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https://git-lfs.github.com/spec/v1 +oid sha256:0f568698bd08a3b281e688957a5e5ecdace13a840b749da46680d2fb9f78b2c4 +size 58571261 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/40777060/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/40777060/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/40777060/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/40777060/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/40777060/colmap/sparse/images.txt new file mode 100644 index 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0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/40777060/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/40777060/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/40777060/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/40777060/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41048093/41048093_3dod_annotation.json 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/41048093/41048093_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e310208902651555608c68dccefc859ede20e1dd989873c7f962686af920a08 +size 57120978 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41048093/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41048093/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41048093/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41048093/colmap/sparse/images.txt 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/41048093/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41048093/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41069100/41069100_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/41069100/41069100_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..a243bcdffd32b74e8aeb5193f43054c4e00b0df0 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41069100/41069100_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "Q9ZXDW6iT6VuVLSu", "label": "bathtub", "modelId": "custom.abandon", "children": [], "objectId": 4, "segments": {"obb": {"centroid": [58.478962401628976, 51.47449845547219, 70.88307010428566], "axesLengths": [164.2546868346804, 54.94493432779173, 74.58689902440841], "normalizedAxes": [0.04023521522381712, 0.001153735193070015, 0.9991895697769255, -0.000996064316555277, 0.9999988828049663, -0.0011145603153344076, -0.9991897393947611, -0.0009504125017616091, 0.04023631946769113]}, "partId": 4, "fixScale": true, "segments": [117227], "fixRotate": true, "obbAligned": {"centroid": [-0.6641043556435448, 0.9147896073269892, -0.32525498921923446], "axesLengths": [0.7458689902440842, 1.642546868346804, 0.5494493432779173], "normalizedAxes": [0.04023631946769113, -0.9991897393947611, -0.0009504125017616091, 0.9991895697769255, 0.04023521522381712, 0.001153735193070015, -0.0011145603153344076, -0.000996064316555277, 0.9999988828049663]}, "fixPosition": true, "dominantNormal": [-0.000996064316555277, 0.9999988828049663, 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"fixPosition": true, "dominantNormal": [0.9994958948984717, 0, -0.03174832406762917]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "50%~100%"}}}, {"uid": "Z2gnNchT8PWOlL3P", "label": "sink", "modelId": "custom.abandon", "children": [], "objectId": 4, "segments": {"obb": {"centroid": [-90.21338380309093, 103.00610590573814, 12.895142675463145], "axesLengths": [58.73894270060107, 17.10760415296627, 38.4587483334947], "normalizedAxes": [0.9994958948984717, 0, -0.03174832406762917, 0, 1, 0, 0.03174832406762917, 0, 0.9994958948984717]}, "partId": 4, "fixScale": true, "segments": [282535], "fixRotate": true, "obbAligned": {"centroid": [-1.24398362993177, -0.5721338547202099, 0.19006108528342502], "axesLengths": [0.38458748333494697, 0.5873894270060107, 0.17107604152966271], "normalizedAxes": [0.9994958948984717, 0.03174832406762917, 0, -0.03174832406762917, 0.9994958948984717, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "0~20%"}}}], "stats": {"labelCount": 3, "totalSegments": 5803, "totalVertices": 353586, "percentComplete": 0.6035306827759017, "annotatedSegments": 3, "annotatedVertices": 2134, "unannotatedSegments": 5800, "unannotatedVertices": 351452}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41069100/41069100_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/41069100/41069100_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..5c3035c4f38c67f5e4b8e88fb665b10f6a0878c2 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41069100/41069100_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79e24159236f77d9a7ed1e1a526cb3f653c24cc07464946493287129d98a9c8e +size 14079022 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41069100/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41069100/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41069100/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41069100/colmap/sparse/images.txt 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/41069100/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/41069100/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/41069100/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41069100/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41069100/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41069100/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41098042/41098042_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/41098042/41098042_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..955b6fa3d4415a6b70e41a1724107d414dc53f53 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41098042/41098042_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "F7qCd2j0Es88ltef", "label": "bed", "modelId": "custom.abandon", "children": [], "objectId": 6, "segments": {"obb": {"centroid": [-194.61599068339726, 51.36835390472236, -116.61209799140988], "axesLengths": [170.27208500050756, 54.40470599920822, 212.67455852998603], "normalizedAxes": [0.9985408259892538, 0, -0.05400202619068013, 0, 1, 0, 0.05400202619068013, 0, 0.9985408259892538]}, "partId": 6, "fixScale": true, "segments": [182948, 219756, 232124, 140044, 138076, 130040], "fixRotate": true, "obbAligned": {"centroid": 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"unannotatedSegments": 6066, "unannotatedVertices": 450934}, "comment": "", "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "v1.4.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41098042/41098042_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/41098042/41098042_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..8fd0f1d929c679240d7108f06562dbbd37a66e6e --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41098042/41098042_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2331b6192b7c0522b18d95d339d9f564ab40a205c66e52ba497a402a480288a +size 19106859 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41098042/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41098042/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41098042/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41098042/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41098042/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..342ebac8a7dc42dd4f36ae61bc0807a956a3988c --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41098042/colmap/sparse/images.txt @@ -0,0 +1,1744 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 870, mean observations per 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/41098042/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/41098042/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/41098042/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41098042/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41098042/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41098042/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 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0000000000000000000000000000000000000000..91779ff58546389f163a35323eba404b29e5a84c --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41098151/41098151_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d66d3efe65469b6810192a06346319a89c2ef681fcb47bcf2452037240e31978 +size 47860561 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41098151/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41098151/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41098151/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41098151/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41098151/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..7c74eb64ad8e532bee3ef3a7806eb27c4cb61ac6 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41098151/colmap/sparse/images.txt @@ -0,0 +1,2140 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 1068, mean observations per image: 0.0 +0 0.061171833 0.70279616 -0.7068392 -0.052094378 0.0510707 0.055669 0.00345982 0 41098151_1124.336_color.png + +1 0.06498814 0.70180213 -0.70720196 -0.05581808 0.0519521 0.0548574 0.00477899 0 41098151_1124.420_color.png + +2 0.07008006 0.7005517 -0.7075205 -0.061080836 0.0526123 0.0546586 0.00634964 0 41098151_1124.520_color.png + +3 0.07685056 0.7001584 -0.70660967 -0.06763846 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0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/41098151/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41098151/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41098151/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41098151/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41125011/41125011_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/41125011/41125011_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..a063e890ac46aeef47556651e88ba77a376ed918 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41125011/41125011_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "IR9kAOtbPgRiu6Qu", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 23, "segments": {"obb": {"centroid": [236.52164581463745, 136.2976918788071, -26.796441022919232], "axesLengths": [71.65476381127579, 241.95735907630336, 62.61569764008916], "normalizedAxes": [-0.01697272686703033, 0, 0.9998559528965646, 0, 1, 0, -0.9998559528965646, 0, -0.01697272686703033]}, "partId": 23, "fixScale": true, "segments": [497988, 503044], "fixRotate": true, "obbAligned": {"centroid": [-3.155464517517553, 1.9789864662335326, 0.07297695693504358], "axesLengths": [0.6261569764008916, 0.7165476381127579, 2.419573590763034], 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false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41125011/41125011_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/41125011/41125011_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..c606223c362cb031d3f64acb988038c62aa12e19 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41125011/41125011_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:657f20566836103d15d4351d03726ae602cc074fc64f23fc875c46b04dac27a3 +size 29198865 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41125011/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41125011/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41125011/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41125011/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41125011/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..6e0ae97f7051acd4849bd7112ff540e13b069769 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41125011/colmap/sparse/images.txt @@ -0,0 +1,1822 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 909, mean observations per image: 0.0 +0 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/41125011/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/41125011/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/41125011/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41125011/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41125011/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41125011/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41125135/41125135_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/41125135/41125135_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..5e9bdb5366f7c811f54937b4c8d25173e5f036b6 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41125135/41125135_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "b7PtyRrbTldWkaSK", "label": "toilet", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [-104.68846825682131, 54.76506492643497, -227.2564503057866], "axesLengths": [42.09719795171912, 75.7307046084639, 59.994210097027874], "normalizedAxes": [0.8114720228311612, 0, -0.584391269751956, 0, 1, 0, 0.584391269751956, 0, 0.8114720228311612]}, "partId": 5, "fixScale": true, "segments": [236569, 235664], "fixRotate": true, "obbAligned": {"centroid": [-0.6000644291481065, 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{"centroid": [-0.2985519827962335, -0.7102383669963097, -1.1629615453998918], "axesLengths": [0.44874176273382715, 0.6239632339778637, 0.5233159642868818], "normalizedAxes": [0.8114720228311612, 0.584391269751956, 0, -0.584391269751956, 0.8114720228311612, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.584391269751956, 0, 0.8114720228311612]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "50%~100%"}}}, {"uid": "8PH3HYkZ1SyJmKeq", "label": "sink", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [-159.50050619046908, 92.73688887258237, -197.59363308267208], "axesLengths": [64.81071118959287, 17.720244231284124, 44.230889537058836], "normalizedAxes": [0.8114720228311612, 0, -0.584391269751956, 0, 1, 0, 0.584391269751956, 0, 0.8114720228311612]}, "partId": 5, "fixScale": true, "segments": [264045], "fixRotate": true, "obbAligned": {"centroid": [-0.3034362569169613, -0.708960082809232, -0.9026311541895206], "axesLengths": [0.4423088953705884, 0.6481071118959286, 0.17720244231284124], "normalizedAxes": [0.8114720228311612, 0.584391269751956, 0, -0.584391269751956, 0.8114720228311612, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}, {"uid": "GquHvLvAR8L9IWgB", "label": "table", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [107.46674194654868, 142.44920025413066, 51.46614458804555], "axesLengths": [104.87278796709046, 45.16936485277231, 81.53822826542684], "normalizedAxes": [0.17092720298012332, -0.0207475489205368, 0.9850651909874705, -0.0031612768006000144, 0.999761573197958, 0.021605626251837266, -0.9852785888317993, -0.006807052999207784, 0.17082086060866297]}, "partId": 5, "fixScale": true, "segments": [26129], "fixRotate": true, "obbAligned": {"centroid": [2.187161519790215, 1.9607123985609458, -0.40550804037403765], "axesLengths": [0.8153822826542684, 1.0487278796709045, 0.45169364852772315], "normalizedAxes": [0.17082086060866297, -0.9852785888317993, -0.006807052999207784, 0.9850651909874705, 0.17092720298012332, -0.0207475489205368, 0.021605626251837266, -0.0031612768006000144, 0.999761573197958]}, "fixPosition": true, "dominantNormal": [-0.0031612768006000144, 0.999761573197958, 0.021605626251837266]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface"], "attributes": {"occlusion": "0~20%", "orientation": "opposite", "incompleteness": "50%~100%"}}}], "stats": {"labelCount": 4, "totalSegments": 4676, "totalVertices": 288812, "percentComplete": 1.3333933493068155, "annotatedSegments": 5, "annotatedVertices": 3851, "unannotatedSegments": 4671, "unannotatedVertices": 284961}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41125135/41125135_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/41125135/41125135_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..000fe7495b08a7b9957289a9403036a6fd2335be --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41125135/41125135_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64270461a0b212158ba7c503da86cc533114c2d3c572d32e11481e96a098b6ce +size 11443443 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41125135/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41125135/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41125135/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41125135/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41125135/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..9051b8f3b6008eeffe463ed9c08c1c7315181ea5 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41125135/colmap/sparse/images.txt @@ -0,0 +1,592 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 294, mean observations per image: 0.0 +0 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/41125135/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41126514/41126514_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126514/41126514_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..1fbaccb3be8cfee3119d8451ab860b8b0c01d39d --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126514/41126514_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "zujybkxTWbLVe0cX", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 24, "segments": {"obb": {"centroid": [-197.21001892852655, 71.93825888811739, 283.83855014199577], "axesLengths": [150.4262386798466, 93.3898237829014, 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3.4059906378334914, "annotatedSegments": 24, "annotatedVertices": 28464, "unannotatedSegments": 14278, "unannotatedVertices": 807240}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41126514/41126514_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126514/41126514_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..89243b2ef940356f9dd69d1501ac95f3b6b45e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126514/41126514_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8cfca153e683cf3dd46545ef2950ae88b4ba1ddbb9f6b0eacdafa84ef22442f +size 33338549 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41126514/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126514/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126514/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41126514/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126514/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..1da4860c974a0559f874aac9173f709a7816daee --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126514/colmap/sparse/images.txt @@ -0,0 +1,1624 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/41126514/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126514/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126514/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41126514/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126514/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126514/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41126546/41126546_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126546/41126546_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..8561e4d72d090605d570c759f76643744ce4b17a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126546/41126546_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "4eDQYAaYj9QYYYxx", "label": "bed", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [34.28251176629124, 73.74311116349257, 210.56638760108046], "axesLengths": [151.87124659370855, 56.046193801453256, 212.87945215863573], "normalizedAxes": [-0.9952298685873899, 0, -0.09755771969212715, 0, 1, 0, 0.09755771969212715, 0, -0.9952298685873899]}, "partId": 5, "fixScale": true, "segments": [274882, 230094, 165988, 163805, 45128, 32002], "fixRotate": true, "obbAligned": {"centroid": [1.5089338821906142, 1.5728251367363988, -0.3275689455855333], "axesLengths": [2.1287945215863573, 1.5187124659370854, 0.5604619380145326], "normalizedAxes": [-0.9952298685873899, 0.09755771969212715, 0, -0.09755771969212715, -0.9952298685873899, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}, {"uid": "JOXFa2RRsDmJJJwt", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [-72.97282568791229, 83.75727017799396, 280.97025017920487], "axesLengths": [43.804794943802165, 76.07451183045603, 51.75816194153469], "normalizedAxes": [-0.9896235147412142, 0, -0.14368472107794322, 0, 1, 0, 0.14368472107794322, 0, -0.9896235147412142]}, "partId": 5, "fixScale": true, "segments": [257186], "fixRotate": true, "obbAligned": {"centroid": [2.2129725079718585, 0.5002717621943634, -0.2274273554405194], "axesLengths": [0.5175816194153469, 0.43804794943802167, 0.7607451183045604], "normalizedAxes": [-0.9896235147412142, 0.14368472107794322, 0, -0.14368472107794322, -0.9896235147412142, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.9896235147412142, 0, -0.14368472107794322]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}, {"uid": "NrMO6Wx62r8KOHN5", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [-144.46637467710767, 140.9539566875366, 190.32583988907527], "axesLengths": [162.60785407801276, 190.4678848495413, 47.67707426438456], "normalizedAxes": [0.08588359470440377, 0, -0.9963051782263556, 0, 1, 0, 0.9963051782263556, 0, 0.08588359470440377]}, "partId": 5, "fixScale": true, "segments": [324840, 286943], "fixRotate": true, "obbAligned": {"centroid": [1.3065284050705623, -0.21466372769759046, 0.3445395096549069], "axesLengths": [0.4767707426438456, 1.6260785407801277, 1.904678848495413], "normalizedAxes": [0.08588359470440377, 0.9963051782263556, 0, -0.9963051782263556, 0.08588359470440377, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.9963051782263556, 0, 0.08588359470440377]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}], "stats": {"labelCount": 4, "totalSegments": 5978, "totalVertices": 385511, "percentComplete": 7.226252947386716, "annotatedSegments": 10, "annotatedVertices": 27858, "unannotatedSegments": 5968, "unannotatedVertices": 357653}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41126546/41126546_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126546/41126546_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..b86b3563a16a68309566e665a4fb76561ed26c19 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126546/41126546_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8bc5faf3a74269c286de80abc5463cbcbbe8683757684ef13b25b83a7427825a +size 15386904 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41126546/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126546/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126546/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41126546/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126546/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..f6f616577490cb6ffbae6465923b6af3df016004 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126546/colmap/sparse/images.txt @@ -0,0 +1,1372 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 684, mean observations per image: 0.0 +0 0.059847914 0.68774873 -0.7224501 -0.03854603 0.0608644 0.0635466 0.0705018 0 41126546_4745.354_color.png 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Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126546/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41126546/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126546/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126546/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41126678/41126678_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126678/41126678_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..1f55d8e1ced942a33ca90a05b6949bb645b40952 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126678/41126678_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "bmGBX5lILpCw6Zmm", "label": "toilet", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [138.39223035648521, 74.38099274857964, 150.78976916407169], "axesLengths": [38.927123643727505, 77.63721791953955, 59.723102747466825], "normalizedAxes": [-0.24564269653944382, 0, 0.9693604415473279, 0, 1, 0, -0.9693604415473279, 0, -0.24564269653944382]}, "partId": 8, "fixScale": true, "segments": [161412], "fixRotate": true, "obbAligned": {"centroid": [1.1565776633356633, 2.2162571796253383, -0.15619004867234565], "axesLengths": [0.5972310274746683, 0.38927123643727507, 0.7763721791953956], "normalizedAxes": [-0.24564269653944382, -0.9693604415473279, 0, 0.9693604415473279, -0.24564269653944382, 0, 0, 0, 1]}, "fixPosition": true, 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"label_version": "v1.4.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41126678/41126678_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126678/41126678_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..f31b75d62562171d212e526579e5c3c8b5d19a44 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126678/41126678_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48c1dfe994d517620f3f2ef43b75ffc08ce39d48b2eda3a79bfa22b83fe6a63a +size 16353048 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41126678/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126678/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126678/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41126678/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126678/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..3b7f45b85b03037b0bd569e955e0db5df22aebd7 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126678/colmap/sparse/images.txt @@ -0,0 +1,1910 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 953, mean observations per image: 0.0 +0 0.0056227525 -0.70717835 0.7070098 -0.0020876063 0.0461109 0.0435188 -0.0131272 0 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/41126678/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126678/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126678/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41126980/41126980_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126980/41126980_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..965397978f652de772de4541be1622af5c6b9ba1 --- /dev/null +++ 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0000000000000000000000000000000000000000..3a40db3d452753e8d8abb49396eb9070eeb65191 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126980/41126980_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1accb77cb566f90c1272214c9fb8b8a5bb47333e3c4c3478918410def77e52d8 +size 14516283 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41126980/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126980/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126980/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git 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0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126980/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41126980/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126980/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41126980/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41127001/41127001_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/41127001/41127001_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..eb31868755f6c5ca2cf24dd47170cffbe3915a8f --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41127001/41127001_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "2MfvHnbSar3yda2c", "label": "bed", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [21.010864098146058, 46.036900839473766, -275.8805764469366], "axesLengths": [195.6558675135475, 54.28728646979289, 206.8949422986734], "normalizedAxes": [0.9985996450679682, 0, -0.05290320283430855, 0, 1, 0, 0.05290320283430855, 0, 0.9985996450679682]}, "partId": 5, "fixScale": true, "segments": [199877, 197766, 197521, 183443, 152173, 148121, 149337, 149212, 168892, 204766, 215852, 221770, 231030, 217697, 217924, 216697, 215583, 206030, 193546, 194011, 185325, 179815, 158770, 157632, 153305, 195462, 185266, 195772, 195716, 200070, 196228, 198322, 196224, 195570, 162468, 196578, 200127], "fixRotate": true, "obbAligned": {"centroid": [-1.495435846599798, -2.2423913447134245, -0.5146310154471203], "axesLengths": [2.068949422986734, 1.9565586751354749, 0.542872864697929], "normalizedAxes": [0.9985996450679682, 0.05290320283430855, 0, -0.05290320283430855, 0.9985996450679682, 0, 0, 0, 1]}, "fixPosition": true, "initialPoint": [-1.5003097125888387, -2.750790381140992, -0.2433306450316598], "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "orientation": "1", "incompleteness": "0~20%"}}}, {"uid": "OXSAHhECmMy1GcXn", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [131.73363623089145, 42.04924804043517, -360.84112826933347], "axesLengths": [44.23067923519117, 54.29018135957546, 44.67532127763874], "normalizedAxes": [0.9985996450679682, 0, -0.052903202834308966, 0, 1, 0, 0.052903202834308966, 0, 0.9985996450679682]}, "partId": 5, "fixScale": true, "segments": [122783, 121055, 118036], "fixRotate": true, "obbAligned": {"centroid": [-2.345041364823767, -1.1351636233859708, -0.5545075434375062], "axesLengths": [0.44675321277638735, 0.44230679235191167, 0.5429018135957546], "normalizedAxes": [0.9985996450679682, 0.052903202834308966, 0, -0.052903202834308966, 0.9985996450679682, 0, 0, 0, 1]}, "fixPosition": true, "initialPoint": [-2.162783072066079, -1.0875756438588444, -0.42551315846472737], "dominantNormal": [-0.2987702439438309, 0, -0.9543250711019509]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "orientation": "1", "incompleteness": "20%~50%"}}}, {"uid": "D4DNHhWlosK5cjBA", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [96.88939858174076, 118.73817844559102, 90.34566866714451], "axesLengths": [76.68797888532599, 185.56634989121255, 56.43135659575728], "normalizedAxes": [-0.9984248628637367, 0, 0.05610519775858314, 0, 1, 0, -0.05610519775858314, 0, -0.9984248628637367]}, "partId": 5, "fixScale": true, "segments": [466124], "fixRotate": true, "obbAligned": {"centroid": [2.166826604541013, -1.4836059998774775, 0.21238176061405234], "axesLengths": [0.5643135659575728, 0.7668797888532599, 1.8556634989121257], "normalizedAxes": [-0.9984248628637367, -0.05610519775858314, 0, 0.05610519775858314, -0.9984248628637367, 0, 0, 0, 1]}, "fixPosition": true, "initialPoint": [1.9053550142200257, -1.4363686203376036, 0.9552903783890647], "dominantNormal": [-0.056105197758583115, 0, -0.9984248628637361]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "orientation": "1", "incompleteness": "20%~50%"}}}], "stats": {"labelCount": 4, "totalSegments": 7763, "totalVertices": 598507, "percentComplete": 3.6390551823119863, "annotatedSegments": 46, "annotatedVertices": 21780, "unannotatedSegments": 7717, "unannotatedVertices": 576727}, "confirm": false, "skipped": false, "attributes": {"tags": ["regular_shape", "current_scanning"], "attributes": {"Multi-class": "[cabinet]", "orientation": "1"}}, "mesh_quality": [], "skipped_reason": "", "label_version": "v1.4.