new file mode 100644 index 0000000000000000000000000000000000000000..4c4d58da3890aa1cf1b6055a24c0025fa9727c77 --- /dev/null +++ b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/000776.txt @@ -0,0 +1,53 @@ +0 0.516602 0.684570 0.029297 0.029297 +2 0.685059 0.727539 0.053711 0.156250 +4 0.599121 0.915039 0.057617 0.066406 +5 0.510254 0.915527 0.032227 0.032227 +6 0.509277 0.531738 0.065430 0.045898 +7 0.751953 0.735840 0.070312 0.090820 +8 0.669434 0.829590 0.067383 0.088867 +9 0.462402 0.562988 0.104492 0.104492 +10 0.878906 0.675781 0.099609 0.087891 +12 0.524902 0.740723 0.032227 0.030273 +13 0.643555 0.580078 0.054688 0.042969 +14 0.486328 0.875977 0.048828 0.050781 +15 0.608887 0.744629 0.034180 0.034180 +17 0.632324 0.699219 0.061523 0.060547 +18 0.611328 0.468262 0.027344 0.026367 +19 0.421387 0.685059 0.040039 0.055664 +20 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--git a/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/000917.txt b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/000917.txt new file mode 100644 index 0000000000000000000000000000000000000000..ba38c408e7ff9e21069b2cb6cfcac3aea5b534cb --- /dev/null +++ b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/000917.txt @@ -0,0 +1,47 @@ +0 0.373047 0.556641 0.033203 0.033203 +2 0.778809 0.579102 0.122070 0.128906 +4 0.586426 0.376465 0.061523 0.065430 +5 0.815918 0.486816 0.034180 0.030273 +6 0.602539 0.454102 0.054688 0.072266 +8 0.762207 0.450195 0.067383 0.093750 +9 0.598633 0.628418 0.121094 0.120117 +11 0.236328 0.378418 0.093750 0.051758 +12 0.680176 0.298828 0.034180 0.037109 +13 0.557129 0.324219 0.053711 0.029297 +14 0.655273 0.498047 0.052734 0.050781 +16 0.523926 0.366699 0.024414 0.022461 +17 0.537598 0.423828 0.065430 0.064453 +18 0.492188 0.590820 0.031250 0.031250 +19 0.693359 0.391602 0.056641 0.052734 +20 0.525879 0.282227 0.045898 0.123047 +21 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a/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003216.txt b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003216.txt new file mode 100644 index 0000000000000000000000000000000000000000..44565cd1ca6e9f567ab9dc84670d3102edff0e47 --- /dev/null +++ b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003216.txt @@ -0,0 +1,45 @@ +0 0.428223 0.724121 0.036133 0.036133 +2 0.826172 0.444336 0.029297 0.173828 +3 0.750488 0.475586 0.110352 0.107422 +4 0.489746 0.444336 0.067383 0.068359 +5 0.758789 0.546387 0.039062 0.036133 +7 0.885254 0.031250 0.084961 0.062500 +8 0.384766 0.588867 0.078125 0.099609 +9 0.493652 0.659668 0.129883 0.129883 +10 0.537598 0.378906 0.071289 0.109375 +12 0.748047 0.510254 0.041016 0.036133 +13 0.695801 0.499512 0.065430 0.049805 +14 0.741211 0.419922 0.054688 0.052734 +15 0.776367 0.462402 0.039062 0.038086 +16 0.380371 0.382324 0.026367 0.024414 +17 0.675781 0.321777 0.068359 0.065430 +18 0.338379 0.663574 0.034180 0.034180 +19 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--git a/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003432.txt b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003432.txt new file mode 100644 index 0000000000000000000000000000000000000000..8846943cbfa20394f39048e3f69957b57dff258d --- /dev/null +++ b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003432.txt @@ -0,0 +1,44 @@ +2 0.345703 0.390137 0.150391 0.079102 +4 0.645996 0.488281 0.065430 0.064453 +5 0.476562 0.020020 0.041016 0.040039 +6 0.436523 0.384766 0.066406 0.060547 +7 0.377930 0.541504 0.095703 0.063477 +8 0.641602 0.421387 0.091797 0.055664 +9 0.320312 0.653320 0.115234 0.113281 +11 0.579102 0.393066 0.044922 0.096680 +12 0.416016 0.579102 0.033203 0.035156 +14 0.397461 0.492676 0.050781 0.036133 +18 0.370605 0.360352 0.030273 0.029297 +19 