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41127001/41127001_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/41127001/41127001_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..7ded41168c4ec492785dd97c6edfa28ab04b61e7 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41127001/41127001_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9507635e2ed570dbbfb27f32432216bdb624de44550cabc1d3feefa238c092ef +size 24238201 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41127001/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41127001/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41127001/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41127001/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41127001/colmap/sparse/images.txt new file mode 100644 index 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/41127001/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/41127001/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41127001/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41127001/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41127001/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159362/41159362_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159362/41159362_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..13f28146c0f98f02cf656b34514ab4884f939e66 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159362/41159362_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "gPZ6KY6uTvcSX6k8", "label": "sofa", "modelId": "custom.abandon", "children": [], "objectId": 16, "segments": {"obb": {"centroid": [85.75209879975577, 200.68288543728312, -432.7297866342424], "axesLengths": [282.6603886054788, 73.72673368221814, 107.3495341926582], "normalizedAxes": [0.9987887851275251, 0, 0.049203279397641735, 0, 1, 0, -0.049203279397641735, 0, 0.9987887851275251]}, "partId": 16, "fixScale": true, "segments": [458666], "fixRotate": true, "obbAligned": {"centroid": [-5.422297894952654, 0.13752095938732822, -0.9235111972781698], 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"skipped_reason": "", "label_version": "v1.4.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159362/41159362_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159362/41159362_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..ccd43756c753bf7d80be82b99c46dfa57f9437c3 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159362/41159362_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a324648ba85593ae15fc1bc1c0fa9d3594886d8521e2aa276c713d8eedcdf4a +size 62316439 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159362/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159362/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159362/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159362/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159362/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..43785910169ca3a85c993736e6824930f7b13a86 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159362/colmap/sparse/images.txt @@ -0,0 +1,4302 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 2149, mean observations per image: 0.0 +0 0.29154372 0.6307174 -0.62624997 -0.35356584 0.0539036 0.0531884 -0.0177982 0 41159362_461.883_color.png 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0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159362/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159375/41159375_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159375/41159375_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..ee5ed82df8157cb821d76423fa97a673d11f668a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159375/41159375_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "TN79Mj0hQvluSBPK", "label": "sofa", "modelId": "custom.abandon", "children": [], "objectId": 51, "segments": {"obb": {"centroid": [86.39933061316125, 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159375/41159375_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca9d6f0df32827120db06390ab1288ff0bc30d350f943695aa90a0bec2bbd902 +size 43138598 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159375/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159375/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159375/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159375/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159375/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..1ec833320569b351102ec2a11e63b86592f9e36f --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159375/colmap/sparse/images.txt @@ -0,0 +1,5176 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 2586, mean observations per image: 0.0 +0 0.5057745 0.4938831 -0.4805705 -0.518964 0.0564339 0.0603065 0.00218993 0 41159375_1267.968_color.png + +1 0.4978734 0.49851292 -0.48026952 -0.52244437 0.0584165 0.0616755 0.00399776 0 41159375_1268.034_color.png + +2 0.48587447 0.5079408 -0.47403416 -0.53029585 0.059795 0.0617847 0.0105977 0 41159375_1268.134_color.png + +3 0.49911058 0.49904132 -0.46973214 -0.5302812 0.0611544 0.0610909 0.0179949 0 41159375_1268.234_color.png + +4 0.51196647 0.49305138 -0.46310297 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file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159375/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159375/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159375/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159375/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159394/41159394_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159394/41159394_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..46b340ed4ad32baf0e0533296402a1fb818707db --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159394/41159394_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "tMlXYlAhZY6NYZTG", "label": "table", "modelId": "custom.abandon", "children": [], "objectId": 28, "segments": {"obb": {"centroid": [-177.8300132409035, 53.731200417824596, -70.41292436139547], "axesLengths": [58.40439488569978, 58.467077470186254, 54.38040023897991], "normalizedAxes": [-0.013066995544807503, 0, -0.9999146231691146, 0, 1, 0, 0.9999146231691146, 0, -0.013066995544807503]}, "partId": 28, "fixScale": true, "segments": [90615], "fixRotate": true, "obbAligned": {"centroid": [-3.306629205466982, -0.8090402742776264, -0.9105680255000987], "axesLengths": [0.5438040023897991, 0.5840439488569978, 0.5846707747018626], "normalizedAxes": 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159394/41159394_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c22c8f3832d555ee2ce6269d32c940dd1826455da16f1194bfe964d96c6eda73 +size 61416484 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159394/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159394/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159394/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159394/colmap/sparse/images.txt 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0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159394/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159412/41159412_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159412/41159412_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..39939a55b92e38baa3d5b6c05176e1f1c9cd8d4d --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159412/41159412_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "PzaH4DkMtPESRI0x", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 10, "segments": {"obb": {"centroid": 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/dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159412/41159412_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbd61a8d0b4fde5e5e627e51e5c04c860e0d9d67343092e03973198f0506708f +size 18548269 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159412/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159412/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159412/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159412/colmap/sparse/images.txt 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159412/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159412/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159412/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159412/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159412/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git 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"annotatedSegments": 9, "annotatedVertices": 22707, "unannotatedSegments": 10075, "unannotatedVertices": 656016}, "comment": "", "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "v1.4.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159716/41159716_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159716/41159716_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..3b0ae665bf2b81a0732c20f13ee2c713c892e7c8 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159716/41159716_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f18f7c8224d77df2c57bc970f2d5209837a852d281843cd98fdad47a5a76892e +size 27268428 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159716/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159716/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159716/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159716/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159716/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..ee48c1660c6b0ba93e6ba96a1f1ceb5aa33413e6 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159716/colmap/sparse/images.txt @@ -0,0 +1,1092 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, 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0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159716/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159716/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159716/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159716/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159862/41159862_3dod_annotation.json 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"skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159862/41159862_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159862/41159862_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..dac32fbab408b8ed7dde6112700ab619ade52bf7 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159862/41159862_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d078ef36d2b1f7b6fe8c8dbffb4f0bd86e10903fb8ab26af9daf504a9da13be +size 34057622 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159862/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159862/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159862/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159862/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159862/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..5b4edddd85f49d3978922e91146cde0c96a0e058 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159862/colmap/sparse/images.txt @@ -0,0 +1,1870 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 933, mean observations per image: 0.0 +0 0.36079368 0.60757864 -0.6120696 -0.35503083 0.0569522 0.0545427 0.00618257 0 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159862/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159862/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159868/41159868_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159868/41159868_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..63e208e15bccd5e302e0092af5745d7a6968761b --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159868/41159868_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "Yy8lal6mraF2HQ0T", "label": 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"unannotatedVertices": 1042679}, "comment": "", "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "v1.4.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159868/41159868_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159868/41159868_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..1acae3d04986d0b7dfc2f336af0159aba7aeb986 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159868/41159868_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db11931c4c32f2f0232c8065155d426a663e0a5f1e88b716fbf168a713ed1b57 +size 42841133 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159868/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159868/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159868/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159868/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159868/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..7a0013c7cfe82a79f97a902e590c5bcbe03ea68f --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159868/colmap/sparse/images.txt @@ -0,0 +1,4990 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 2493, mean observations per image: 0.0 +0 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0.18390234 -0.15686607 -7.75932 -1.06566 3.3247 0 41159868_81186.722_color.png + diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159868/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159868/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159868/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41159868/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159868/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41159868/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41254783/41254783_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/41254783/41254783_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..fa20b94cbd665bd8d7933a78fc6b4b884b21aa58 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41254783/41254783_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "xEotGks5xzzCNEMq", "label": "table", "modelId": "custom.abandon", "children": [], "objectId": 7, "segments": {"obb": {"centroid": [62.30266490771632, 64.59595825569569, 45.243783509836796], "axesLengths": [136.6841059427926, 84.53998533994698, 46.61134976045538], "normalizedAxes": [0.03149873461125807, 6.607891533598106e-06, 0.9995037917257872, -0.00011615647137522251, 0.9999999932494841, -2.9505737228580303e-06, 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{"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41254783/41254783_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/41254783/41254783_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..3d0f1a3b29480e78020355286ef8de154a65a39f --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41254783/41254783_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79e4c2be6d77ad77952f7f5a42798d5bfa63e028b4f281648e39229da641830e +size 80155152 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41254783/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41254783/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41254783/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41254783/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41254783/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..1336dc9831e8cad8156d24c86fb9d370dc185459 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41254783/colmap/sparse/images.txt @@ -0,0 +1,2306 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 1151, mean observations per image: 0.0 +0 0.34580728 -0.5985762 0.604621 0.39567333 0.0529957 0.0570689 0.021102 0 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"attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "v1.4.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41254810/41254810_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/41254810/41254810_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..0762329a1a8a356db294d5e33ceb497ef388fdcf --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41254810/41254810_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7013120078e4c141040cb36764a999c2753f23a1725c1aa179a604c19af63f1f +size 46163114 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41254810/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41254810/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41254810/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/41254810/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/41254810/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..a515ff01f3fe55dd26f4ac4723db87515c2537e3 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41254810/colmap/sparse/images.txt @@ -0,0 +1,3958 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 1977, mean observations per image: 0.0 +0 0.3823862 -0.5865246 0.6036563 0.3812725 0.0333251 0.0327628 -0.0300098 0 41254810_133470.871_color.png 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0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/41254810/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42444692/42444692_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444692/42444692_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..949188cd8f7cb12bdaade595594b1f18a1c4a52d --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444692/42444692_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "9RnGEWCangTRGwcj", "label": "table", "modelId": "custom.abandon", "children": [], "objectId": 20, "segments": {"obb": {"centroid": [263.0516001373647, 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@@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8fab265913cab033f91a36a0a2368a28207ffd820fd937220b15f3bf3e8c8851 +size 45483830 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42444692/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444692/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444692/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42444692/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444692/colmap/sparse/images.txt new file mode 100644 index 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444692/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42444837/42444837_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444837/42444837_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..ae4cd66b500898ca45e5e1eb872ad453c8674ead --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444837/42444837_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "EL5MoaRIXTGjxzem", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 9, "segments": {"obb": {"centroid": [-36.31149944087893, 61.224540722470365, 186.66878764773963], "axesLengths": [58.47108531691853, 80.22049768447212, 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"percentComplete": 0.9574798583352319, "annotatedSegments": 10, "annotatedVertices": 4623, "unannotatedSegments": 8642, "unannotatedVertices": 478207}, "comment": "", "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42444837/42444837_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444837/42444837_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..e525ffe2949d7a74227a42d3baa3510de07d40f4 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444837/42444837_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b8bdfbb162208bc9dbdefd765c0a3b61e33a3ba413784a509d5c80df7a4de25 +size 19033446 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42444837/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444837/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444837/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42444837/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444837/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..ddc5ff696cd505dfc9accab24b0a518e57f0c713 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444837/colmap/sparse/images.txt @@ -0,0 +1,812 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 404, mean observations per image: 0.0 +0 0.012350542 -0.71161735 0.70140415 -0.03847598 0.0785227 0.0770554 0.00335516 0 42444837_57725.169_color.png + +1 0.014064093 -0.71086025 0.70220137 -0.037324686 0.0861644 0.0783709 0.00318823 0 42444837_57725.252_color.png + +2 0.013320518 -0.708646 0.70494413 -0.02640334 0.0659762 0.0679552 0.00422412 0 42444837_57725.352_color.png + +3 0.016250145 -0.705325 0.70814914 -0.027881874 0.0641161 0.0649517 0.00458112 0 42444837_57725.452_color.png + +4 0.01960017 -0.7038804 0.70940363 -0.030242478 0.064878 0.0637135 0.0051781 0 42444837_57725.552_color.png + +5 0.03234511 -0.7074386 0.70561945 -0.024199193 0.0673249 0.0639433 0.000500834 0 42444837_57725.652_color.png + +6 0.033865727 -0.70804954 0.7050226 -0.021497749 0.0700038 0.0644303 0.00062138 0 42444837_57725.752_color.png + +7 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diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42444837/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444837/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444837/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42444837/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444837/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444837/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42444932/42444932_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444932/42444932_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..ebf5b4a6932aab85500ca6e51c27363b9721c232 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444932/42444932_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "SYgssgg1gCCt6NyK", "label": "bed", "modelId": "custom.abandon", "children": [], "objectId": 12, "segments": {"obb": {"centroid": [43.837227221891695, 127.9225307782807, 73.92516683968604], "axesLengths": [98.6067174656224, 55.595390945975595, 211.64065185295863], "normalizedAxes": [-0.9962720711896567, 0, 0.0862667964368203, 0, 1, 0, -0.0862667964368203, 0, -0.9962720711896567]}, "partId": 12, "fixScale": true, "segments": [225910], "fixRotate": true, "obbAligned": {"centroid": [1.3992516350182593, 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{"labelCount": 11, "totalSegments": 4860, "totalVertices": 362470, "percentComplete": 5.995254779705907, "annotatedSegments": 19, "annotatedVertices": 21731, "unannotatedSegments": 4841, "unannotatedVertices": 340739}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42444932/42444932_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444932/42444932_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..f420ede4eefd170c49b6be08ad915b40c6bf562c --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444932/42444932_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:271c9f1c0bfa41fff7f969c66a35d716ff8069e7207e7804a9f185c8a8aa57ec +size 14612687 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42444932/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444932/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444932/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42444932/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444932/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..7df1ec12b11111b09daae0ad72e0166e10fe5725 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444932/colmap/sparse/images.txt @@ -0,0 +1,1726 @@ +# 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444932/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444932/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42444932/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444932/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444932/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444933/42444933_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..e0c33485b42c3ddd894b0732c6856f4968704aca --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444933/42444933_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8005d542a34192cabeb7d015de03defd177ab2eeae174565b1a32a9586e7d70d +size 14164707 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42444933/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444933/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444933/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42444933/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444933/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..7c54079de4bf95c1f86ffed99037b76f950b5da9 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444933/colmap/sparse/images.txt @@ -0,0 +1,1596 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 796, mean observations per image: 0.0 +0 0.06808042 -0.70516324 0.70482725 -0.036446895 0.0557588 0.0534396 0.0016712 0 42444933_221489.711_color.png + +1 0.06957186 -0.7041145 0.705784 -0.035375405 0.0575687 0.0554137 0.00281894 0 42444933_221489.794_color.png + +2 0.06665854 -0.7039014 0.70624363 -0.03604648 0.0526145 0.0552331 0.00333667 0 42444933_221489.894_color.png + +3 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--git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42444933/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444933/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444933/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42444933/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444933/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42444933/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445057/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445057/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445057/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445057/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..a6007d5e4db966d8318317599996abe1503cac6b --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445057/colmap/sparse/images.txt @@ -0,0 +1,1894 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, 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differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445057/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445057/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445057/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445088/42445088_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445088/42445088_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..4fb9a5e221b9975324984e46f141bbf40d1771c9 --- /dev/null +++ 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mode 100644 index 0000000000000000000000000000000000000000..8baf78baee3234d249913aa461a3e04f7c4233d6 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445088/42445088_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a33a89467944f0e1890ea546bd11279fb5e0ba0035b7015a2876e3e00ed70451 +size 32143889 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445088/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445088/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445088/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445088/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445088/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..3fdb3a8e58376e3b3d8bb97c61bdf8d3f46c6da4 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445088/colmap/sparse/images.txt @@ -0,0 +1,1268 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 632, mean observations per image: 0.0 +0 0.040720575 -0.69976085 0.71290874 -0.020921284 0.0520528 0.0583547 0.0122798 0 42445088_6744.050_color.png + +1 0.04179318 -0.6986845 0.71395004 -0.019198827 0.0514656 0.0577084 0.0137461 0 42445088_6744.150_color.png + +2 0.042411547 -0.6992765 0.71337306 -0.017678268 0.0543281 0.0555501 0.0167904 0 42445088_6744.249_color.png + +3 0.04442744 -0.69982696 0.7127182 -0.01735613 0.05326 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/dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445088/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445173/42445173_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445173/42445173_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..167357ec1736a474bba51c9ae70f03ac98c03c0d --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445173/42445173_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "Gb35i97LjdVlxFGJ", "label": "table", "modelId": "custom.abandon", "children": [], "objectId": 31, "segments": {"obb": {"centroid": [-148.91309816329706, 70.9660562808182, -107.52515360968049], "axesLengths": [76.82026921315624, 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\ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445173/42445173_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445173/42445173_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..271f5100487277d4aab8bc935010d80935c40577 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445173/42445173_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8eac8bf8b65ed2ca3130fd9df3b0450c970348c66d21605de2d886a52a3ab436 +size 69213843 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445173/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445173/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445173/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445173/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445173/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..0858a6b998ef076319d5fea94fe534e312d5eec9 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445173/colmap/sparse/images.txt @@ -0,0 +1,3334 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 1665, mean observations per image: 0.0 +0 0.45038554 0.5419845 -0.51499164 -0.48804644 0.0424329 0.0561955 -0.00241497 0 42445173_8098.954_color.png + +1 0.44622016 0.5433875 -0.5197533 -0.48525676 0.0414385 0.0569647 0.000443376 0 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445173/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445173/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445619/42445619_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445619/42445619_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..549928af4a2817c189f18f3fc26a65419fa9d792 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445619/42445619_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "sH0hzVVAGlgVJtxf", "label": 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"percentComplete": 2.528589983725608, "annotatedSegments": 48, "annotatedVertices": 31090, "unannotatedSegments": 20347, "unannotatedVertices": 1198449}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445619/42445619_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445619/42445619_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..1248dcb47ef1a4230f34e5146981f82934b046aa --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445619/42445619_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:801cd7d9ee73fe59e65aab6eec801774fe8291ae9577ed935261962769d3aa0b +size 49302134 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445619/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445619/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445619/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445619/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445619/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..51c272bfa0fed8cc7beaba02aef3876b54154df2 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445619/colmap/sparse/images.txt @@ -0,0 +1,2352 @@ +# 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0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445619/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445642/42445642_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445642/42445642_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..b5105701f0673b55a0f87251c0082b166c72ca32 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445642/42445642_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "WF8z8A35VHDwgznP", "label": "bed", "modelId": "custom.abandon", "children": [], "objectId": 6, "segments": {"obb": {"centroid": [114.11442929074916, 54.29670973223936, -178.95876685138936], "axesLengths": [149.74415941836975, 62.152080051475686, 205.38730817824433], "normalizedAxes": [0.8195074652349008, 0, -0.5730685076186509, 0, 1, 0, 0.5730685076186509, 0, 0.8195074652349008]}, "partId": 6, "fixScale": true, "segments": [94292], "fixRotate": true, "obbAligned": {"centroid": [-2.88776760492289, 0.2960392409131678, -0.702032907445978], "axesLengths": [2.0538730817824433, 1.4974415941836976, 0.6215208005147569], "normalizedAxes": [0.8195074652349008, 0.5730685076186509, 0, -0.5730685076186509, 0.8195074652349008, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}, {"uid": "uZEujAKexYl5Cvep", "label": "table", "modelId": "custom.abandon", "children": [], "objectId": 6, "segments": {"obb": {"centroid": [146.69003824960967, 63.57985658783657, -300.7151960398791], "axesLengths": [40.40690666120496, 77.71704414668872, 43.162814079266354], "normalizedAxes": [0.8195074652349008, 0, -0.5730685076186509, 0, 1, 0, 0.5730685076186509, 0, 0.8195074652349008]}, "partId": 6, "fixScale": true, "segments": [158797, 91974, 87237], "fixRotate": true, "obbAligned": {"centroid": [-4.105331896807788, 0.6217953305017729, -0.6092014388900059], "axesLengths": [0.43162814079266354, 0.40406906661204955, 0.7771704414668872], "normalizedAxes": [0.8195074652349008, 0.5730685076186509, 0, -0.5730685076186509, 0.8195074652349008, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.8195074652349008, 0, -0.5730685076186509]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "current_scanning"], "attributes": {"occlusion": "0~20%", "orientation": "1", "incompleteness": "20%~50%"}}}, {"uid": "U5xjXT0Yc2H6KrqD", "label": "table", "modelId": "custom.abandon", "children": [], "objectId": 6, "segments": {"obb": {"centroid": [-21.359908347180934, 61.452334721691294, -187.97042121423155], "axesLengths": [43.50041407607462, 76.46333003037958, 35.34491914772498], "normalizedAxes": [0.8195074652349008, 0, -0.5730685076186509, 0, 1, 0, 0.5730685076186509, 0, 0.8195074652349008]}, "partId": 6, "fixScale": true, "segments": [68711], "fixRotate": true, "obbAligned": {"centroid": [-2.977884148551312, -1.058704135466133, -0.6304766575514587], "axesLengths": [0.3534491914772498, 0.4350041407607462, 0.7646333003037958], "normalizedAxes": [0.8195074652349008, 0.5730685076186509, 0, -0.5730685076186509, 0.8195074652349008, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.5730685076186509, 0, 0.8195074652349008]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "current_scanning"], "attributes": {"occlusion": "0~20%", "orientation": "1", "incompleteness": "50%~100%"}}}, {"uid": "5YXa3NN6PDEwSFZw", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 6, "segments": {"obb": {"centroid": [-40.493229666883856, 124.98906470770909, -118.98677233773168], "axesLengths": [115.58978279521469, 203.53679000241516, 64.09133080410824], "normalizedAxes": [-0.6042939152537947, 0, -0.7967614850049163, 0, 1, 0, 0.7967614850049163, 0, -0.6042939152537947]}, "partId": 6, "fixScale": true, "segments": [82204], "fixRotate": true, "obbAligned": {"centroid": [-2.2880476597863133, -1.2500373486631622, 0.004890642308719384], "axesLengths": [0.6409133080410824, 1.155897827952147, 2.0353679000241516], "normalizedAxes": [-0.6042939152537947, 0.7967614850049163, 0, -0.7967614850049163, -0.6042939152537947, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.7967614850049166, 0, -0.6042939152537952]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "0~20%"}}}], "stats": {"labelCount": 5, "totalSegments": 7828, "totalVertices": 514781, "percentComplete": 1.1061014295399403, "annotatedSegments": 7, "annotatedVertices": 5694, "unannotatedSegments": 7821, "unannotatedVertices": 509087}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445642/42445642_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445642/42445642_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..ffb681d79e7e9e0b18cb9586dd64d1f46e610c99 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445642/42445642_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36b0f3c648eb03fb5c73d484f051193ff50a18d8ed87f47a5eb8c2183fd8ebe3 +size 20648726 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445642/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445642/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445642/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445642/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445642/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..64e73c175b2f4d13e618a8ea9faa90e16a6f3a11 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445642/colmap/sparse/images.txt @@ -0,0 +1,1124 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 560, mean observations per image: 0.0 +0 0.33766806 -0.6413452 0.61583227 0.30888063 0.0449135 0.110839 -0.00730472 0 42445642_58230.509_color.png + +1 0.3388023 -0.6444499 0.61500823 0.3027576 0.0410963 0.117509 -0.00784182 0 42445642_58230.592_color.png + +2 0.34213334 -0.6438531 0.6074797 0.31522435 0.0368664 0.122728 -0.0068247 0 42445642_58230.692_color.png + +3 0.3416213 -0.64752054 0.5986069 0.3250874 0.0359511 0.133734 -0.00639829 0 42445642_58230.792_color.png + +4 0.339547 -0.6505292 0.59553105 0.326898 0.0337139 0.141056 -0.00957032 0 42445642_58230.892_color.png + +5 0.33314812 -0.64898205 0.6026123 0.323563 0.0309482 0.146096 -0.0143232 0 42445642_58230.992_color.png + +6 0.33283168 -0.64118415 0.60991967 0.32573608 0.0307661 0.150845 -0.0166489 0 42445642_58231.092_color.png + +7 0.33666745 -0.64193517 0.6043105 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mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445642/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445642/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445642/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445642/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445670/42445670_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445670/42445670_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..bcdb0ccd3354c66e6779486effc83d6a788eff09 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445670/42445670_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "9rMOqyTWEhbcuPtW", "label": "sofa", "modelId": "custom.abandon", "children": [], "objectId": 9, "segments": {"obb": {"centroid": [133.81145903391263, 134.41675229342522, 139.5408385881647], "axesLengths": [97.65689048613757, 86.32047197649355, 113.47241345527404], "normalizedAxes": [-0.655722614410583, 0, 0.7550018893688616, 0, 1, 0, -0.7550018893688616, 0, -0.655722614410583]}, "partId": 9, "fixScale": true, "segments": [127453], "fixRotate": true, "obbAligned": {"centroid": [-3.4570915163667357, 0.31917461841529815, -0.15584249064607003], "axesLengths": [1.1347241345527403, 0.9765689048613757, 0.8632047197649355], "normalizedAxes": 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"incompleteness": "20%~50%"}}}], "stats": {"labelCount": 8, "totalSegments": 21898, "totalVertices": 1271346, "percentComplete": 1.9377101119600801, "annotatedSegments": 42, "annotatedVertices": 24635, "unannotatedSegments": 21856, "unannotatedVertices": 1246711}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445670/42445670_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445670/42445670_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..2bfd75bba854de3c5a1862f72fc2b95aa6e71621 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445670/42445670_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56728c295a921f15d9c08fb2501245fe6a768601b29add75757a09588366b176 +size 50595176 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445670/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445670/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445670/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445670/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445670/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..ac85ccffcf8af6d553aedefeb91ee4ae36e204c2 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445670/colmap/sparse/images.txt @@ -0,0 +1,1200 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 598, mean observations per image: 0.0 +0 0.29510844 -0.682506 0.64915985 0.16027467 0.177207 -0.0590672 -0.075284 0 42445670_60930.834_color.png + +1 0.32851893 -0.6779228 0.6312422 0.18447027 0.271519 -0.121795 -0.134268 0 42445670_60930.934_color.png + +2 0.35086346 -0.675956 0.61381924 0.20785645 0.386413 -0.183285 -0.203814 0 42445670_60931.034_color.png + +3 0.36863378 -0.67194545 0.5952043 0.24151665 0.432562 -0.22109 -0.271058 0 42445670_60931.134_color.png + +4 0.389474 -0.6623134 0.56675994 0.29737884 0.353414 -0.218181 -0.33382 0 42445670_60931.234_color.png + +5 0.41338104 -0.64271045 0.5374818 0.35658485 0.214325 -0.174726 -0.345364 0 42445670_60931.334_color.png + +6 0.44057542 -0.621768 0.5167075 0.39027077 0.117214 -0.117952 -0.300999 0 42445670_60931.434_color.png + +7 0.46280038 -0.60525054 0.50407124 0.4066937 0.0593688 -0.0737803 -0.259703 0 42445670_60931.534_color.png + +8 0.4748922 -0.5920848 0.49282262 0.4254866 0.0279063 -0.0402602 -0.244644 0 42445670_60931.634_color.png + +9 0.47666156 -0.5931688 0.48914936 0.42623636 0.0159426 -0.00880385 -0.236192 0 42445670_60931.734_color.png + +10 0.49217054 -0.5839197 0.4900809 0.42026973 0.0160768 0.0403393 -0.238656 0 42445670_60931.834_color.png + +11 0.49559706 -0.56963366 0.5036821 0.41976827 0.0229633 0.0970311 -0.213124 0 42445670_60931.934_color.png + +12 0.47121176 -0.5806267 0.5068009 0.42893472 0.0268368 0.119321 -0.214393 0 42445670_60932.034_color.png + +13 0.47536206 -0.579936 0.50196886 0.43096682 0.0387584 0.142633 -0.238574 0 42445670_60932.134_color.png + +14 0.4765369 -0.58449894 0.4983027 0.42774755 0.0576393 0.15884 -0.27615 0 42445670_60932.234_color.png + +15 0.46949315 -0.5862152 0.5042244 0.426246 0.0723839 0.171208 -0.328089 0 42445670_60932.334_color.png + +16 0.48075724 -0.5856275 0.4910833 0.42982566 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445670/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445670/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445670/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445670/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445806/42445806_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445806/42445806_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..06f91c49fd50b41d12fb847b95cdb9f9ebf0d625 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445806/42445806_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "I4gLSQJDuplkxFk0", "label": "bed", "modelId": "custom.abandon", "children": [], "objectId": 7, "segments": {"obb": {"centroid": [192.49466988650937, 85.55958469116355, -1.2758789114847258], "axesLengths": [168.9888901598395, 63.67513147536441, 222.3835062583358], "normalizedAxes": [0.4781053012974167, 0, 0.8783025224097369, 0, 1, 0, -0.8783025224097369, 0, 0.4781053012974167]}, "partId": 7, "fixScale": true, "segments": [294696], "fixRotate": true, "obbAligned": {"centroid": [-0.1004487848805333, 3.045576843938031, -0.5994041960037088], "axesLengths": [2.2238350625833583, 1.689888901598395, 0.6367513147536441], "normalizedAxes": [0.4781053012974167, -0.8783025224097369, 0, 0.8783025224097369, 0.4781053012974167, 0, 0, 0, 1]}, "fixPosition": true, 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"attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "v1.4.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445806/42445806_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445806/42445806_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..5d0463da94e76452077f25b2ce15e4e4403652c5 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445806/42445806_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4adccab236c0ae4a768001f7470a6fb7fac8c27a65989468c99922af3bf9e0b0 +size 20139988 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445806/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445806/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445806/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445806/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445806/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..9fccd2d4a6b5573eaf589ed3c6759fc8cf1067dc --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445806/colmap/sparse/images.txt @@ -0,0 +1,1620 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 808, mean observations per image: 0.0 +0 0.07982385 0.7623651 -0.6422029 -0.0017183302 0.0469427 0.0689195 0.0533458 0 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445806/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445806/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445806/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445806/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445806/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445924/42445924_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445924/42445924_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..b6c39b035fa834dba4cda8d5b72c2b2221c42dd5 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445924/42445924_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "JJTls3hd8pIa8gYY", "label": "bathtub", "modelId": "custom.abandon", "children": [], "objectId": 4, "segments": {"obb": {"centroid": [302.7147815704729, 128.0400428646087, -67.01053566554063], "axesLengths": [164.52798297023028, 58.15844825170471, 68.60519818123991], "normalizedAxes": [0.02032133450627993, 0, 0.9997935003608917, 0, 1, 0, -0.9997935003608917, 0, 0.02032133450627993]}, "partId": 4, "fixScale": true, "segments": [20936], "fixRotate": true, "obbAligned": {"centroid": [0.08311472467393943, 1.6581078033451098, -0.08459958089065611], 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false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445924/42445924_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445924/42445924_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..3dc7ea5c487cba4ce3f6d82434b44ce9ed336ba8 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445924/42445924_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72083463970ab83094c2c8301afa3c15ecd5ca36a67b957aa620244f79bf68a4 +size 12771601 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445924/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445924/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445924/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445924/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445924/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..39aa531233578b05d11244b3545373aa3a7bb7aa --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445924/colmap/sparse/images.txt @@ -0,0 +1,908 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 452, mean observations per image: 0.0 +0 0.019380655 -0.70795935 0.70596313 -0.005828179 0.0505954 0.0575988 0.00684266 0 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0.121995 -0.0212812 0 42445924_77955.183_color.png + diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445924/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445924/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445924/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445924/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445924/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445924/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445978/42445978_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445978/42445978_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..8da8ac400d3ee65e2b08062e3f0e293ac6be3e94 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445978/42445978_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "OCqq6V30HerGQJ9s", "label": "bed", "modelId": "custom.abandon", "children": [], "objectId": 12, "segments": {"obb": {"centroid": [26.52343571119361, 60.79763589615856, -224.85592718815093], "axesLengths": [164.38350830929284, 65.38671474103091, 219.93743508230227], "normalizedAxes": [-0.15572319365013487, -0.00025746330515707613, -0.9878006988618955, 0.0027653659113189132, 0.9999959337473512, -0.0006965918027399863, 0.9877968615615151, 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"attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "v1.4.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445978/42445978_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445978/42445978_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..8775f4bac40b768aac547317fe1066c77e0cab7f --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445978/42445978_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5409c673d72c03e93a1bc5a74f04049ad7f9fe9af50b668207e31e8095d86308 +size 58115105 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445978/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445978/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445978/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445978/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445978/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..78e26ba6099499348f2f4ffdba3c2d1c2194dbf0 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445978/colmap/sparse/images.txt @@ -0,0 +1,2478 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 1237, mean observations per image: 0.0 +0 0.601623 0.35375342 -0.3772639 0.608753 0.0747202 -0.00923297 -0.0433546 0 42445978_132346.607_color.png 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0.205545 0.603103 -1.15142 0 42445978_132470.189_color.png + diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445978/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445978/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445978/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42445978/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445978/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42445978/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42446574/42446574_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42446574/42446574_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..ef71a7fd43edb38fa94fbfea7900ea59c317b33f --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42446574/42446574_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "GmAmr72S4fH9OYVT", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 21, "segments": {"obb": {"centroid": [-207.21437855147587, 83.95189544252193, 175.95748598834993], "axesLengths": [112.81279741163392, 90.49824781236835, 68.27969211028221], "normalizedAxes": [0.025071916806964634, 0, -0.9996856500858782, 0, 1, 0, 0.9996856500858782, 0, 0.025071916806964634]}, "partId": 21, "fixScale": true, "segments": [776926], 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/42446574/42446574_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..86bf481b940de718b16865001d651f01e47a0006 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42446574/42446574_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4af3ed11674ae2d3382c5c1ec8edd2ef9a5a9b27854871d99752dfd31acaac17 +size 63434043 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42446574/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42446574/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42446574/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42446574/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42446574/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..e0f8d742755b572757d5c61a591ad0d6a960908f --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42446574/colmap/sparse/images.txt @@ -0,0 +1,1704 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 850, mean observations per image: 0.0 +0 0.4717565 0.50603044 -0.5118182 0.5093341 0.0606526 0.0650453 -0.0101232 0 42446574_86369.908_color.png + +1 0.4731237 0.508722 -0.5137114 0.5034446 0.0639543 0.0654248 -0.0132569 0 42446574_86369.991_color.png + +2 0.46642992 0.52073663 -0.5241723 0.4863331 0.0715662 0.0657358 -0.0194704 0 42446574_86370.091_color.png + +3 0.4677528 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/dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/42446574/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42446574/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42446574/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42446574/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42446588/42446588_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42446588/42446588_3dod_annotation.json new file mode 100644 index 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/42446588/42446588_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9c1a5d72fb8b9b9c5173b3192211596c42e9a4cbd93f27da323aabf1ae60e8f +size 28664097 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42446588/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42446588/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42446588/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42446588/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42446588/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..87b71638c44db2853287e5b6625d02c6c9ea7785 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42446588/colmap/sparse/images.txt @@ -0,0 +1,2998 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 1497, mean observations per image: 0.0 +0 0.12869608 0.7565045 -0.62246644 0.15386286 0.0426375 0.11658 0.163827 0 42446588_205947.375_color.png + +1 0.14851238 0.7547011 -0.6169118 0.16670372 0.0448856 0.139766 0.180838 0 42446588_205947.458_color.png + +2 0.16942357 0.7529539 -0.6106325 0.17743751 0.0533771 0.167868 0.197516 0 42446588_205947.558_color.png + +3 0.1850487 0.75051653 -0.60558903 0.18906055 0.0587585 0.196567 0.206897 0 42446588_205947.658_color.png + +4 0.19764018 0.74424523 -0.6043661 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/dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42446588/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42447233/42447233_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42447233/42447233_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..5bd971c527c0b54a64c6013d754bb80cd75cc56c --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42447233/42447233_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "fHMCBSa4G7MS8FcV", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 11, "segments": {"obb": {"centroid": [-246.15739774294542, 48.26154406913532, -33.48248711771369], "axesLengths": [175.87968528874447, 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mode 100644 index 0000000000000000000000000000000000000000..ff27068377a981e926aa31862b4d8781bef81b64 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42447233/42447233_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d063e66a37de53046f49a805b727f69aaadecb8ebf385134e793ffc426bb8917 +size 76247159 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42447233/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42447233/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42447233/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42447233/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42447233/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..9f681f69be68cc555b9e90bc2869b9cbc409bf57 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42447233/colmap/sparse/images.txt @@ -0,0 +1,1374 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 685, mean observations per image: 0.0 +0 0.40974632 -0.5915622 0.5681397 0.3992235 0.0483273 0.0381615 -0.0277831 0 42447233_88759.149_color.png + +1 0.42168018 -0.5882011 0.5544478 0.4108441 0.0475772 0.0332026 -0.0341577 0 42447233_88759.232_color.png + +2 0.43729454 -0.5777722 0.5393206 0.42905253 0.0434951 0.0274967 -0.0422236 0 42447233_88759.332_color.png + +3 0.45685315 -0.5620476 0.52714247 0.4444193 0.0418971 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/42447233/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42447233/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42447233/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42897419/42897419_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897419/42897419_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..060d43e083dfd03b872965165fb8c601fb9ee0f6 --- /dev/null +++ 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/dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897419/42897419_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6b16c2ae753baf39f9059b913914378639d5b9f0b9354c1c52c7df6e1a2b71a +size 18924823 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42897419/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897419/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897419/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42897419/colmap/sparse/images.txt 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/42897419/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897419/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897419/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42897439/42897439_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897439/42897439_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..2a6791b8630f25168eadba151cc9b997bca01e39 --- /dev/null +++ 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false, "labelType": "category", "attributes": {"tags": ["double_surface"], "attributes": {"occlusion": "0~20%", "orientation": "1", "incompleteness": "50%~100%"}}}], "stats": {"labelCount": 9, "totalSegments": 8535, "totalVertices": 560813, "percentComplete": 2.1581168767485774, "annotatedSegments": 9, "annotatedVertices": 12103, "unannotatedSegments": 8526, "unannotatedVertices": 548710}, "comment": "", "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "v1.4.