0.345215 0.580566 0.053711 0.055664 +20 0.473633 0.532227 0.033203 0.138672 +21 0.213867 0.458984 0.042969 0.044922 +22 0.072754 0.435059 0.051758 0.055664 +24 0.163086 0.375977 0.058594 0.037109 +28 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a/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003506.txt b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003506.txt new file mode 100644 index 0000000000000000000000000000000000000000..f000b4b32c5a31e869f0320e6bc2b1f549c85bb1 --- /dev/null +++ b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003506.txt @@ -0,0 +1,49 @@ +0 0.481445 0.763672 0.031250 0.031250 +3 0.690430 0.928223 0.107422 0.106445 +4 0.671875 0.952637 0.064453 0.067383 +5 0.397461 0.544434 0.031250 0.030273 +6 0.608887 0.664551 0.063477 0.061523 +7 0.477539 0.919434 0.097656 0.069336 +8 0.532715 0.436035 0.083008 0.055664 +9 0.576172 0.779297 0.107422 0.107422 +10 0.875488 0.795410 0.108398 0.084961 +12 0.729492 0.772461 0.021484 0.035156 +13 0.402832 0.842285 0.034180 0.057617 +14 0.868164 0.649414 0.048828 0.046875 +15 0.715332 0.877930 0.036133 0.037109 +17 0.671387 0.627930 0.061523 0.058594 +18 0.482910 0.631348 0.028320 0.028320 +19 0.716797 0.508789 0.031250 0.054688 +21 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new file mode 100644 index 0000000000000000000000000000000000000000..df09d900255cbb21c9f4edfac1f6285855369267 --- /dev/null +++ b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003903.txt @@ -0,0 +1,50 @@ +0 0.625977 0.463867 0.042969 0.042969 +2 0.408691 0.591797 0.221680 0.099609 +3 0.656250 0.774902 0.164062 0.127930 +4 0.600586 0.318848 0.087891 0.083008 +5 0.568359 0.576660 0.046875 0.045898 +6 0.882324 0.881836 0.102539 0.099609 +7 0.174316 0.739258 0.112305 0.138672 +9 0.440918 0.739746 0.163086 0.166992 +11 0.864746 0.567383 0.124023 0.095703 +12 0.382812 0.650879 0.027344 0.049805 +15 0.485840 0.488770 0.049805 0.047852 +16 0.738770 0.862305 0.036133 0.037109 +17 0.479004 0.568848 0.090820 0.088867 +18 0.396484 0.613281 0.042969 0.033203 +19 0.104004 0.728516 0.047852 0.083984 +20 0.665527 0.619141 0.106445 0.167969 +21 0.489258 0.445801 0.068359 0.034180 +22 0.536133 0.281738 0.078125 0.049805 +24 0.750000 0.038086 0.041016 0.068359 +25 0.770996 0.601074 0.041992 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a/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003909.txt b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003909.txt new file mode 100644 index 0000000000000000000000000000000000000000..1b2262eddaa64cfdef4ce99103352c89604791fc --- /dev/null +++ b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003909.txt @@ -0,0 +1,52 @@ +0 0.578125 0.799805 0.033203 0.035156 +2 0.470703 0.295410 0.054688 0.157227 +4 0.665039 0.354004 0.062500 0.063477 +5 0.507812 0.304688 0.033203 0.035156 +6 0.661133 0.252441 0.072266 0.041992 +7 0.735352 0.350586 0.083984 0.087891 +8 0.823730 0.001953 0.014648 0.003906 +9 0.738770 0.845703 0.124023 0.125000 +10 0.950684 0.381348 0.098633 0.071289 +11 0.495117 0.424805 0.068359 0.091797 +12 0.727051 0.191895 0.032227 0.036133 +13 0.507324 0.239258 0.051758 0.054688 +14 0.728516 0.062988 0.048828 0.045898 +15 0.850586 0.192383 0.035156 0.033203 +17 0.580566 0.224121 0.063477 0.061523 +18 0.742188 0.433594 0.029297 0.029297 +19 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--git a/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003912.txt b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003912.txt new file mode 100644 index 0000000000000000000000000000000000000000..f4b994dff919f2a480202d23f9dab31acc71505e --- /dev/null +++ b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003912.txt @@ -0,0 +1,46 @@ +2 0.366211 0.322754 0.070312 0.137695 +3 