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42897439/42897439_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897439/42897439_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..9effa310eaaca16434432f4c951d85901795a8c1 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897439/42897439_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25f756ca96dbbfbc3f01ba1e558e25cfa03ddc502e50f15b007961972415dae2 +size 22409665 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42897439/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897439/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897439/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42897439/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897439/colmap/sparse/images.txt new file mode 100644 index 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/42897439/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897439/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897439/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42897681/42897681_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897681/42897681_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..52f956e1782af881c88a234203300a354c271b87 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897681/42897681_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "kbYsBHsxt1iOAtCn", "label": "bed", "modelId": "custom.abandon", "children": [], "objectId": 4, "segments": {"obb": {"centroid": [-113.39741138614269, 42.00707736274898, 2.8626290433085], "axesLengths": [155.2507182728533, 66.13968115510308, 192.05926387845435], "normalizedAxes": [-0.3278730806458201, 0, -0.944721780731142, 0, 1, 0, 0.944721780731142, 0, -0.3278730806458201]}, "partId": 4, "fixScale": true, "segments": [41108], "fixRotate": true, "obbAligned": {"centroid": [2.418687281481898, -0.5382740883029553, -0.20992922160413863], "axesLengths": [1.9205926387845436, 1.552507182728533, 0.6613968115510308], "normalizedAxes": [-0.3278730806458201, 0.944721780731142, 0, -0.944721780731142, -0.3278730806458201, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}, {"uid": "4nE6NFai5htynQvH", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 4, "segments": {"obb": {"centroid": [100.06210402589357, 97.35152178764196, -30.6161163350787], "axesLengths": [82.28619000338986, 177.4300466728181, 63.63828998253685], "normalizedAxes": [0.30123168187470417, 0, 0.9535509812458571, 0, 1, 0, -0.9535509812458571, 0, 0.30123168187470417]}, "partId": 4, "fixScale": true, "segments": [278842], "fixRotate": true, "obbAligned": {"centroid": [2.083899827698026, 1.5963210658174074, 0.3435152226447912], "axesLengths": [0.6363828998253684, 0.8228619000338986, 1.774300466728181], "normalizedAxes": [0.30123168187470417, -0.9535509812458571, 0, 0.9535509812458571, 0.30123168187470417, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.9535509812458571, 0, 0.30123168187470417]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "0~20%"}}}], "stats": {"labelCount": 3, "totalSegments": 3694, "totalVertices": 362680, "percentComplete": 4.193779640454395, "annotatedSegments": 3, "annotatedVertices": 15210, "unannotatedSegments": 3691, "unannotatedVertices": 347470}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42897681/42897681_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897681/42897681_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..7e86685f205cf63c7aa02646b5a8be75ab6e8ffe --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897681/42897681_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c263fd38b7883bfba27e461436d3c5ea1e76b3b61362bf26a4a9d706d5511529 +size 14794602 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42897681/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897681/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897681/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42897681/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897681/colmap/sparse/images.txt new file mode 100644 index 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100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897681/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42897757/42897757_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897757/42897757_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..3c05b733a2102288458455dc489e1dbde58423f8 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897757/42897757_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "Zxoldrf54vVODHtI", "label": "sofa", "modelId": "custom.abandon", "children": [], "objectId": 23, "segments": {"obb": {"centroid": 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"percentComplete": 1.0406382964259357, "annotatedSegments": 23, "annotatedVertices": 13777, "unannotatedSegments": 23408, "unannotatedVertices": 1310122}, "comment": "", "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "v1.4.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42897757/42897757_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897757/42897757_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..225176e6cc4f3676d925cc6062b1920fd8b911ce --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897757/42897757_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e991bf1860ec0c49f27cdeb6187720f226dddfffc47f50edf4625d839631f18 +size 53137191 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42897757/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897757/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897757/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42897757/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897757/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..ce55bb9ddc8b16bfd8b9a79e16ebe727a6624bec --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897757/colmap/sparse/images.txt @@ -0,0 +1,2968 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897757/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897757/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42897780/42897780_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897780/42897780_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..58163d04e3dafba212b24196dbb6052e19639416 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897780/42897780_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "PcQGoAJK6RKdUlmb", "label": "bed", 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"attributes": {"occlusion": "0~20%", "orientation": "1", "incompleteness": "50%~100%"}}}, {"uid": "a6Wt1Xe6E8GJ2mLd", "label": "table", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [33.606636984611065, 42.40987788236882, -146.08079652569458], "axesLengths": [41.91481674561317, 45.77865223035491, 41.212487774889325], "normalizedAxes": [0.9999760873462673, 0.004455951172422723, 0.005288594784948934, -0.004467348222104386, 0.9999877204450395, 0.0021451710878160517, -0.005278971065734808, -0.0021687457855926037, 0.9999837143704915]}, "partId": 8, "fixScale": true, "segments": [526802], "fixRotate": true, "obbAligned": {"centroid": [-2.8258079151890443, 2.4004513071324878, -1.0909012068711972], "axesLengths": [0.4121248777488933, 0.41914816745613176, 0.4577865223035491], "normalizedAxes": [0.9999837143704915, -0.005278971065734808, -0.0021687457855926037, 0.005288594784948934, 0.9999760873462673, 0.004455951172422723, 0.0021451710878160517, -0.004467348222104386, 0.9999877204450395]}, "fixPosition": true, "dominantNormal": [-0.005278971065734808, -0.0021687457855926037, 0.9999837143704915]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "orientation": "0", "incompleteness": "0~20%"}}}], "stats": {"labelCount": 7, "totalSegments": 14620, "totalVertices": 884038, "percentComplete": 0.49353082107330226, "annotatedSegments": 7, "annotatedVertices": 4363, "unannotatedSegments": 14613, "unannotatedVertices": 879675}, "comment": "", "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "v1.4.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42897780/42897780_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897780/42897780_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..2783cb0df8bae01c14699944424339c138d2d48f --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897780/42897780_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4284f0216a0536674bb53dc65b88312a99723802410e5a5e8d4cba6b0f602f22 +size 35411048 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42897780/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897780/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897780/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42897780/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897780/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..84dc496421d01a797e3512f6d10f054a5b858b16 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897780/colmap/sparse/images.txt @@ -0,0 +1,3030 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 1513, mean observations per image: 0.0 +0 0.38660747 0.59488636 -0.58653426 -0.3906692 0.080409 0.0601797 0.00876644 0 42897780_129067.969_color.png + +1 0.39236894 0.5916616 -0.58245313 -0.39589334 0.0880519 0.0603527 0.00955321 0 42897780_129068.035_color.png + +2 0.40146926 0.58704644 -0.57782954 -0.40038973 0.108211 0.0617873 0.0144551 0 42897780_129068.136_color.png + +3 0.40928215 0.5814912 -0.57379085 -0.40634984 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0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897780/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42897907/42897907_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897907/42897907_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..ef7a77a3289d6f0fb12dfca4c3d5a73109e1569c --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897907/42897907_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "flDK1RRdmv0YdJue", "label": "bed", "modelId": "custom.abandon", "children": [], "objectId": 10, "segments": {"obb": {"centroid": [112.47463020919126, 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0000000000000000000000000000000000000000..aa399a4c7501fce56bbf2c4af0105dbc13df8715 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897907/42897907_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3401a6756140051915cd32bc727e6f52b5962a6c154b486644e007a51f4c0c9d +size 29069455 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42897907/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897907/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897907/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42897907/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897907/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..ca2a3babc4eec6248e9d08ac47e8f7b876b54be1 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897907/colmap/sparse/images.txt @@ -0,0 +1,1060 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 528, mean observations per image: 0.0 +0 0.3211561 0.5186871 -0.63030446 0.48014444 0.0772332 0.0499271 -0.0160288 0 42897907_346214.285_color.png + +1 0.3387826 0.4976949 -0.6206599 0.5023021 0.030041 0.0556885 0.00439432 0 42897907_346214.369_color.png + +2 0.37314177 0.47481343 -0.6050337 0.5188946 -0.138513 0.0939153 0.0840793 0 42897907_346214.469_color.png + +3 0.39648256 0.46165547 -0.58498067 0.5361655 -0.182736 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897907/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42897907/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42898097/42898097_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898097/42898097_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..a54f2e17bfec2112f0fa361b1efa4eafc213f4b7 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898097/42898097_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "6wXsb3RA7ogawn9x", "label": 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"label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42898097/42898097_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898097/42898097_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..db56684b159daa50bbe3e124130e7cbd6b3ac6b0 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898097/42898097_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9166f8b68425c910c4fd7a8bbd24caff07c38623da462c907e6548697bd8148b +size 13109369 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42898097/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898097/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898097/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42898097/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898097/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..6cc02b657085954c05ba40f2fcffc86254510245 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898097/colmap/sparse/images.txt @@ -0,0 +1,842 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 419, mean observations per image: 0.0 +0 0.36199185 -0.6019374 0.61116105 0.36484984 0.0538949 0.0410317 0.0176397 0 42898097_130019.894_color.png 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898097/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898097/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42898098/42898098_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898098/42898098_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..94677c0c399650d0941e429ca178ea9d33b5e7c5 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898098/42898098_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "IT28P5vsNh2nPJDu", "label": "sink", "modelId": "custom.abandon", "children": [], "objectId": 4, "segments": {"obb": {"centroid": [-21.700087787833567, 78.08201626185706, 26.976542278814986], "axesLengths": [44.611678772039696, 16.508129406808333, 34.21891013340414], "normalizedAxes": [0.9971200033230889, 0, 0.07583995630907985, 0, 1, 0, -0.07583995630907985, 0, 0.9971200033230889]}, "partId": 4, "fixScale": true, "segments": [95184, 48509, 39670, 103720, 103856, 133239, 133406], "fixRotate": true, "obbAligned": {"centroid": [-2.40165449574899, -0.46211591961112375, -0.9141798898335167], "axesLengths": [0.3421891013340414, 0.446116787720397, 0.16508129406808333], "normalizedAxes": [0.9971200033230889, -0.07583995630907985, 0, 0.07583995630907985, 0.9971200033230889, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "0~20%"}}}, {"uid": "1xXmhZdjCiBB22bl", "label": "toilet", "modelId": "custom.abandon", "children": [], "objectId": 4, "segments": {"obb": {"centroid": [31.3437696610472, 52.95745475595499, 44.803264656141195], "axesLengths": [36.16879289963494, 78.91488757740073, 59.49640726464103], "normalizedAxes": [0.9954602329400717, 0, 0.09517838323326529, 0, 1, 0, -0.09517838323326529, 0, 0.9954602329400717]}, "partId": 4, "fixScale": true, "segments": [29057, 66352, 69458], "fixRotate": true, "obbAligned": {"centroid": [-2.223387271975728, 0.06832265487768391, -1.1654255048925375], "axesLengths": [0.5949640726464103, 0.3616879289963494, 0.7891488757740074], "normalizedAxes": [0.9954602329400717, -0.09517838323326529, 0, 0.09517838323326529, 0.9954602329400717, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.9954602329400717, 0, 0.09517838323326529]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "50%~100%"}}}, {"uid": "NgxZ6iEA2ytcLJe1", "label": "chair", "modelId": "custom.abandon", "children": [], "objectId": 4, "segments": {"obb": {"centroid": [2.4233271509136927, 56.69580134338859, 388.5295614403966], "axesLengths": [51.761721736393895, 97.30484124834277, 57.21561240064277], "normalizedAxes": [-0.5066926916790855, 0, 0.8621267402180515, 0, 1, 0, -0.8621267402180515, 0, -0.5066926916790855]}, "partId": 4, "fixScale": true, "segments": [443486, 444226, 451464, 429824, 452195, 436412, 433178, 383773], "fixRotate": true, "obbAligned": {"centroid": [1.2138756958668262, -0.22088177022365116, -1.1280420390182015], "axesLengths": [0.5721561240064277, 0.517617217363939, 0.9730484124834277], "normalizedAxes": [-0.5066926916790855, -0.8621267402180515, 0, 0.8621267402180515, -0.5066926916790855, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.5066926916790855, 0, 0.8621267402180515]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}], "stats": {"labelCount": 3, "totalSegments": 9333, "totalVertices": 526361, "percentComplete": 0.5836298661944939, "annotatedSegments": 18, "annotatedVertices": 3072, "unannotatedSegments": 9315, "unannotatedVertices": 523289}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42898098/42898098_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898098/42898098_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..ad7df49b18dbbf4aadd99e3abe91f05eaa7ae964 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898098/42898098_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86662fea3e80a138d5c5135fbe2a26bbe90f5e54a9e108082d6baa008e81c505 +size 20828689 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42898098/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898098/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898098/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42898098/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898098/colmap/sparse/images.txt new file mode 100644 index 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new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898098/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42898551/42898551_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898551/42898551_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..f0843c3c005e53e695a4eebe885540063ac83280 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898551/42898551_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "q9WNoWTgihNKLFgV", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 12, "segments": {"obb": 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898551/42898551_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..b778e038bc3c103847e7917441f741eb6c3be8a0 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898551/42898551_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f414eba5742c97c8c082a5ee5b4586d0c54a48722fd899e45445c2782fe98a1f +size 43858438 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42898551/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898551/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898551/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 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0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898551/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42898616/42898616_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898616/42898616_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..379283114d54a9a22b5291fef1fb786d3d4a7568 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898616/42898616_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "GvZEqf3z0yuOiex1", "label": "refrigerator", "modelId": "custom.abandon", "children": [], "objectId": 44, "segments": {"obb": {"centroid": 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"mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42898616/42898616_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898616/42898616_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..74456831b9d7582c82e0f7ffcd527b2a0d97ae44 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898616/42898616_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d3f8201ccf9d8a94ede0a333c8a8537943b42ff7376d466013684e1f7d8ae93 +size 62963015 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42898616/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898616/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898616/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42898616/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898616/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..aa04ca7020df25a7c7d061b3028b556ade697d3c --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898616/colmap/sparse/images.txt @@ -0,0 +1,5252 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 2624, mean observations per image: 0.0 +0 0.010626296 -0.70542914 0.70860904 0.011401572 0.0506198 0.0559507 0.000791524 0 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+++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42898616/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42899175/42899175_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899175/42899175_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..8e0d56fb05b5e8ea7112adaf39a6fc9fb8c1baea --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899175/42899175_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "PUEBFESczg61KJv7", "label": "bathtub", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [-60.18475171975723, 49.463029932544806, -80.43075328898347], "axesLengths": [169.1543446948215, 64.14525523179877, 69.54981235858033], "normalizedAxes": [0.9710183151049124, 0, 0.239005087248822, 0, 1, 0, -0.239005087248822, 0, 0.9710183151049124]}, "partId": 5, "fixScale": true, "segments": [978240], "fixRotate": true, "obbAligned": {"centroid": [-0.2656124359202302, 3.1706524315424334, -1.4553697483582677], "axesLengths": [0.6954981235858033, 1.6915434469482151, 0.6414525523179877], "normalizedAxes": [0.9710183151049124, -0.239005087248822, 0, 0.239005087248822, 0.9710183151049124, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "orientation": "1", "incompleteness": "20%~50%"}}}, {"uid": "5b7lAVBCjVmqNTkS", "label": "toilet", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [-241.25092531310136, 55.958445562813786, -127.19001885662465], "axesLengths": [39.32460138983701, 82.08743326172679, 66.19387690183018], "normalizedAxes": [0.2493141025834439, 0, -0.9684226754124525, 0, 1, 0, 0.9684226754124525, 0, 0.2493141025834439]}, "partId": 5, "fixScale": true, "segments": [783214], "fixRotate": true, "obbAligned": {"centroid": [-0.7332050915966419, 1.359990695608992, -1.3904155920555779], "axesLengths": [0.6619387690183018, 0.39324601389837005, 0.8208743326172678], "normalizedAxes": [0.2493141025834439, 0.9684226754124525, 0, -0.9684226754124525, 0.2493141025834439, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.2493141025834439, 0, -0.9684226754124525]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "orientation": "1", "incompleteness": "20%~50%"}}}, {"uid": "zvyqP2LSc6RK9MFk", "label": "sink", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [-35.8115342532168, 93.88151077208767, 118.60030951868012], "axesLengths": [57.53038905091923, 18.613462704939977, 43.984705517575144], "normalizedAxes": [-0.24791203063067013, 0, 0.9687825478757232, 0, 1, 0, -0.9687825478757232, 0, -0.24791203063067013]}, "partId": 5, "fixScale": true, "segments": [29275, 135226, 137877, 28699, 23889, 23874, 134974, 34302], "fixRotate": true, "obbAligned": {"centroid": [1.7246981921564057, 3.4143846062078373, -1.0111849399628392], "axesLengths": [0.43984705517575146, 0.5753038905091924, 0.18613462704939976], "normalizedAxes": [-0.24791203063067013, -0.9687825478757232, 0, 0.9687825478757232, -0.24791203063067013, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "orientation": "1", "incompleteness": "0~20%"}}}, {"uid": "8UUjqNE9iHs4K3DE", "label": "chair", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [-197.3137729374927, 59.13530006098064, 91.95555367328913], "axesLengths": [40.96396693641796, 80.321532277779, 48.624080585491875], "normalizedAxes": [-0.6513559427034008, 0, -0.7587723215200748, 0, 1, 0, 0.7587723215200748, 0, -0.6513559427034008]}, "partId": 5, "fixScale": true, "segments": [280938], "fixRotate": true, "obbAligned": {"centroid": [1.4582506337024959, 1.7993622193650785, -1.3586470470739094], "axesLengths": [0.48624080585491875, 0.4096396693641796, 0.8032153227777901], "normalizedAxes": [-0.6513559427034008, 0.7587723215200748, 0, -0.7587723215200748, -0.6513559427034008, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.6513559427034017, 0, -0.7587723215200751]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "orientation": "1", "incompleteness": "20%~50%"}}}], "stats": {"labelCount": 4, "totalSegments": 20088, "totalVertices": 1169798, "percentComplete": 0.20456523262990706, "annotatedSegments": 11, "annotatedVertices": 2393, "unannotatedSegments": 20077, "unannotatedVertices": 1167405}, "comment": "", "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "v1.4.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42899175/42899175_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899175/42899175_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..26124640bb3ab2f9518529513729a3b648bfd6e2 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899175/42899175_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c3e730c53e5ea96772965cd514cc9c37457af8a6244478c2f3ad31e65c43f90 +size 46846689 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42899175/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899175/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899175/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42899175/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899175/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..7b634bfd57406f3c34b45e0e3e7158906f42bf85 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899175/colmap/sparse/images.txt @@ -0,0 +1,2768 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 1382, mean observations per image: 0.0 +0 0.5649828 0.4566475 -0.5116757 -0.4587543 0.0538669 0.0861176 0.00761569 0 42899175_183295.839_color.png + +1 0.5700065 0.44716907 -0.51743793 -0.45540136 0.0542367 0.0949433 0.00929274 0 42899175_183295.905_color.png + +2 0.574214 0.43032935 -0.5276207 -0.4546552 0.0560076 0.123862 0.0141726 0 42899175_183296.005_color.png + +3 0.58215094 0.41534525 -0.53609544 -0.44854242 0.0568719 0.143127 0.0142453 0 42899175_183296.105_color.png + +4 0.58833396 0.4033226 -0.5449525 -0.44070485 0.0572818 0.163415 0.0115125 0 42899175_183296.205_color.png + +5 0.59133303 0.3964969 -0.55106115 -0.4352552 0.0561535 0.182185 0.00920656 0 42899175_183296.305_color.png + +6 0.59498394 0.38792875 -0.5582441 -0.42879936 0.0543617 0.200146 0.00506408 0 42899175_183296.405_color.png + +7 0.5988942 0.3794403 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index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899175/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42899210/42899210_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899210/42899210_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..d5957687ff70702b2576391fc0cb8719012b0e71 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899210/42899210_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "Wy1dbHL0yq66QZQo", "label": "bed", "modelId": "custom.abandon", "children": [], "objectId": 7, "segments": {"obb": {"centroid": 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https://git-lfs.github.com/spec/v1 +oid sha256:9383ebb807419bde17be8cc61f4437731655e1f67ec52f348bdfe14e7942729d +size 27172487 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42899210/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899210/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899210/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42899210/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899210/colmap/sparse/images.txt new file mode 100644 index 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0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899210/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42899455/42899455_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899455/42899455_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..0d171ae26a58eca2496df216b31a17821a5347d9 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899455/42899455_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "A3F42laxTN1dQjLm", "label": "bed", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [222.78563585847678, 48.33459200042245, 31.995403250512133], "axesLengths": [149.3143386350063, 53.37758797588587, 206.4379156750928], "normalizedAxes": [0.039289185383554526, 0, 0.9992278818727471, 0, 1, 0, -0.9992278818727471, 0, 0.039289185383554526]}, "partId": 8, "fixScale": true, "segments": [452905], "fixRotate": true, "obbAligned": {"centroid": [2.3944539972191716, 2.432281335887319, -0.34165406807484655], "axesLengths": [2.064379156750928, 1.493143386350063, 0.5337758797588587], "normalizedAxes": [0.039289185383554526, -0.9992278818727471, 0, 0.9992278818727471, 0.039289185383554526, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}, {"uid": "Ay887C3jKaSo7mDN", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [300.72863622390804, 56.117370206344276, -74.53004853623233], "axesLengths": [37.81814232813481, 68.94314438772952, 42.30168090454668], "normalizedAxes": [0.039289185383554526, 0, 0.9992278818727471, 0, 1, 0, -0.9992278818727471, 0, 0.039289185383554526]}, "partId": 8, "fixScale": true, "segments": [227383], "fixRotate": true, "obbAligned": {"centroid": [1.329199479351727, 3.211711339541632, -0.2638262860156283], "axesLengths": [0.4230168090454668, 0.37818142328134813, 0.6894314438772952], "normalizedAxes": [0.039289185383554526, -0.9992278818727471, 0, 0.9992278818727471, 0.039289185383554526, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.039289185383554526, 0, 0.9992278818727471]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}, {"uid": "ZXrInSVJDMq5XTUR", "label": "table", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [306.0875626343854, 58.9087731356627, 145.67384462785685], "axesLengths": [84.18263828719408, 74.52595024636636, 48.89536669344906], "normalizedAxes": [0.039289185383554526, 0, 0.9992278818727471, 0, 1, 0, -0.9992278818727471, 0, 0.039289185383554526]}, "partId": 8, "fixScale": true, "segments": [263819], "fixRotate": true, "obbAligned": {"centroid": [3.5312384109926187, 3.265300603646405, -0.2359122567224441], "axesLengths": [0.48895366693449066, 0.8418263828719408, 0.7452595024636637], "normalizedAxes": [0.039289185383554526, -0.9992278818727471, 0, 0.9992278818727471, 0.039289185383554526, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.9992278818727471, 0, 0.039289185383554526]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "current_scanning"], "attributes": {"occlusion": "0~20%", "orientation": "1", "incompleteness": "50%~100%"}}}, {"uid": "TNoZT83VRTCa01MF", "label": "chair", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [280.5964106704961, 63.36061526250365, 165.62222597022878], "axesLengths": [41.95196589662341, 83.42963450004827, 45.108029661605315], "normalizedAxes": [-0.01533978727972185, 0, -0.9998823385409971, 0, 1, 0, 0.9998823385409971, 0, -0.01533978727972185]}, "partId": 8, "fixScale": true, "segments": [281659], "fixRotate": true, "obbAligned": {"centroid": [3.730722224416338, 3.010389084007512, -0.19139383545403454], "axesLengths": [0.45108029661605314, 0.41951965896623417, 0.8342963450004827], "normalizedAxes": [-0.01533978727972185, 0.9998823385409971, 0, -0.9998823385409971, -0.01533978727972185, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.01533978727972185, 0, -0.9998823385409971]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "50%~100%"}}}], "stats": {"labelCount": 7, "totalSegments": 7528, "totalVertices": 541868, "percentComplete": 4.708157706304856, "annotatedSegments": 17, "annotatedVertices": 25512, "unannotatedSegments": 7511, "unannotatedVertices": 516356}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42899455/42899455_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899455/42899455_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..6ed92ac415ca8f74417a8929443535e2acaac573 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899455/42899455_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79ae3e72bbd230baadef95bef7a6eb72c133293f350851af79f8de1bd47c3b1d +size 21841956 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42899455/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899455/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899455/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42899455/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899455/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..803f76a21e3ec1d12daf8e2a57349b791e838a86 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899455/colmap/sparse/images.txt @@ -0,0 +1,840 @@ +# 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diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42899455/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899455/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899455/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42899760/42899760_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899760/42899760_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..1a556295d284c2b64d309727da95463b55cfe4ff --- /dev/null +++ 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/42899760/42899760_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899760/42899760_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..a8005a6845463bf3d52fc65c04e6c415510ee8dd --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899760/42899760_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1a08c5c8e6066984fd6885b6c34379ced8f702ee783ab7c90cb54fdc2be3173 +size 29910467 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42899760/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899760/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899760/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42899760/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899760/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..776e9ab04529ad48ffb25cdf1c0b5dce38d4df3e --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899760/colmap/sparse/images.txt @@ -0,0 +1,1408 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 702, mean observations per image: 0.0 +0 0.006226853 0.70711434 -0.70674205 0.021592097 0.050535 0.0516934 -0.0106226 0 42899760_248282.813_color.png + +1 0.008770954 0.70574665 -0.70810986 0.020618938 0.0502316 0.0512602 -0.0109957 0 42899760_248282.880_color.png + +2 0.011984621 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--- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899760/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42899920/42899920_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899920/42899920_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..7108b8dbba2f03d7c5a67f58edd63e97f01785fe --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899920/42899920_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "N9xxY3dNtFZ3rhVH", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 9, "segments": {"obb": {"centroid": [-31.34504315125992, 130.25727611712912, -87.4708003627088], "axesLengths": [46.39499670605511, 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"axesLengths": [52.114791284884724, 226.59031802087407, 62.45273612585782], "normalizedAxes": [0.0793151286071836, 0, 0.9968495926537895, 0, 1, 0, -0.9968495926537895, 0, 0.0793151286071836]}, "partId": 9, "fixScale": true, "segments": [10584], "fixRotate": true, "obbAligned": {"centroid": [1.550983462948844, 0.6667132869373087, -0.35409846635315034], "axesLengths": [0.6245273612585782, 0.5211479128488472, 2.2659031802087406], "normalizedAxes": [0.0793151286071836, -0.9968495926537895, 0, 0.9968495926537895, 0.0793151286071836, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.0793151286071836, 0, 0.9968495926537895]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": [], "attributes": {"occlusion": "0~20%", "incompleteness": "50%~100%"}}}, {"uid": "jQCmK8XJjnLhycKB", "label": "bathtub", "modelId": "custom.abandon", "children": [], "objectId": 9, "segments": {"obb": {"centroid": [-154.42841953739682, 125.65009739459207, 161.06681284935559], 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"isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}, {"uid": "g5aIVai4dALwbB9i", "label": "toilet", "modelId": "custom.abandon", "children": [], "objectId": 9, "segments": {"obb": {"centroid": [-24.930406640844375, 120.23250460624693, 103.79489673835135], "axesLengths": [40.72083936103265, 45.70699930191041, 57.696101976183975], "normalizedAxes": [0.07772692343333765, 0, 0.9969746864256825, 0, 1, 0, -0.9969746864256825, 0, 0.07772692343333765]}, "partId": 9, "fixScale": true, "segments": [174529, 212549, 216560, 212721, 212854, 210807, 207972], "fixRotate": true, "obbAligned": {"centroid": [2.9734133495551447, 0.6764858858696935, -1.2457550168037417], "axesLengths": [0.5769610197618398, 0.4072083936103265, 0.45706999301910406], "normalizedAxes": [0.07772692343333765, -0.9969746864256825, 0, 0.9969746864256825, 0.07772692343333765, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.07772692343333765, 0, 0.9969746864256825]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}, {"uid": "3kxL4rTAJDAuyk1w", "label": "sink", "modelId": "custom.abandon", "children": [], "objectId": 9, "segments": {"obb": {"centroid": [-8.62421387825087, 175.61069494226763, 34.6350680418329], "axesLengths": [53.528366499740436, 19.57689922869494, 46.48860141058641], "normalizedAxes": [0.07669159878061038, 0, 0.9970548624205561, 0, 1, 0, -0.9970548624205561, 0, 0.07669159878061038]}, "partId": 9, "fixScale": true, "segments": [327312, 322426, 327717, 322320, 327823, 322082, 323329, 323551, 322922, 323389, 322856, 320187, 322684, 322049], "fixRotate": true, "obbAligned": {"centroid": [2.28181506258996, 0.8395478134956285, -0.6919731134435345], "axesLengths": [0.4648860141058641, 0.5352836649974043, 0.1957689922869494], "normalizedAxes": [0.07669159878061038, -0.9970548624205561, 0, 0.9970548624205561, 0.07669159878061038, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}], "stats": {"labelCount": 8, "totalSegments": 7498, "totalVertices": 451803, "percentComplete": 6.244978452998319, "annotatedSegments": 48, "annotatedVertices": 28215, "unannotatedSegments": 7450, "unannotatedVertices": 423588}, "comment": "", "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42899920/42899920_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899920/42899920_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..70e15b960aa35204fb72e64371aa98af1d3553a0 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899920/42899920_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dea0d34091d6fb78fdec5820ee15bfbfb357971922098127d789a19b82c80cbe +size 18005860 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42899920/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899920/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899920/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42899920/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899920/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..8d5bc40d70925c6b04898deb63972a6a5a1b101a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899920/colmap/sparse/images.txt @@ -0,0 +1,1248 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 622, mean observations per image: 0.0 +0 0.52054703 0.49684826 -0.51266575 0.4683443 0.0289371 0.0977353 0.0347797 0 42899920_864295.936_color.png + +1 0.5324797 0.4900905 -0.5033491 0.47214013 0.0240174 0.108618 0.0390857 0 42899920_864296.019_color.png + +2 0.54564136 0.48575887 -0.49293518 0.47257668 0.0163239 0.116163 0.0410052 0 42899920_864296.119_color.png + +3 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899920/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42899924/42899924_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899924/42899924_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..03a2c236be15b6c40a49f63fa492c0644cb34ad9 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42899924/42899924_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "QIopWMzKtVrdk5EG", "label": "toilet", "modelId": "custom.abandon", "children": [], "objectId": 4, "segments": {"obb": {"centroid": [-9.924869145218969, 43.10714418128488, 63.63963962820514], "axesLengths": [39.76988813254845, 45.11171309444842, 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"annotatedVertices": 1726, "unannotatedSegments": 6102, "unannotatedVertices": 383690}, "comment": "", "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42923204/42923204_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42923204/42923204_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..1686d884592ed3e92b69639677e1571718f7068c --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42923204/42923204_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dcf684208e81f2ec3a7712b0912e403942a24f54ad9e5b6fceb736d2a9e6db7c +size 15153490 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42923204/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42923204/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42923204/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42923204/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42923204/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..bd96ae86d58746fa5cf215ba55ea51ca31f7af4c --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42923204/colmap/sparse/images.txt @@ -0,0 +1,610 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/42923204/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/42923204/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/42923204/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/42923204/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/42923204/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/42923204/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 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0000000000000000000000000000000000000000..8f7a15a23d5bbef3fd0dde64b5dcbb3ba0f83dae --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43649463/43649463_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9abbdc70d2f8bdf5916a524c6bdc45b4d3ff193a4319ff311347aa233746bec +size 66502368 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43649463/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/43649463/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43649463/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43649463/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/43649463/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..5b1adbd1550417d3ff087850aa48eb79f1a917a5 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43649463/colmap/sparse/images.txt @@ -0,0 +1,2322 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 1159, mean observations per image: 0.0 +0 0.26819673 0.6550605 -0.64749575 -0.28233922 0.0589281 0.0654937 0.0118265 0 43649463_13996.351_color.png + +1 0.2694127 0.6596202 -0.63966334 -0.2883553 0.0619506 0.0670504 0.0170193 0 43649463_13996.451_color.png + +2 0.26670793 0.66301143 -0.63477963 -0.29383257 0.0687518 0.067105 0.025933 0 43649463_13996.551_color.png + +3 0.27354738 0.6650235 -0.6220835 -0.309722 0.0774882 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0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/43649463/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43649463/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/43649463/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43649463/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828150/43828150_3dod_annotation.json 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828150/43828150_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..22b0cc1c23d4c2170f847681350555c53e2cc2fe --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828150/43828150_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12fe78688f41f72c3d76f04036627216a0b7b0b50650d643fcd26b41b19201e2 +size 65980226 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828150/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828150/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828150/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828150/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828150/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..ffac0922b18fd51358cdcf77a3f3acb0cf78d5a0 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828150/colmap/sparse/images.txt @@ -0,0 +1,3172 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 1584, mean observations per image: 0.0 +0 0.4018481 0.56214374 -0.5717901 0.44223133 0.0538019 0.077318 0.000698343 0 43828150_73394.022_color.png + +1 0.40807775 0.5581773 -0.56726694 0.44734648 0.0540354 0.0818202 -2.99826e-05 0 43828150_73394.122_color.png + +2 0.4152605 0.5537999 -0.56203127 0.45275292 0.0533313 0.086772 0.000657458 0 43828150_73394.222_color.png + +3 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0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828150/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828150/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828150/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828150/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828350/43828350_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828350/43828350_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..3a1e622b0ba26d8b4fb2350c2446b64e793e0a84 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828350/43828350_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "cIrto4lFcIBfPoFy", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 4, "segments": {"obb": {"centroid": [-25.71638611396378, 71.22864214608711, -123.75993257506875], "axesLengths": [81.9064893239516, 57.39440275726714, 39.84805353077334], "normalizedAxes": [-0.08067988931049919, 0, 0.9967400641395155, 0, 1, 0, -0.9967400641395155, 0, -0.08067988931049919]}, "partId": 4, "fixScale": true, "segments": [21506, 46649, 128669, 33627, 32255, 21604, 25447, 36430, 213453], "fixRotate": true, "obbAligned": {"centroid": [-1.2700593000396279, 0.7920910927215987, -0.6005335362722831], "axesLengths": [0.3984805353077334, 0.819064893239516, 0.5739440275726714], "normalizedAxes": [-0.08067988931049919, -0.9967400641395155, 0, 0.9967400641395155, -0.08067988931049919, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.9967400641395155, 0, -0.08067988931049919]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}, {"uid": "pI2xXo9UNdPNaSqY", "label": "sink", "modelId": "custom.abandon", "children": [], "objectId": 4, "segments": {"obb": {"centroid": [-25.726082998585966, 97.6558151327335, -123.30056135828261], "axesLengths": [83.38656775307766, 14.209523029547208, 39.88584493933776], "normalizedAxes": [-0.08054750964840673, -0.00043452936085686974, 0.9967506758832293, 0.00024763424144384733, 0.9999998653901588, 0.00045595717646662327, -0.9967507398375596, 0.0002835558126016912, -0.08054739120157062]}, "partId": 4, "fixScale": true, "segments": [41882, 215304, 128379, 130860, 351182, 352363, 350306, 350348, 128389, 54543, 214525, 54597, 35936, 35876, 133362], "fixRotate": true, "obbAligned": {"centroid": [-1.2654655878717664, 0.7919941238753769, -0.3362618064058194], "axesLengths": [0.3988584493933776, 0.8338656775307766, 0.14209523029547208], "normalizedAxes": [-0.08054739120157062, -0.9967507398375596, 0.0002835558126016912, 0.9967506758832293, -0.08054750964840673, -0.00043452936085686974, 0.00045595717646662327, 0.00024763424144384733, 0.9999998653901588]}, "fixPosition": true, "dominantNormal": [0.00024763424144384733, 0.9999998653901588, 0.00045595717646662327]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}, {"uid": "1vBIG4NiYIY5XjdV", "label": "bathtub", "modelId": "custom.abandon", "children": [], "objectId": 4, "segments": {"obb": {"centroid": [-82.32981754085917, 50.61044368997081, -204.6406567108665], "axesLengths": [165.81224613760293, 55.63890285998302, 69.33662850380176], "normalizedAxes": [0.9980478944717603, 0, 0.062453185190877135, 0, 1, 0, -0.062453185190877135, 0, 0.9980478944717603]}, "partId": 4, "fixScale": true, "segments": [30200, 34179, 130458, 41022, 40530, 42925, 84915, 212435, 124867, 212575, 127341, 19401, 11788], "fixRotate": true, "obbAligned": {"centroid": [-2.0788665413976055, 0.22595677845264484, -0.8067155208334462], "axesLengths": [0.6933662850380177, 1.6581224613760293, 0.5563890285998302], "normalizedAxes": [0.9980478944717603, -0.062453185190877135, 0, 0.062453185190877135, 0.9980478944717603, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}], "stats": {"labelCount": 3, "totalSegments": 6749, "totalVertices": 373113, "percentComplete": 4.045691251711948, "annotatedSegments": 37, "annotatedVertices": 15095, "unannotatedSegments": 6712, "unannotatedVertices": 358018}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828350/43828350_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828350/43828350_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..5135cae6e6854aa90a660e9a893c6556ee923a54 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828350/43828350_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d099a3e3b2c6f9a1324f08be70a45d6a528210d9b66376dd5f7207fdd3f6a45 +size 14809963 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828350/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828350/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828350/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828350/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828350/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..f645f77f98d949af37935baef9589f03fd7916e3 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828350/colmap/sparse/images.txt @@ -0,0 +1,1170 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 583, mean observations per image: 0.0 +0 0.21407098 -0.6644426 0.69543463 0.17047068 0.0447183 0.045094 0.00379067 0 43828350_79728.494_color.png + +1 0.2110902 -0.66390073 0.69541794 0.17626876 0.0444954 0.0405574 0.00719339 0 43828350_79728.594_color.png + +2 0.20795421 -0.66417146 0.6943281 0.18313856 0.0425765 0.0325322 0.0128614 0 43828350_79728.694_color.png + +3 0.20637515 -0.6652258 0.6922269 0.18896012 0.0418346 0.0226669 0.0176239 0 43828350_79728.794_color.png + +4 0.2099274 -0.6646345 0.6912719 0.19061644 0.0420344 0.0145784 0.0204522 0 43828350_79728.894_color.png + +5 0.21034622 -0.66516477 0.6903604 0.19160576 0.0421309 0.0114203 0.0225846 0 43828350_79728.994_color.png + +6 0.20878169 -0.66575825 0.68986505 0.19303462 0.0405896 0.0129764 0.0224894 0 43828350_79729.094_color.png + +7 0.20796104 -0.66585815 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-0.138627 0 43828350_79786.688_color.png + diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828350/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828350/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828350/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828350/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828350/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828350/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828404/43828404_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828404/43828404_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..9f80ea48d7ef866544c9fe3549b55912fbf0a087 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828404/43828404_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "2O9oft364O4N644t", "label": "bed", "modelId": "custom.abandon", "children": [], "objectId": 7, "segments": {"obb": {"centroid": [47.329799712687716, 61.437955898672236, -19.266319941783728], "axesLengths": [158.4574609670919, 58.180191033999876, 212.26420436927646], "normalizedAxes": [-0.9236428261120004, 0.0026588564609971747, -0.3832451699032325, 0.0024558423766874744, 0.9999964652349126, 0.0010189974980599496, 0.3832465245896675, 0, -0.9236460909839559]}, 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2.2974766077188806, "annotatedSegments": 15, "annotatedVertices": 16068, "unannotatedSegments": 10674, "unannotatedVertices": 683308}, "_review": {"answer": "accept", "comment": "", "operator": "3D_02"}, "confirm": false, "skipped": false, "comments": [{"name": "3D_G2_06", "type": "submit", "comment": "", "submit_at": "2021-09-07T06:00:12.418789Z", "worker_id": "1ec0cb7d-5731-1bee-ae03-56f6a261f678"}, {"name": "3D_G5_02", "type": "accept", "comment": "", "submit_at": "2021-09-07T06:15:11.077358Z", "worker_id": "1ec0cb7d-76f3-105e-ae03-56f6a261f678"}], "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skip_comment": "", "label_version": "LO_v1.6.3", "skipped_reason": ""} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828404/43828404_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828404/43828404_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..62ed900eeb6ec20929f95d2ff2c30901b4bb10ce --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828404/43828404_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8bd20ed8682c6d80e789ab8ce00f32df5ff144eefed02008c9579e4b524dd4cc +size 28042982 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828404/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828404/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828404/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828404/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828404/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..3d685bd021c5b5e6ddd57bae83e28ebb21e94cd1 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828404/colmap/sparse/images.txt @@ -0,0 +1,1082 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 539, mean observations per image: 0.0 +0 0.18908751 0.7110692 -0.6598916 -0.15221544 0.0387823 0.056668 0.000157392 0 43828404_88348.722_color.png + +1 0.19935544 0.6992061 -0.66186875 -0.18247725 0.0374237 0.0555137 -0.00410633 0 43828404_88348.805_color.png + +2 0.21652508 0.68451697 -0.65843904 -0.22585718 0.0352234 0.0542817 -0.0166197 0 43828404_88348.905_color.png + +3 0.21809833 0.67708105 -0.65846086 -0.24581228 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mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828404/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828404/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828404/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828404/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828476/43828476_3dod_annotation.json 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"totalVertices": 2527206, "percentComplete": 1.8535885084160135, "annotatedSegments": 41, "annotatedVertices": 46844, "unannotatedSegments": 44828, "unannotatedVertices": 2480362}, "comment": "", "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828476/43828476_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828476/43828476_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..af1d96ebd3a98319cf0c9465eeb0bad662038d24 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828476/43828476_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4dc1975c76716ca90c134fb2a0ba8ad68fe32d43888870cc62936339e4cee9fa +size 101318457 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828476/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828476/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828476/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828476/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828476/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..f7e7ff88ed8c8137ace26cb0f6786442b4a68551 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828476/colmap/sparse/images.txt @@ -0,0 +1,2500 @@ +# 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0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828476/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828476/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828476/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828476/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828592/43828592_3dod_annotation.json 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828592/43828592_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828592/43828592_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..6aaf324210fa9eba86667e9c8b230e84b49c35eb --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828592/43828592_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a66f582fd08aae3819d41c9443951637bbd1a3562d8b0cfeac7f213e9815018 +size 28508317 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828592/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828592/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828592/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828592/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828592/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..416092176826bf5c0a9bb2c7bc1b8d2720a931c5 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828592/colmap/sparse/images.txt @@ -0,0 +1,1104 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 550, mean observations per image: 0.0 +0 0.16908282 -0.70711046 0.6587225 0.19362444 0.0542463 0.0582594 0.104642 0 43828592_104124.490_color.png + +1 0.16435963 -0.70783794 0.6616928 0.18469973 0.0607738 0.00869528 0.139892 0 43828592_104124.574_color.png + +2 0.16267425 -0.7051586 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new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828592/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43828592/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828592/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43828592/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43896284/43896284_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/43896284/43896284_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..a4a5fa85dc108e35cfff9299eb373a02c72bb5ea --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43896284/43896284_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "zy8wNpHpyhl8Jk4I", "label": "sofa", "modelId": "custom.abandon", "children": [], "objectId": 27, "segments": {"obb": {"centroid": [302.736951693974, 56.75718463254014, 54.68454502086486], "axesLengths": [226.55840498633233, 81.1062913045163, 116.2004520754028], "normalizedAxes": [-0.9996151645132638, 0, -0.02774027532526233, 0, 1, 0, 0.02774027532526233, 0, -0.9996151645132638]}, "partId": 27, "fixScale": true, "segments": [143832, 178998, 185362, 272317, 310784, 300279, 310639, 316790, 614337, 614302, 619180, 703758, 308994, 703726, 640695, 291585, 291572, 246096, 684568, 754623, 656010, 656061, 660469, 237011, 656153, 1291176, 657890, 184636, 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+++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43896284/43896284_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6e8b78850079adf79789b1809bf8330cae7a2f49c97de3bdb7b85e8d906d7c3 +size 53664921 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43896284/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/43896284/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43896284/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43896284/colmap/sparse/images.txt 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/43896284/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43896354/43896354_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/43896354/43896354_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..62e2b2cb5f53140f12feb1b92d73a3bd3b878462 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43896354/43896354_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "d9VjhFqRvhdcSsBd", "label": "sofa", "modelId": "custom.abandon", "children": [], "objectId": 