0.212402 0.639648 0.135742 0.046875 +4 0.247559 0.404785 0.061523 0.063477 +5 0.448242 0.260742 0.031250 0.029297 +6 0.308105 0.562988 0.073242 0.053711 +7 0.341797 0.437500 0.091797 0.076172 +8 0.233398 0.481934 0.082031 0.071289 +10 0.422852 0.593750 0.046875 0.052734 +11 0.516113 0.362793 0.055664 0.083008 +12 0.463867 0.416992 0.031250 0.033203 +13 0.285156 0.583984 0.060547 0.042969 +14 0.302246 0.635254 0.053711 0.051758 +18 0.351074 0.645508 0.032227 0.031250 +19 0.343750 0.285645 0.029297 0.057617 +22 0.485352 0.434570 0.050781 0.056641 +23 0.436035 0.371582 0.077148 0.067383 +24 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a/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003916.txt b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003916.txt new file mode 100644 index 0000000000000000000000000000000000000000..ea1c1aa91038b970e042cb7512ffcf9dd39d992b --- /dev/null +++ b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003916.txt @@ -0,0 +1,47 @@ +0 0.538574 0.633301 0.043945 0.043945 +2 0.580566 0.496582 0.190430 0.125977 +3 0.339355 0.667969 0.149414 0.117188 +4 0.328613 0.810059 0.096680 0.090820 +5 0.555176 0.424316 0.041992 0.040039 +6 0.436523 0.489746 0.093750 0.071289 +7 0.350586 0.553223 0.128906 0.098633 +9 0.086914 0.843262 0.171875 0.170898 +10 0.528320 0.739746 0.117188 0.155273 +11 0.703125 0.641113 0.035156 0.133789 +12 0.606934 0.892090 0.049805 0.053711 +13 0.259277 0.524902 0.077148 0.061523 +14 0.666992 0.482422 0.064453 0.060547 +15 0.619629 0.446289 0.045898 0.042969 +16 0.280273 0.668457 0.033203 0.032227 +17 0.528809 0.913086 0.094727 0.099609 +18 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0.371582 0.050781 0.049805 +30 0.267578 0.439941 0.041016 0.040039 +31 0.460938 0.988281 0.046875 0.023438 diff --git a/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003927.txt b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003927.txt new file mode 100644 index 0000000000000000000000000000000000000000..6a37f20278147a890d6a1b6c25014ce821a082bc --- /dev/null +++ b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003927.txt @@ -0,0 +1,55 @@ +0 0.589844 0.640625 0.035156 0.035156 +2 0.814453 0.640137 0.091797 0.165039 +3 0.341797 0.960938 0.021484 0.078125 +4 0.526367 0.594238 0.070312 0.061523 +5 0.280273 0.834473 0.041016 0.041992 +6 0.741211 0.625000 0.072266 0.074219 +7 0.308105 0.988770 0.038086 0.022461 +8 0.680664 0.549805 0.078125 0.093750 +9 0.265625 0.625000 0.128906 0.128906 +10 0.572754 0.521484 0.108398 0.111328 +11 0.717773 0.781738 0.087891 0.102539 +13 0.537598 0.867188 0.065430 0.062500 +14 0.238281 0.549316 0.056641 0.053711 +15 0.549805 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--git a/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003932.txt b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003932.txt new file mode 100644 index 0000000000000000000000000000000000000000..1833e6c4c80042208b6d413868194faa28763460 --- /dev/null +++ b/Synthetic_Train_Sets/4K_Physics_RGB_EXP/yolo/labels/train/003932.txt @@ -0,0 +1,60 @@ +0 0.562012 0.574707 0.034180 0.034180 +2 0.573730 0.730957 0.184570 0.030273 +3 0.361328 0.424805 0.082031 0.125000 +4 0.514160 0.817383 0.067383 0.068359 +5 0.435547 0.253906 0.035156 0.035156 +6 0.519531 0.324707 0.048828 0.077148 +7 0.688965 0.312012 0.102539 0.073242 +8 0.382324 0.561035 0.090820 0.075195 +9 0.445312 0.412598 0.121094 0.122070 +10 0.600098 0.130859 0.112305 0.095703 +11 0.543457 0.690918 0.106445 0.045898 +12 0.625488 0.636230 0.032227 0.040039 +13 0.517090 0.633789 0.053711 0.060547 +14 0.562988 0.648926 0.055664 0.055664 +15 0.340332 0.366699 0.038086 0.038086 +16 0.683105 0.648438 0.026367 0.025391 +17 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