16, "segments": {"obb": {"centroid": [87.91063507336516, 88.44294955233399, -88.49178317447526], "axesLengths": [154.36633214810215, 81.35592443054384, 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/43896354/43896354_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/43896354/43896354_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..7996eec2be54617338408f83ab8aaeaeee015b84 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43896354/43896354_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6863bbb99e425b4bad7b24726e4bfb17e0600650d56c6c9824ca887f33c9dec5 +size 40163543 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43896354/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/43896354/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43896354/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43896354/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/43896354/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..129a471f1234b88a8cd577e796a5bfe9049ef137 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43896354/colmap/sparse/images.txt @@ -0,0 +1,1086 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 541, mean observations per image: 0.0 +0 0.4204477 0.5624873 -0.58328986 -0.4081724 0.105492 0.054823 -0.0142274 0 43896354_18646.235_color.png + +1 0.430154 0.55774647 -0.5768049 -0.41374215 0.114508 0.0557228 -0.0222255 0 43896354_18646.319_color.png + +2 0.4416067 0.5520361 -0.5685007 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"attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43896384/43896384_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/43896384/43896384_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..3741e082ca7c1a77b21025478235c1a4d655af78 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43896384/43896384_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e871b562283627793bb7728268f2453d206614ac1b945c043cf0826fe9dd3fc7 +size 37170296 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43896384/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/43896384/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43896384/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43896384/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/43896384/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..42eaf733f75cd2a3a8ae3bc0d5fabb6b57837283 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43896384/colmap/sparse/images.txt @@ -0,0 +1,1688 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 842, mean observations per image: 0.0 +0 0.21478237 0.69708765 -0.66169065 -0.1735017 -0.0243528 0.04999 -0.0070971 0 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diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/43896384/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/43896384/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/43896384/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44358173/44358173_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358173/44358173_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..80bfc6c2bb0ac05a94c715c3851446769c62b009 --- /dev/null +++ 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358173/44358173_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..bc55ad895021fbe6820400478eab524e554e2856 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358173/44358173_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf298772aec8279b5c2a3f49112d8c6532cde3bd9fecaa1eb253b1a0dff35379 +size 50554708 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44358173/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358173/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358173/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44358173/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358173/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..17f6c98ede92ec0d3971755692aa4906edefa18a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358173/colmap/sparse/images.txt @@ -0,0 +1,3356 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 1676, mean observations per image: 0.0 +0 0.39717263 0.58809406 -0.58042216 0.39938632 0.0460426 0.117935 0.0271579 0 44358173_62382.376_color.png + +1 0.40912485 0.5792645 -0.57162184 0.41269597 0.0432475 0.144247 0.0341709 0 44358173_62382.459_color.png + +2 0.4244101 0.56738913 -0.5614224 0.42749333 0.0389143 0.176824 0.0396657 0 44358173_62382.559_color.png + +3 0.43513042 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new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358173/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44358173/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358173/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358173/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44358234/44358234_3dod_annotation.json 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sha256:d2fe0c3458cc0bedeccc577348e0f81efee89ccd22fe7e2131c0071550c500dc +size 40992729 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44358234/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358234/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358234/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44358234/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358234/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..37c22c70e31fbaac7123655f0a398453128c8742 --- /dev/null +++ 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358234/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44358259/44358259_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358259/44358259_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..a2fa4b3972d0dcc36b7aec1f0cc701c4de2aeb8e --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358259/44358259_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "RuDmKL9IPiTsFNw4", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [167.55180083607772, 185.192600190008, 41.41608929000544], "axesLengths": [83.27277546722804, 101.99635007583234, 13.180676586755935], "normalizedAxes": [0.992946052060924, 0, 0.11856701774365785, 0, 1, 0, -0.11856701774365785, 0, 0.992946052060924]}, "partId": 5, "fixScale": true, "segments": [107708], "fixRotate": true, "obbAligned": {"centroid": [-0.6238190675415349, 2.1441180430745224, 0.5469260543521675], "axesLengths": [0.13180676586755935, 0.8327277546722804, 1.0199635007583234], "normalizedAxes": [0.992946052060924, -0.11856701774365785, 0, 0.11856701774365785, 0.992946052060924, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.1185670177436578, 0, 0.992946052060924]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "50%~100%"}}}, {"uid": "d2N83vNcMW2zaEyN", "label": "sink", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [164.8930160674789, 89.40868156992259, 57.40250992903634], "axesLengths": [55.84788914301594, 17.016102462116866, 44.07068595604706], "normalizedAxes": [0.992946052060924, 0, 0.1185670177436578, 0, 1, 0, -0.1185670177436578, 0, 0.992946052060924]}, "partId": 5, "fixScale": true, "segments": [66485], "fixRotate": true, "obbAligned": {"centroid": [-0.463954861151226, 2.117530195388534, -0.4109131318486866], "axesLengths": [0.44070685956047057, 0.5584788914301594, 0.17016102462116867], "normalizedAxes": [0.992946052060924, -0.1185670177436578, 0, 0.1185670177436578, 0.992946052060924, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "50%~100%"}}}, {"uid": "uNXmO8Vi0Ms96AIk", "label": "toilet", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [221.71962640478492, 58.576247282418215, 98.42830233961237], "axesLengths": [38.14929307856537, 82.64130190587112, 64.22205705069157], "normalizedAxes": [0.6446581199250077, 0, 0.7644709990671684, 0, 1, 0, -0.7644709990671684, 0, 0.6446581199250077]}, "partId": 5, "fixScale": true, "segments": [90777], "fixRotate": true, "obbAligned": {"centroid": [-0.05369693704546563, 2.6857962987615944, -0.7192374747237305], "axesLengths": [0.6422205705069157, 0.3814929307856537, 0.8264130190587112], "normalizedAxes": [0.6446581199250077, -0.7644709990671684, 0, 0.7644709990671684, 0.6446581199250077, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.6446581199250077, 0, 0.7644709990671684]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}, {"uid": "RtEIV6HUl8qcE16I", "label": "bathtub", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [229.04475341295637, 43.17818062812823, 198.95123441556834], "axesLengths": [145.01160895995966, 52.32977040194632, 71.1308426840274], "normalizedAxes": [-0.7556587405071391, 0, 0.6549655471054674, 0, 1, 0, -0.6549655471054674, 0, -0.7556587405071391]}, "partId": 5, "fixScale": true, "segments": [21454], "fixRotate": true, "obbAligned": {"centroid": [0.9515323837140941, 2.7590475688433087, -0.8732181412666302], "axesLengths": [0.711308426840274, 1.4501160895995966, 0.5232977040194632], "normalizedAxes": [-0.7556587405071391, -0.6549655471054674, 0, 0.6549655471054674, -0.7556587405071391, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "50%~100%"}}}], "stats": {"labelCount": 4, "totalSegments": 6001, "totalVertices": 356567, "percentComplete": 1.0303813869483154, "annotatedSegments": 4, "annotatedVertices": 3674, "unannotatedSegments": 5997, "unannotatedVertices": 352893}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44358259/44358259_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358259/44358259_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..a582e86233793099461249f0632fcf7077e47e59 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358259/44358259_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc0da7577c5206a610320babd5ac517b66b157cf21c0e7512d82ae64b86bf65a +size 14208761 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44358259/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358259/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358259/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44358259/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358259/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..37db57e1b62f67b13bf3db3d94a0bed9b44d55f7 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358259/colmap/sparse/images.txt @@ -0,0 +1,706 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, 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mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358259/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44358593/44358593_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358593/44358593_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..1bd3ad18a549007c3160078faa3c1634e5b1b12b --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358593/44358593_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "in2PBO7KutM0gN3D", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 32, "segments": {"obb": {"centroid": 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358593/44358593_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..1ffbf9fcab7c6907af283538af5a151c1e3e8af6 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358593/44358593_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:590a4e17a734b7d955ed44252c845b958edd34b84fb9ac73fa5fd78d3d79ff8e +size 68476471 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44358593/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358593/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358593/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44358593/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358593/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..434710e6d28ec0b5562e9e98842f4b0765f63986 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358593/colmap/sparse/images.txt @@ -0,0 +1,1842 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 919, mean observations per image: 0.0 +0 0.40563026 0.5699906 -0.5746018 0.42474413 0.0607931 0.0981755 0.00310082 0 44358593_56911.784_color.png + +1 0.41369694 0.5649661 -0.5695076 0.43049887 0.0629791 0.105973 0.00251734 0 44358593_56911.867_color.png + +2 0.42224544 0.5577321 -0.56474364 0.43784505 0.066605 0.117369 -0.000897237 0 44358593_56911.967_color.png + +3 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/44358593/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358593/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358593/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44358593/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358593/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44358593/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 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0000000000000000000000000000000000000000..a0d9594364c78185792eb38cb6a4d96277fb039d --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796348/44796348_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e74af09dbbf6d61eeefbd70930f046fdc3a9828901a67267d216d4e7f77b0a48 +size 54313862 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796348/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796348/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796348/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796348/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796348/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..40df586da353c7db5d8f9d4be43625d633a7b7ec --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796348/colmap/sparse/images.txt @@ -0,0 +1,1850 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 923, mean observations per image: 0.0 +0 0.22194326 0.67851233 -0.6519386 -0.2556134 0.0495862 0.0613097 -0.00603094 0 44796348_18163.151_color.png + +1 0.22482942 0.6771051 -0.65364486 -0.2524455 0.0451169 0.0636551 -0.00600709 0 44796348_18163.234_color.png + +2 0.23728982 0.6720672 -0.6537075 -0.2543337 0.020865 0.0679071 0.0105676 0 44796348_18163.334_color.png + +3 0.25596923 0.66508144 -0.65275097 -0.25702643 0.0073838 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796348/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796348/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796348/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796348/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796348/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796348/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796412/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796412/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..910a413092fe1b1ccb09abe5ebb79860f0206dc4 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796412/colmap/sparse/images.txt @@ -0,0 +1,3900 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 1948, mean observations per image: 0.0 +0 0.28214595 0.63852704 -0.636716 0.32752043 0.046326 0.105063 0.0532301 0 44796412_14593.536_color.png + +1 0.28931054 0.6334094 -0.6315437 0.34094656 0.0429902 0.122347 0.0670699 0 44796412_14593.636_color.png + +2 0.29849762 0.62552184 -0.62759805 0.3546015 0.0393912 0.141515 0.0773877 0 44796412_14593.736_color.png + +3 0.3096839 0.61652315 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796412/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796412/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796412/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796412/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796438/44796438_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796438/44796438_3dod_annotation.json new file mode 100644 index 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796438/44796438_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..9aa7a5091b37f4f47f4ed2ef236eb3d66a91344b --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796438/44796438_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d22bcae8691d06854e65e041be53b8638fb405f1569ef64b5da38f3bf7ae60c3 +size 58521994 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796438/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796438/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796438/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796438/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796438/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..faa47195193bd09f8a95b6caac0c503928a9b008 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796438/colmap/sparse/images.txt @@ -0,0 +1,1286 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 641, mean observations per image: 0.0 +0 0.22529335 0.6896315 -0.6521954 -0.21975547 0.0449779 0.0688554 0.0337497 0 44796438_646.649_color.png + +1 0.23615041 0.67842025 -0.656483 -0.23023684 0.0454566 0.0664207 0.0403986 0 44796438_646.732_color.png + +2 0.24648048 0.66244286 -0.6579169 -0.25992733 0.0454411 0.0603143 0.045377 0 44796438_646.832_color.png + +3 0.254565 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0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796438/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796438/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796438/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796438/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796463/44796463_3dod_annotation.json 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"custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [73.25156772880032, 128.58232546488762, 16.72570955664352], "axesLengths": [53.59334969141426, 19.421523927892054, 50.38513998896922], "normalizedAxes": [0.04402961894126489, 0, 0.9990302260972324, 0, 1, 0, -0.9990302260972324, 0, 0.04402961894126489]}, "partId": 5, "fixScale": true, "segments": [92459], "fixRotate": true, "obbAligned": {"centroid": [0.37764706729952846, 2.6965706194190457, -0.43917676919298176], "axesLengths": [0.5038513998896922, 0.5359334969141426, 0.19421523927892054], "normalizedAxes": [0.04402961894126489, -0.9990302260972324, 0, 0.9990302260972324, 0.04402961894126489, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "0~20%"}}}], "stats": {"labelCount": 4, "totalSegments": 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796463/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796463/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796463/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796463/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796463/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..9d3faef9b134ecc9ea1f1cafce5fbcba8eb47309 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796463/colmap/sparse/images.txt @@ -0,0 +1,1498 @@ +# 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diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796463/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796463/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796463/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796485/44796485_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796485/44796485_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..b495860e7de0a97ca7e2c9eec9de4fff1006d85a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796485/44796485_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "6RqzJQZ4ipCQDdMh", "label": "shelf", "modelId": "custom.abandon", "children": [], "objectId": 6, "segments": {"obb": {"centroid": [-57.4752797675232, 155.73576127706593, 82.35689973716522], "axesLengths": [22.468976493749352, 237.98568011335095, 26.042900660077226], "normalizedAxes": [-0.7838525646088856, 0, 0.6209469840139917, 0, 1, 0, -0.6209469840139917, 0, -0.7838525646088856]}, "partId": 6, "fixScale": true, "segments": [47822], "fixRotate": true, "obbAligned": {"centroid": [0.5500490045432831, 1.8159311513184508, 0.09875756852017115], "axesLengths": [0.2604290066007723, 0.2246897649374935, 2.3798568011335095], "normalizedAxes": [-0.7838525646088856, -0.6209469840139917, 0, 0.6209469840139917, -0.7838525646088856, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.7838525646088856, 0, 0.6209469840139917]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "50%~100%", "incompleteness": "0~20%"}}}, {"uid": "A0tZlGipBCh5gevh", "label": "shelf", "modelId": "custom.abandon", "children": [], "objectId": 6, "segments": {"obb": {"centroid": [-270.67259388362197, 90.99331375260107, 177.43599618242487], "axesLengths": [44.79646918662172, 107.23653661783288, 30.45348526339304], "normalizedAxes": [-0.625530813668224, 0, -0.7801994624143042, 0, 1, 0, 0.7801994624143042, 0, -0.625530813668224]}, "partId": 6, "fixScale": true, "segments": [251934, 251353], "fixRotate": true, "obbAligned": {"centroid": [1.5008399689958796, -0.31604198984253706, -0.5486669067244776], "axesLengths": [0.30453485263393043, 0.44796469186621724, 1.0723653661783288], "normalizedAxes": [-0.625530813668224, 0.7801994624143042, 0, -0.7801994624143042, -0.625530813668224, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.7801994624143042, 0, -0.625530813668224]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["regular_shape", "current_scanning"], "attributes": {"occlusion": "50%~100%", "incompleteness": "50%~100%"}}}, {"uid": "Tu3FPumXlGteHRYn", "label": "shelf", "modelId": "custom.abandon", "children": [], "objectId": 6, "segments": {"obb": {"centroid": [-147.76512026360135, 255.3821884428633, 172.22104539380362], "axesLengths": [230.50898669857435, 37.738938034613355, 54.79297445247398], "normalizedAxes": [-0.7838525646088859, 0, 0.6209469840139916, 0, 1, 0, -0.6209469840139916, 0, -0.7838525646088859]}, "partId": 6, "fixScale": true, "segments": [113160, 179573, 167748], "fixRotate": true, "obbAligned": {"centroid": [1.4486904611096671, 0.9130327463576693, 1.0952218401781448], "axesLengths": [0.5479297445247397, 2.3050898669857434, 0.37738938034613356], "normalizedAxes": [-0.7838525646088859, -0.6209469840139916, 0, 0.6209469840139916, -0.7838525646088859, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["regular_shape", "current_scanning"], "attributes": {"occlusion": "50%~100%", "incompleteness": "20%~50%"}}}, {"uid": "OWS0UYu1ERWicdOd", "label": "stool", "modelId": "custom.abandon", "children": [], "objectId": 6, "segments": {"obb": {"centroid": [-192.35173204851756, 49.63892474637963, 114.53939471397258], "axesLengths": [46.426497831723715, 24.597282334177553, 35.33072258798458], "normalizedAxes": [0.7704170557772239, 0, -0.6375402419985376, 0, 1, 0, 0.6375402419985376, 0, 0.7704170557772239]}, "partId": 6, "fixScale": true, "segments": [293683], "fixRotate": true, "obbAligned": {"centroid": [0.8718739543113567, 0.4671666285085072, -0.962210796786692], "axesLengths": [0.3533072258798458, 0.4642649783172372, 0.24597282334177553], "normalizedAxes": [0.7704170557772239, 0.6375402419985376, 0, -0.6375402419985376, 0.7704170557772239, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}], "stats": {"labelCount": 5, "totalSegments": 6414, "totalVertices": 358967, "percentComplete": 0.43485891460774945, "annotatedSegments": 8, "annotatedVertices": 1561, "unannotatedSegments": 6406, "unannotatedVertices": 357406}, "confirm": false, "skipped": false, "attributes": {"tags": ["regular_shape", "current_scanning"], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796485/44796485_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796485/44796485_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..c4f2737ff145e4a6525fae3ad94eac6f400e8d1e --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796485/44796485_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c019101425dfad360c063f7f03e42adb9174424a81b44e460ca67f4ab7057bb8 +size 14163155 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796485/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796485/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796485/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796485/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796485/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..df2911e7439b610ad760876accbf85db0b3965d7 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796485/colmap/sparse/images.txt @@ -0,0 +1,2132 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 1064, mean observations per image: 0.0 +0 0.25224474 0.66036254 -0.66611665 -0.23787074 0.0479958 0.0489946 0.00324013 0 44796485_1258.118_color.png + +1 0.25329036 0.6628551 -0.6633984 -0.23742303 0.0575636 0.0456836 0.00254698 0 44796485_1258.201_color.png + +2 0.25449502 0.6646168 -0.66011405 -0.24034597 0.0734896 0.036419 -0.0055205 0 44796485_1258.301_color.png + +3 0.26051453 0.66161704 -0.6574232 -0.24937889 0.090822 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796485/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796485/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796485/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796485/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796485/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796485/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 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"0~20%", "incompleteness": "50%~100%"}}}], "stats": {"labelCount": 10, "totalSegments": 24529, "totalVertices": 1621464, "percentComplete": 1.1960179196084526, "annotatedSegments": 21, "annotatedVertices": 19393, "unannotatedSegments": 24508, "unannotatedVertices": 1602071}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796514/44796514_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796514/44796514_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..8bfba9bc0eb87b961fb9f559291c0aa8e6c17536 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796514/44796514_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56e6a97a30df58f68721551be1f2b571705635b59a8163d19101cdffae99e152 +size 65799631 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796514/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796514/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796514/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796514/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796514/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..78bf29618aef5f9b2ae179d4266c9c158db2933c --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796514/colmap/sparse/images.txt @@ 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point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796585/44796585_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796585/44796585_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..2d955dc0e45312260325a3be6db2a7779849f02c --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796585/44796585_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "bdS0a7jY8dD36dRz", "label": "table", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [155.16474411031996, 40.88151411353964, 135.91213098903933], "axesLengths": [25.711097525865668, 63.48401294184354, 25.0031245743758], "normalizedAxes": [-0.9636251361600101, 0, 0.2672575479955656, 0, 1, 0, -0.2672575479955656, 0, 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false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796585/44796585_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796585/44796585_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..8582988ba16f8ec028190f233a4666b4e7767b0c --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796585/44796585_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:498a9cf907730de23283a8eff5776ccca88691ac8dbf3dd01e8abe40a83900de +size 14616955 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796585/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796585/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796585/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796585/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796585/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..3ce1e93728d92832217426f98c2c04ef725a4e11 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796585/colmap/sparse/images.txt @@ -0,0 +1,852 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 424, mean observations per image: 0.0 +0 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differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/44796585/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796585/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/44796585/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45261061/45261061_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261061/45261061_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..39f58382ca58b80e22bc5424cfe56c36aae50eb4 --- /dev/null +++ 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261061/45261061_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..18f53ed6a92c31f11cf2de16245a451f73b9ef53 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261061/45261061_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd7f9d105ec8d36d035aa0bc5468f96a46d0bfb76aa4473d1b938d3345ea2ff2 +size 47075716 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45261061/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261061/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261061/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45261061/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261061/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..dc845817cd959f5527831bfc684b26ca162ba24a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261061/colmap/sparse/images.txt @@ -0,0 +1,3610 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 1803, mean observations per image: 0.0 +0 0.4096985 0.55963606 -0.58794045 -0.41626993 0.138062 0.0778181 0.0133034 0 45261061_14537.530_color.png + +1 0.42729092 0.5452151 -0.57658225 -0.43326196 0.177491 0.0839478 0.0188687 0 45261061_14537.630_color.png + +2 0.4420445 0.53275776 -0.56681174 -0.44664335 0.206894 0.0882509 0.0185048 0 45261061_14537.730_color.png + +3 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261061/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45261061/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261061/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261061/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45261248/45261248_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261248/45261248_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..91d5dd0e8f50270cee59b6e351b6782c7316d7cb --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261248/45261248_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "rST8W3fCEopVHQ7K", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 10, "segments": {"obb": {"centroid": [86.58062648965792, 51.69566666087408, 148.00807058566338], "axesLengths": [86.2727003178443, 67.68931935232678, 48.1318409800314], "normalizedAxes": [0.07370100165593274, 0, 0.997280383019195, 0, 1, 0, -0.997280383019195, 0, 0.07370100165593274]}, "partId": 10, "fixScale": true, "segments": [33284], "fixRotate": true, "obbAligned": {"centroid": [2.8183057725184684, 0.3086882960988955, -0.9380433763066034], "axesLengths": [0.481318409800314, 0.862727003178443, 0.6768931935232678], "normalizedAxes": [0.07370100165593274, -0.997280383019195, 0, 0.997280383019195, 0.07370100165593274, 0, 0, 0, 1]}, "fixPosition": true, 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"unannotatedSegments": 4751, "unannotatedVertices": 368764}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45261248/45261248_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261248/45261248_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..4b3f056e03136e7d2004015ac805651b409afecd --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261248/45261248_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2463075984a1b35efc33e5e353d4e9b89fdbc9eb92724f9978291449d731ce99 +size 15295887 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45261248/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261248/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261248/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45261248/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261248/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..eda22ae1e962d58a3bc2a0786c1fdc13621ea09b --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261248/colmap/sparse/images.txt @@ -0,0 +1,2004 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 1000, mean observations per image: 0.0 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45261248_15215.308_color.png + diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45261248/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261248/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261248/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45261248/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261248/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261248/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) 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"skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45261332/45261332_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261332/45261332_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..7541dc118d363dcdf6c5f91c071525e552f384d2 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261332/45261332_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76e736a7549919af5521113f62e1d49fefc3943c2c3214daa7fa424191dd252f +size 16451768 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45261332/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261332/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261332/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45261332/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261332/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..f93b15b22941a8cbd61acb0fa9775c4d6751cf42 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261332/colmap/sparse/images.txt @@ -0,0 +1,824 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 410, mean observations per image: 0.0 +0 0.33451116 0.623044 -0.61694574 -0.3453931 0.0553511 0.0674248 0.0072393 0 45261332_24013.074_color.png + 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/45261332/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261332/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261332/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45261332/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261332/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261332/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 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false, "labelType": "category", "attributes": {"tags": ["regular_shape", "current_scanning"], "attributes": {"occlusion": "50%~100%", "incompleteness": "50%~100%"}}}, {"uid": "AiDJZOB7IDFRbigH", "label": "sofa", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [52.893978473447056, 57.465181716397716, -130.37588877964163], "axesLengths": [167.5439615503135, 77.20873550123743, 91.54036690044853], "normalizedAxes": [0.7617838443583466, 0, -0.6478312855015713, 0, 1, 0, 0.6478312855015713, 0, 0.7617838443583466]}, "partId": 8, "fixScale": true, "segments": [287578], "fixRotate": true, "obbAligned": {"centroid": [-1.4999488873767997, 2.71838578697942, -0.475348135152307], "axesLengths": [0.9154036690044853, 1.675439615503135, 0.7720873550123742], "normalizedAxes": [0.7617838443583466, 0.6478312855015713, 0, -0.6478312855015713, 0.7617838443583466, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "0~20%"}}}], "stats": {"labelCount": 7, "totalSegments": 8774, "totalVertices": 566885, "percentComplete": 7.5135168508604036, "annotatedSegments": 13, "annotatedVertices": 42593, "unannotatedSegments": 8761, "unannotatedVertices": 524292}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45261406/45261406_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261406/45261406_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..2f181529b4a814b9c825e2a08e52827c2882678b --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261406/45261406_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae9aa5ded4af5018233a16d740b0c76b2621f4f7ae51f80304c79bdc78dc4552 +size 22825369 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45261406/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261406/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261406/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45261406/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261406/colmap/sparse/images.txt new file mode 100644 index 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261406/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261406/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45261406/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261406/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261406/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git 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"mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45261524/45261524_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261524/45261524_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..dd9da300d4e48df29019402e697785abec58ce46 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261524/45261524_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a61be7f90e196d8c29721508cd0706a89210abfc9faea4e2ba9344de82681501 +size 21937308 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45261524/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261524/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261524/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45261524/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261524/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..96f821fde9a36db5cff1b277a1c2d6229980f8f0 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261524/colmap/sparse/images.txt @@ -0,0 +1,1148 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 572, mean observations per image: 0.0 +0 0.3182919 -0.65539587 0.61687034 0.297687 0.0380998 -0.00999499 0.0770518 0 45261524_45692.868_color.png 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/45261524/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261524/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261524/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45261524/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261524/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45261524/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/45662800/45662800_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662800/45662800_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..62bacc56a653553b5d3b64691f6e18f00979b902 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662800/45662800_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd9e062c6fedde6b87583fdbab8e5a22f170165d3789b88b5e0dd92437176f7e +size 48790110 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45662800/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662800/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662800/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45662800/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662800/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..84079b267ccea047ff75e5af775a7ab8c2098166 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662800/colmap/sparse/images.txt @@ -0,0 +1,3030 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 1513, mean observations per image: 0.0 +0 0.38803318 0.5922246 -0.6059535 -0.36265776 0.0814197 0.0499482 0.00489174 0 45662800_12900.799_color.png + +1 0.40268394 0.5848273 -0.5984614 -0.37103453 0.0928465 0.0479666 0.00589371 0 45662800_12900.899_color.png + +2 0.41693866 0.57547754 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differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45662800/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662800/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662800/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45662809/45662809_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662809/45662809_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..be169742e4d3a580d37b30abee1a66112708b708 --- /dev/null +++ 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/45662809/45662809_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662809/45662809_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..a43a4917f209d0a9407da7fcac8c464cd7da37d5 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662809/45662809_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:daac8dbaad7ffd88ca6e15a3572a449a3438c306704679c4d384162416750ea9 +size 34545452 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45662809/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662809/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662809/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45662809/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662809/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..8f14c20df7df18200c46e3d40bf986a14b226412 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662809/colmap/sparse/images.txt @@ -0,0 +1,1526 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 761, mean observations per image: 0.0 +0 0.28815928 -0.6222482 0.67563766 0.27071238 0.0312244 0.0181546 0.0234839 0 45662809_13622.028_color.png + +1 0.29917306 -0.62031394 0.6714691 0.27356043 0.0249724 0.00881961 0.0265999 0 45662809_13622.111_color.png + +2 0.30596 -0.6162862 0.66928095 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662809/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662809/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45662875/45662875_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662875/45662875_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..356c641b3e16f695fdd5969f8e1356153593b96d --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662875/45662875_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "FhBrEWL14e3hg2yY", "label": "bed", 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"label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 10, "segments": {"obb": {"centroid": [131.11388335950915, 114.56273283523626, -31.46269723408126], "axesLengths": [85.1733577232233, 122.30553599205143, 53.12193812742662], "normalizedAxes": [0.11874389337986191, 0, 0.9929249154820278, 0, 1, 0, -0.9929249154820278, 0, 0.11874389337986191]}, "partId": 10, "fixScale": true, "segments": [764446, 641057], "fixRotate": true, "obbAligned": {"centroid": [-1.5845468446247482, 2.811768854690367, -0.5162026200729304], "axesLengths": [0.5312193812742662, 0.8517335772322331, 1.2230553599205143], "normalizedAxes": [0.11874389337986191, -0.9929249154820278, 0, 0.9929249154820278, 0.11874389337986191, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.9929249154820278, 0, 0.11874389337986191]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}, {"uid": "DoDrbfv3opHLsorE", "label": "tv_monitor", "modelId": "custom.abandon", "children": [], "objectId": 10, "segments": {"obb": {"centroid": [138.61824514223454, 205.12064536226563, -22.638831169721055], "axesLengths": [57.02197430265199, 36.23167689425001, 3.649873664975216], "normalizedAxes": [0.1255156414764932, -2.0816681711721685e-17, 0.9920916407997523, -0.0801526052682367, 0.9967310209260888, 0.010140601182915869, -0.9888485139865758, -0.08079153373737077, 0.125105333471058]}, "partId": 10, "fixScale": true, "segments": [742628], "fixRotate": true, "obbAligned": {"centroid": [-1.496308183981146, 2.8868124725176214, 0.38937650519736344], "axesLengths": [0.036498736649752166, 0.5702197430265199, 0.3623167689425001], "normalizedAxes": [0.125105333471058, -0.9888485139865758, -0.08079153373737077, 0.9920916407997523, 0.1255156414764932, -2.0816681711721685e-17, 0.010140601182915869, -0.0801526052682367, 0.9967310209260888]}, "fixPosition": true, "dominantNormal": [-0.9888485139865758, -0.08079153373737077, 0.125105333471058]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "0~20%"}}}, {"uid": "SEg2LUOBR3b7CbLa", "label": "sink", "modelId": "custom.abandon", "children": [], "objectId": 10, "segments": {"obb": {"centroid": [-288.5806516700648, 128.12493111685527, -83.23912316056199], "axesLengths": [48.86004047412096, 19.82472629829016, 35.84479992892754], "normalizedAxes": [-0.08177445721783139, 0, -0.9966508607063607, 0, 1, 0, 0.9966508607063607, 0, -0.08177445721783139]}, "partId": 10, "fixScale": true, "segments": [488814, 479140], "fixRotate": true, "obbAligned": {"centroid": [-2.1023111038895554, -1.3851764956053723, -0.3805806372567402], "axesLengths": [0.35844799928927545, 0.4886004047412096, 0.1982472629829016], "normalizedAxes": [-0.08177445721783139, 0.9966508607063607, 0, -0.9966508607063607, -0.08177445721783139, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["regular_shape"], "attributes": {"occlusion": "0~20%", "incompleteness": "50%~100%"}}}], "stats": {"labelCount": 9, "totalSegments": 13100, "totalVertices": 798063, "percentComplete": 3.6235234561682477, "annotatedSegments": 14, "annotatedVertices": 28918, "unannotatedSegments": 13086, "unannotatedVertices": 769145}, "comment": "", "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45662875/45662875_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662875/45662875_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..5c25615f508f8b39bf24ac1d567876ff430cef7c --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662875/45662875_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:395353d5ae0721b88d9705b82bab36570c8acc73cf9473ca231bb315ff056746 +size 31997919 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45662875/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662875/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662875/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45662875/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662875/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..a32de2be49b54150c8bd3d2b46e0995df8ed453b --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662875/colmap/sparse/images.txt @@ -0,0 +1,1048 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 522, mean observations per image: 0.0 +0 0.26197386 0.6207115 -0.6834117 -0.28113237 0.0956539 0.0270089 0.0607374 0 45662875_14402.909_color.png + +1 0.2878972 0.6048213 -0.6801508 -0.29782754 0.119288 0.0188083 0.0755611 0 45662875_14402.993_color.png + +2 0.31877962 0.5816679 -0.675003 -0.3231299 0.148334 0.0120512 0.0887269 0 45662875_14403.093_color.png + +3 0.3457927 0.5603568 -0.6685887 -0.34556732 0.175983 0.010436 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662875/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662875/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45662962/45662962_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662962/45662962_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..bd1573f1af57e1796f68c81406d5797dd1bb3f9a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662962/45662962_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "fTCJYE51ZAwYShC7", "label": 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diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45662962/45662962_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662962/45662962_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..6e3cdfb21ea59a9218919c5d55a2c2922f0f809b --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662962/45662962_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:51436706581d52334405b9ff41cc8d4ce0eea395f93810b64344248d5d17edcb +size 58930571 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45662962/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662962/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662962/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45662962/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662962/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..8f7d1e2ade8fe776260f0094490f75e94b517a0f --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662962/colmap/sparse/images.txt @@ -0,0 +1,1984 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 990, mean observations per image: 0.0 +0 0.3926923 0.5808457 -0.59031284 0.3999272 0.0556949 0.116409 0.00837861 0 45662962_24655.227_color.png + +1 0.40419796 0.57087636 -0.5831044 0.4131749 0.0569499 0.126066 0.00559604 0 45662962_24655.310_color.png + +2 0.41993466 0.5575587 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+ +989 0.3726355 0.5682803 0.61289126 -0.40319306 -1.43979 -3.21232 6.71641 0 45662962_24754.104_color.png + diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45662962/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662962/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662962/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45662962/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662962/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662962/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45662996/45662996_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662996/45662996_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..4171c3e6056fc533c43161ce2a8ea6cfb15c7aa9 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662996/45662996_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "hI0cbuxXsmvg6r0Z", "label": "toilet", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [44.39161734998697, 33.766602827984926, -76.50264179867149], "axesLengths": [37.050397186944274, 44.77525841816582, 51.13105653343665], "normalizedAxes": [0.023182535325298792, 0, -0.9997312489143727, 0, 1, 0, 0.9997312489143727, 0, 0.023182535325298792]}, "partId": 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[0.03286167844117427, 0, -0.9994599091959762, 0, 1, 0, 0.9994599091959762, 0, 0.03286167844117427]}, "partId": 5, "fixScale": true, "segments": [275816], "fixRotate": true, "obbAligned": {"centroid": [-1.8337803619428785, -1.3579769814414981, -0.33300434240175236], "axesLengths": [0.42651125466953654, 0.5824340315894508, 0.145253065321753], "normalizedAxes": [0.03286167844117427, 0.9994599091959762, 0, -0.9994599091959762, 0.03286167844117427, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "0~20%"}}}, {"uid": "7W86WBb65PBYYGyF", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [1.7574640138850128, 53.27664641854917, -143.483721713677], "axesLengths": [63.52931411187821, 80.77544637713311, 38.50888143076058], "normalizedAxes": [0.03265480612825644, 0, -0.9994666896083761, 0, 1, 0, 0.9994666896083761, 0, 0.03265480612825644]}, "partId": 5, "fixScale": true, "segments": [154907, 152225], "fixRotate": true, "obbAligned": {"centroid": [-1.8709672639812525, -1.4742003957193042, -0.7272335262777652], "axesLengths": [0.38508881430760583, 0.6352931411187821, 0.8077544637713311], "normalizedAxes": [0.03265480612825644, 0.9994666896083761, 0, -0.9994666896083761, 0.03265480612825644, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.9994666896083761, 0, 0.03265480612825644]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "0~20%"}}}, {"uid": "HkBHkyxLlLgT5KVf", "label": "bathtub", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [259.89509340369773, 40.12726439246877, -175.77354411130767], "axesLengths": [176.59455915174775, 55.303946681348876, 90.69870516175398], "normalizedAxes": [-0.01186527581231056, 0, 0.9999296051372305, 0, 1, 0, -0.9999296051372305, 0, -0.01186527581231056]}, "partId": 5, "fixScale": true, "segments": [589894, 409948, 413956], "fixRotate": true, "obbAligned": {"centroid": [-2.1938654879575594, 1.1071758981788231, -0.8587273465385692], "axesLengths": [0.9069870516175398, 1.7659455915174775, 0.5530394668134888], "normalizedAxes": [-0.01186527581231056, -0.9999296051372305, 0, 0.9999296051372305, -0.01186527581231056, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "0~20%"}}}], "stats": {"labelCount": 4, "totalSegments": 10516, "totalVertices": 658135, "percentComplete": 1.6812660016561953, "annotatedSegments": 12, "annotatedVertices": 11065, "unannotatedSegments": 10504, "unannotatedVertices": 647070}, "comment": "", "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45662996/45662996_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662996/45662996_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..7b40ceed085374ef16b9069e12b47b89a366165f --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662996/45662996_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be9cb242c0446956781399c147f0badea998b69304cd9c6bc16408600caa9123 +size 26310522 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45662996/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662996/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662996/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45662996/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662996/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..4f37cda257027394391fe9aafbac9f2d39d678e6 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662996/colmap/sparse/images.txt @@ -0,0 +1,2142 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 1069, mean observations per image: 0.0 +0 0.32751083 -0.62925774 0.6287345 0.3185345 0.053885 0.0239221 0.0209787 0 45662996_30751.430_color.png + +1 0.33589506 -0.62103367 0.62666637 0.32981962 0.0573883 0.00825872 0.0286693 0 45662996_30751.513_color.png + +2 0.34680173 -0.60847276 0.6235032 0.34746677 0.0641482 -0.0118249 0.0370719 0 45662996_30751.613_color.png + +3 0.3574144 -0.59433377 0.6206187 0.3658617 0.0701489 -0.0335796 0.0436868 0 45662996_30751.713_color.png + +4 0.36552548 -0.58113354 0.61548734 0.387105 0.0745555 -0.0580422 0.0484066 0 45662996_30751.813_color.png + +5 0.37611628 -0.56654584 0.6078214 0.4100189 0.0802333 -0.0818364 0.0513625 0 45662996_30751.913_color.png + +6 0.38922292 -0.55233717 0.59936726 0.42917138 0.0846942 -0.105993 0.0510345 0 45662996_30752.013_color.png + +7 0.40050164 -0.5398574 0.5914883 0.4453022 0.0887591 -0.12831 0.0485609 0 45662996_30752.113_color.png + +8 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662996/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45662996/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45663010/45663010_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/45663010/45663010_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..be04183ed4af777e628989c9ac2a86d4ce359618 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45663010/45663010_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "FtwX8oFhYcq1Bz9s", "label": 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1683324, "percentComplete": 0.6752710708098976, "annotatedSegments": 21, "annotatedVertices": 11367, "unannotatedSegments": 28487, "unannotatedVertices": 1671957}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45663010/45663010_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/45663010/45663010_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..31664968112665ebe9cda397eec128b0e244e748 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45663010/45663010_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f02826217227d76cbbfd5523a42bceba78191cab8df7a2b9299064665f3b034 +size 67298068 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45663010/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45663010/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45663010/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45663010/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45663010/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..515fb1f473347d4688a68b181ada4e385ac73f71 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45663010/colmap/sparse/images.txt @@ -0,0 +1,1432 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 714, mean observations per image: 0.0 +0 0.1981444 -0.6704675 0.6849088 0.20521227 0.0240553 0.0210874 -0.0456725 0 45663010_32304.944_color.png + +1 0.21754134 -0.6780113 0.6647384 0.22605145 0.00668796 -0.00312085 -0.0736255 0 45663010_32305.028_color.png + +2 0.22341035 -0.6741227 0.65964407 0.24600022 0.0441707 0.00715458 0.0145551 0 45663010_32305.127_color.png + +3 0.28825337 -0.6492064 0.64822024 0.27432021 0.08554 0.0722264 0.103314 0 45663010_32305.227_color.png + +4 0.31910947 -0.64348525 0.63209516 0.29077765 0.0779942 0.0556872 0.121075 0 45663010_32305.327_color.png + +5 0.33974743 -0.63477564 0.6209468 0.30993003 0.0654943 0.0325701 0.136169 0 45663010_32305.427_color.png + +6 0.36545968 -0.6232779 0.6050142 0.33454698 0.0573731 -0.00144333 0.146199 0 45663010_32305.527_color.png + +7 0.3878093 -0.6121839 0.5891035 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/45663010/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45663010/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45663010/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45663010/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45663349/45663349_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/45663349/45663349_3dod_annotation.json new file mode 100644 index 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https://git-lfs.github.com/spec/v1 +oid sha256:71141386e7a420c6eb0db2f549682a7cf85e098b10c7af05b34b9ec3d48b21c2 +size 55087639 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45663349/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45663349/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/45663349/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/45663349/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/45663349/colmap/sparse/images.txt new file mode 100644 index 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+1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47115158/47115158_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115158/47115158_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..37f721bdc28dcd82d7acdd5c64649dfccb6c3e45 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115158/47115158_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "eXzn1Y6M8wHLtgJO", "label": "bed", "modelId": "custom.abandon", "children": [], "objectId": 9, "segments": {"obb": {"centroid": [-29.115024679606826, 60.95160151525175, -90.89540216673258], "axesLengths": [127.20019698076752, 55.861209385362464, 206.24820567091825], "normalizedAxes": [0.9986743459065979, 0.017523897321697467, 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/dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115158/47115158_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d85b0dafa9b88df860cfffb8bbdd316352bb25810bba33afafa64abab2831ce8 +size 24813752 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47115158/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115158/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115158/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47115158/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115158/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..48bdad9767b45cbde4a97881fabce19791192a39 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115158/colmap/sparse/images.txt @@ -0,0 +1,2480 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 1238, mean observations per image: 0.0 +0 0.33996978 0.6068353 -0.6082327 0.3823931 0.0490352 0.0371036 0.0406597 0 47115158_87627.731_color.png + +1 0.34168208 0.60389024 -0.6084385 0.38519153 0.0491299 0.0344855 0.0492953 0 47115158_87627.797_color.png + +2 0.33758438 0.60534745 -0.61082476 0.38273275 0.0521134 0.0555087 0.0159401 0 47115158_87627.897_color.png + +3 0.34184226 0.6000299 -0.6094355 0.38948217 0.0549474 0.0624966 0.00730641 0 47115158_87627.997_color.png + +4 0.3475933 0.594071 -0.6076364 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+++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115158/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47115240/47115240_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115240/47115240_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..224350da9146223e6374cd7f8be572b22481d1a9 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115240/47115240_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "nDsNsUBumR0WlVLL", "label": "sofa", "modelId": "custom.abandon", "children": [], "objectId": 14, "segments": {"obb": {"centroid": [-233.85772755836294, 71.79900514438037, 114.39048412084382], "axesLengths": [178.86530152827115, 86.44636083225949, 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0000000000000000000000000000000000000000..09bf56af7c105f2f95c5eb31e6f97932f3c2a2fa --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115240/47115240_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a21a13041e2991ba59d68399323605283ae6af075d051fbdab780189a9af9f9c +size 66157229 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47115240/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115240/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115240/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115240/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115240/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47115482/47115482_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115482/47115482_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..9492cbd27695f6ebb299e1cd962b7bac0ed1f9a6 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115482/47115482_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "BljVtpUOeUWUidv0", "label": 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{"occlusion": "0~20%", "incompleteness": "50%~100%"}}}], "stats": {"labelCount": 41, "totalSegments": 32883, "totalVertices": 1843928, "percentComplete": 1.7137870893006668, "annotatedSegments": 41, "annotatedVertices": 31601, "unannotatedSegments": 32842, "unannotatedVertices": 1812327}, "confirm": false, "skipped": false, "attributes": {"tags": ["regular_shape", "current_scanning"], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47115482/47115482_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115482/47115482_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..1f10e1032056dcafa06218492334f099e48a5d89 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115482/47115482_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7475caa473ff985092329cbfa0d0e2d7bdbf3af8bfe472148dd37d2d1c32152e +size 73967828 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47115482/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115482/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115482/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47115482/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115482/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..81af389cdaf1fde210d37bc994d5781940cb873a --- /dev/null +++ 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115482/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47115482/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115482/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115482/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47115518/47115518_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115518/47115518_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..ac90769a48a274f3dee71b0db9fc57d8312d9a93 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115518/47115518_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "nQzWKyuEVWnObwFu", "label": "sink", "modelId": "custom.abandon", "children": [], "objectId": 6, "segments": {"obb": {"centroid": [144.82100687410355, 87.29625847745166, -104.2450393938623], "axesLengths": [60.12313298855929, 17.70221853356766, 49.79525444452707], "normalizedAxes": [-0.06673088291198392, 0, 0.9977710104356545, 0, 1, 0, -0.9977710104356545, 0, -0.06673088291198392]}, "partId": 6, "fixScale": true, "segments": [39950, 40034], "fixRotate": true, "obbAligned": {"centroid": [0.0920596165422578, 1.858575054207039, -0.3570374342989697], "axesLengths": [0.4979525444452707, 0.6012313298855929, 0.1770221853356766], "normalizedAxes": [-0.06673088291198392, -0.9977710104356545, 0, 0.9977710104356545, -0.06673088291198392, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "50%~100%"}}}, {"uid": "XpEZIw0cw9gwURRH", "label": "toilet", "modelId": "custom.abandon", "children": [], "objectId": 6, "segments": {"obb": {"centroid": [111.65643342952824, 52.19143568172574, -5.705493872665356], "axesLengths": [50.733127934257865, 76.79113491792613, 67.3796695028767], "normalizedAxes": [-0.9996861790745404, 0, -0.02505081570223607, 0, 1, 0, 0.02505081570223607, 0, -0.9996861790745404]}, "partId": 6, "fixScale": true, "segments": [161555, 161492, 155440, 88186, 21644, 21685, 22297, 32592, 32597, 32605, 88098, 89370, 89599, 89612, 89618, 89619, 89653, 89704, 89707, 89710, 92049, 92267, 93367, 93371, 93418, 93594, 93620, 93630, 93650, 93657, 93682, 93684, 93688, 93691, 93694, 93697, 93703, 93711, 93714, 93717, 93724, 94997, 95088, 95130, 95169, 96671, 98857, 99531, 100293, 100320, 100392, 100398, 100406, 100565, 100621, 100680, 101147, 101161, 101174, 158432, 158638, 158918, 158933, 159177, 159321, 159355, 159391, 159497, 159505, 159642, 159895, 160031, 160035, 160041, 160050, 160489, 160520, 160523, 160576, 160615, 160620, 160624, 160641, 160684, 160705, 160854, 160863, 161043, 161107, 161486, 161585, 161724, 161730, 161977, 162002, 162039, 162043, 162046, 162049, 162123, 162127, 162333, 162352, 162378, 162403, 162405, 162686, 162690, 162715, 162756, 162770, 163520, 164384, 164390], "fixRotate": true, "obbAligned": {"centroid": [1.0774550717542273, 1.5269293197612859, -0.7080856622562289], "axesLengths": [0.6737966950287669, 0.5073312793425787, 0.7679113491792613], "normalizedAxes": [-0.9996861790745404, 0.02505081570223607, 0, -0.02505081570223607, -0.9996861790745404, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.9996861790745404, 0, -0.025050815702236075]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}, {"uid": "QyGYbKAkoeubQpgO", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 6, "segments": {"obb": {"centroid": [115.77441474683619, 169.62168387210878, 24.081973897325692], "axesLengths": [48.95225360589578, 38.308547028393555, 8.589225910158532], "normalizedAxes": [-0.998972906357086, -0.0010103760058310077, -0.04530023735924868, -0.001395930803585488, 0.9999630674948746, 0.008480272603665554, 0.04528999604403858, 0.008534798566323656, -0.9989374222000915]}, "partId": 6, "fixScale": true, "segments": [122652, 123568], "fixRotate": true, "obbAligned": {"centroid": [1.3753297494541377, 1.5681091329343653, 0.46621681964760153], "axesLengths": [0.08589225910158532, 0.4895225360589578, 0.3830854702839356], "normalizedAxes": [-0.9989374222000915, 0.04528999604403858, 0.008534798566323656, -0.04530023735924868, -0.998972906357086, -0.0010103760058310077, 0.008480272603665554, -0.001395930803585488, 0.9999630674948746]}, "fixPosition": true, "dominantNormal": [0.04528999604403858, 0.008534798566323656, -0.9989374222000915]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "50%~100%"}}}, {"uid": "N1L9vq7eTWt5vcPa", "label": "bed", "modelId": "custom.abandon", "children": [], "objectId": 6, "segments": {"obb": {"centroid": [-208.62553465532824, 44.7966952252078, -223.60747781702366], "axesLengths": [153.53168242687914, 62.00165400489021, 202.36222631219317], "normalizedAxes": [0.998238224366042, 0, 0.059333358362151124, 0, 1, 0, -0.059333358362151124, 0, 0.998238224366042]}, "partId": 6, "fixScale": true, "segments": [88186, 95130, 100621, 93620], "fixRotate": true, "obbAligned": {"centroid": [-1.1015647676893559, -1.675890361087279, -0.7820330668214084], "axesLengths": [2.023622263121932, 1.5353168242687916, 0.6200165400489022], "normalizedAxes": [0.998238224366042, -0.059333358362151124, 0, 0.059333358362151124, 0.998238224366042, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface"], "attributes": {"occlusion": "0~20%", "incompleteness": "50%~100%"}}}], "stats": {"labelCount": 5, "totalSegments": 3598, "totalVertices": 202730, "percentComplete": 2.6439106200365017, "annotatedSegments": 119, "annotatedVertices": 5360, "unannotatedSegments": 3479, "unannotatedVertices": 197370}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47115518/47115518_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115518/47115518_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..5898412a895c23d2ab5f034e9724cb5386978fa2 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115518/47115518_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:127c323f6b973fc16f8d25c961a786d704f91bb2ad9a6853d8c2a9c93abae493 +size 8015888 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47115518/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115518/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115518/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47115518/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115518/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..e6249463cd0b9e704062ab3962a163174b659743 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47115518/colmap/sparse/images.txt @@ -0,0 +1,882 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 439, mean observations per image: 0.0 +0 0.14304163 0.69776994 -0.673071 -0.19907683 0.00175367 0.0700498 0.0187446 0 47115518_13297.099_color.png + +1 0.17383476 0.6902749 -0.6711223 -0.20711577 -0.00276383 0.0691448 0.0462385 0 47115518_13297.199_color.png + +2 0.2009884 0.6848194 -0.6657128 -0.21783616 -0.00972523 0.0564613 0.0824492 0 47115518_13297.299_color.png + +3 0.22363266 0.6833447 -0.65562195 -0.23062582 -0.0194318 0.0299267 0.125116 0 47115518_13297.398_color.png + +4 0.24144621 0.67970073 -0.6513901 -0.23537545 -0.0317676 8.23934e-05 0.169501 0 47115518_13297.498_color.png + +5 0.25708428 0.67356354 -0.65005124 -0.24011095 -0.0392285 -0.0261944 0.216412 0 47115518_13297.598_color.png + +6 0.25761744 0.671095 -0.6453731 -0.25837633 -0.0374999 -0.0538762 0.259582 0 47115518_13297.698_color.png + +7 0.27232936 0.6687246 -0.6341441 -0.2765961 -0.0173441 -0.0766888 0.303088 0 47115518_13297.798_color.png + +8 0.29214606 0.6628622 -0.6231037 -0.29496825 0.0160296 -0.0927454 0.341871 0 47115518_13297.898_color.png + +9 0.3063508 0.6580028 -0.6118723 -0.31431487 0.0554759 -0.106726 0.372279 0 47115518_13297.998_color.png + +10 0.33047822 0.6467156 -0.6022842 -0.33135605 0.104318 -0.108651 0.397762 0 47115518_13298.098_color.png + +11 0.3454239 0.63974565 -0.59163433 -0.3483915 0.149709 -0.112975 0.412297 0 47115518_13298.198_color.png + +12 0.36110994 0.63210565 -0.58021533 -0.365229 0.196034 -0.114354 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/dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204522/47204522_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c3d9cb071e007c42721a9375048b1a5e67ed75fb160cd7833d010b58ec58cb1 +size 28999863 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47204522/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204522/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204522/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47204522/colmap/sparse/images.txt 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204522/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204522/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47204739/47204739_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204739/47204739_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..ba93fe2f1f7e9c82bcd9becee164ff5ea8c18eeb --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204739/47204739_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "NRCQ96EF1ZMNvQTD", "label": "bed", 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/47204739/47204739_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204739/47204739_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..ac7362c1fbc00ebbf82dcf8652af72dfc25cef58 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204739/47204739_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60d2382bc7b75a8874cdbe98a653935abdff961c45f93f00c722409faadcef65 +size 24422547 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47204739/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204739/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204739/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47204739/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204739/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..09d37dd19b8bf6c3db6ceeaad72a26b6bea6e1d9 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204739/colmap/sparse/images.txt @@ -0,0 +1,770 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 383, mean observations per image: 0.0 +0 0.32273924 0.5862467 -0.6173817 0.41351423 0.0456068 0.10505 0.00405634 0 47204739_24117.566_color.png + +1 0.33095127 0.5768078 -0.615341 0.42322505 0.0457838 0.115449 0.00237879 0 47204739_24117.650_color.png + +2 0.3461896 0.56522584 -0.6090311 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-0.3429982 1.67495 -1.20529 4.64135 0 47204739_24155.751_color.png + diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47204739/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204739/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204739/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47204739/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204739/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204739/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47204813/47204813_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204813/47204813_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..5e2c29415815b74d1730fc2e5a5d72c9bbaf6fbb --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204813/47204813_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "FzWpKCkgPZ2Zk1xx", "label": "toilet", "modelId": "custom.abandon", "children": [], "objectId": 6, "segments": {"obb": {"centroid": [163.59611351272935, 67.03439986486316, -26.005066702958775], "axesLengths": [36.836939683104596, 77.75537215086503, 66.25713467845371], "normalizedAxes": [-0.09501459364297005, 0, 0.995475879665028, 0, 1, 0, -0.995475879665028, 0, -0.09501459364297005]}, "partId": 6, "fixScale": true, "segments": [40194, 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false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47204813/47204813_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204813/47204813_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..24511316d94029eb04c1c1272f1cdc2d3e655ab8 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204813/47204813_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:885744991f4a47a2350645c0ac11c871849facfb0717a0bcfa1eac572fb59ae6 +size 17301593 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47204813/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204813/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204813/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47204813/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204813/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..f0c5040fe3dc4e4645afc36dd7b4db159b9ee38f --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204813/colmap/sparse/images.txt @@ -0,0 +1,894 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 445, mean observations per image: 0.0 +0 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204813/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47204813/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204813/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204813/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47204874/47204874_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204874/47204874_3dod_annotation.json new file mode 100644 index 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"attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47204874/47204874_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204874/47204874_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..3452c445f2d73443fc32ac2d15909b4137b3d2eb --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204874/47204874_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d4d0146a1684f0016f1ba6cbab452444625b0df167b7b0cd55c3159f107f92d +size 9570763 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47204874/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204874/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204874/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47204874/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204874/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..82fa328096551f6f0d2750c15f6596f4a86e2866 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204874/colmap/sparse/images.txt @@ -0,0 +1,504 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 250, mean observations per image: 0.0 +0 0.39130116 -0.60144764 0.5911938 0.36828524 0.0440483 -0.0297695 0.0898559 0 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differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47204874/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204874/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47204874/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331187/47331187_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331187/47331187_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..4271ac087c43819fc1774b8e06c78ca72039ae95 --- /dev/null +++ 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-0.15176390426583586, 0, 0.15176390426583586, -0.9884167731083839, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.9884167731083839, 0, 0.15176390426583586]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}], "stats": {"labelCount": 6, "totalSegments": 10119, "totalVertices": 597819, "percentComplete": 1.1888213656641893, "annotatedSegments": 6, "annotatedVertices": 7107, "unannotatedSegments": 10113, "unannotatedVertices": 590712}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331187/47331187_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331187/47331187_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..69973ff011582a79df0003b3d72f84bb0cef323a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331187/47331187_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71e4bb04f370c73a86debb8042effce5c53b3665ea0342256b302e96b6979542 +size 23807462 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331187/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331187/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331187/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331187/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331187/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..397ddb8984d4ba45f1cdb8c6f9442cf467d87c82 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331187/colmap/sparse/images.txt @@ -0,0 +1,1236 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 616, mean observations per image: 0.0 +0 0.09109142 0.76189584 -0.631787 -0.10982874 0.0793998 0.0809823 0.00231077 0 47331187_278077.531_color.png + +1 0.10747473 0.76031023 -0.62912816 -0.1207282 0.0696482 0.0631286 0.0218468 0 47331187_278077.614_color.png + +2 0.15754963 0.74118257 -0.6368548 -0.14227581 0.0128968 -0.0592352 0.0916135 0 47331187_278077.714_color.png + +3 0.20797488 0.7133313 -0.64444125 -0.18055566 0.0101505 -0.1237 0.160394 0 47331187_278077.814_color.png + +4 0.2768836 0.68158484 -0.63451207 -0.2370064 0.0771359 -0.108268 0.236562 0 47331187_278077.914_color.png + +5 0.34867606 0.64217156 -0.6101367 -0.3062254 0.185645 -0.0928496 0.296931 0 47331187_278078.014_color.png + +6 0.41409326 0.59679186 -0.5777459 -0.37225783 0.31081 -0.0738052 0.324975 0 47331187_278078.114_color.png + +7 0.4699637 0.5420504 -0.547966 -0.43017286 0.432425 -0.0506114 0.324101 0 47331187_278078.214_color.png + +8 0.513994 0.4829463 -0.52625364 -0.47500542 0.538454 -0.0254587 0.304634 0 47331187_278078.314_color.png + +9 0.54488844 0.43539527 -0.5092112 -0.50421375 0.623333 0.00194423 0.27898 0 47331187_278078.414_color.png + +10 0.5700209 0.4047849 -0.49248815 -0.5183443 0.688145 0.0397645 0.249722 0 47331187_278078.514_color.png + +11 0.58284205 0.39052472 -0.47392684 -0.5321456 0.73571 0.06317 0.224103 0 47331187_278078.614_color.png + +12 0.5889042 0.3856248 -0.4481072 -0.55107653 0.775745 0.0671895 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diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331187/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331187/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331187/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331201/47331201_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331201/47331201_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..e7b714be73197e31fa2fc3b408bd8d264cd55a14 --- /dev/null +++ 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331201/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331201/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331201/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331201/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..0494e8d72934d61e2956de4b085ac9e10d9a86ba --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331201/colmap/sparse/images.txt @@ -0,0 +1,1272 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331201/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331201/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331408/47331408_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331408/47331408_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..850548a886c7a9e2f7b2430ba851a00e66938ea0 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331408/47331408_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "ne1LczdFDvhqFLOA", "label": "bed", 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{"uid": "DfqU2CJFqGUMqQCJ", "label": "chair", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [104.86534454882977, 63.227467858496446, -138.65797963241457], "axesLengths": [44.234161007365834, 92.53322386873037, 52.89674789256854], "normalizedAxes": [0.9882026836328439, 0, 0.15315174194518802, 0, 1, 0, -0.15315174194518802, 0, 0.9882026836328439]}, "partId": 8, "fixScale": true, "segments": [183151], "fixRotate": true, "obbAligned": {"centroid": [-1.88383476401366, 0.9963334419787762, -0.6340252844124721], "axesLengths": [0.5289674789256854, 0.44234161007365835, 0.9253322386873037], "normalizedAxes": [0.9882026836328439, -0.15315174194518802, 0, 0.15315174194518802, 0.9882026836328439, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.9882026836328439, 0, 0.15315174194518802]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "20%~50%", "incompleteness": "0~20%"}}}, {"uid": "kUIgmzLPOoT4DJzi", "label": "table", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [55.96915974108915, 53.82344634108279, -174.73350983653327], "axesLengths": [75.0644067040739, 73.72518083390307, 63.03720643268919], "normalizedAxes": [0.8781768788950606, 0, 0.4783360423113965, 0, 1, 0, -0.4783360423113965, 0, 0.8781768788950606]}, "partId": 8, "fixScale": true, "segments": [230247, 245386], "fixRotate": true, "obbAligned": {"centroid": [-2.244590066054847, 0.50737159390137, -0.7280654995866086], "axesLengths": [0.6303720643268919, 0.750644067040739, 0.7372518083390307], "normalizedAxes": [0.8781768788950606, -0.4783360423113965, 0, 0.4783360423113965, 0.8781768788950606, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.4783360423113965, 0, 0.8781768788950606]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", 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"isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "0~20%"}}}, {"uid": "v8ycC3tbVdHOGVhW", "label": "shelf", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [-29.223420798948478, 77.78639882052056, -54.2625736759037], "axesLengths": [131.31369544638557, 117.73100868790587, 32.9544085725017], "normalizedAxes": [0.4282166106110238, 0, -0.9036761225111609, 0, 1, 0, 0.9036761225111609, 0, 0.4282166106110238]}, "partId": 8, "fixScale": true, "segments": [299107], "fixRotate": true, "obbAligned": {"centroid": [-1.0398807044485512, -0.3445542114990063, -0.4884359747922309], "axesLengths": [0.329544085725017, 1.3131369544638556, 1.1773100868790587], "normalizedAxes": [0.4282166106110238, 0.9036761225111609, 0, -0.9036761225111609, 0.4282166106110238, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.9036761225111608, 0, 0.42821661061102434]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "50%~100%", "incompleteness": "20%~50%"}}}, {"uid": "YmTa138cW6FvmEKP", "label": "washer", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [-183.4345410830802, 53.992978802564416, 296.8903462805921], "axesLengths": [58.745373359604365, 87.04335489849393, 57.28039401155168], "normalizedAxes": [-0.8713341260000294, 0, -0.4906901678939225, 0, 1, 0, 0.4906901678939225, 0, -0.8713341260000294]}, "partId": 8, "fixScale": true, "segments": [429849], "fixRotate": true, "obbAligned": {"centroid": [2.471648495116407, -1.8866654143403236, -0.7263701749717923], "axesLengths": [0.5728039401155168, 0.5874537335960437, 0.8704335489849393], "normalizedAxes": [-0.8713341260000294, 0.4906901678939225, 0, -0.4906901678939225, -0.8713341260000294, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.4906901678939227, 0, -0.8713341260000294]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}], "stats": {"labelCount": 7, "totalSegments": 9793, "totalVertices": 458967, "percentComplete": 3.1677658742349664, "annotatedSegments": 10, "annotatedVertices": 14539, "unannotatedSegments": 9783, "unannotatedVertices": 444428}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331408/47331408_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331408/47331408_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..99adeefc3b8da57054e8308bf5886ad695000484 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331408/47331408_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72ccfec53348e11418e6fdc2c879a92b28605bd5eea334acc5e3834e9d001292 +size 18100802 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331408/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331408/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331408/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331408/colmap/sparse/images.txt 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331408/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331408/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331408/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331408/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331408/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331414/47331414_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331414/47331414_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..eb6f54537b9693b1746090865107ff2c729e5dd7 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331414/47331414_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "xkbrgib24TQX79lZ", "label": "bed", "modelId": "custom.abandon", "children": [], "objectId": 7, "segments": {"obb": {"centroid": [181.42421742024615, 93.53115256827768, 38.442012772853474], "axesLengths": [92.73304330845019, 109.39604700493173, 210.8269520386864], "normalizedAxes": [0.5567361519263194, 0, 0.8306893866772792, 0, 1, 0, -0.8306893866772792, 0, 0.5567361519263194]}, "partId": 7, "fixScale": true, "segments": [119094, 119171, 109535, 106928, 107240, 107840, 108119, 120926, 119430, 120815, 120274, 142657, 142678, 125784, 141879, 163284, 162993, 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"obbAligned": {"centroid": [1.2036160733502408, -2.9849799460924, -0.7287529262326555], "axesLengths": [0.5858141692843764, 0.6081397810791423, 0.8000865249500103], "normalizedAxes": [-0.4431859267469491, 0.8964297152222522, 0, -0.8964297152222522, -0.4431859267469491, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.8964297152222522, 0, -0.4431859267469491]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape"], "attributes": {"occlusion": "20%~50%", "incompleteness": "50%~100%"}}}], "stats": {"labelCount": 6, "totalSegments": 7266, "totalVertices": 394208, "percentComplete": 4.239893660199692, "annotatedSegments": 120, "annotatedVertices": 16714, "unannotatedSegments": 7146, "unannotatedVertices": 377494}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331414/47331414_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331414/47331414_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..1460b94451a7ad3ff73faf77b9d89e1129dd5e48 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331414/47331414_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:930d636bee00d554a6e53fa58a89165738f85fc64673b860a5505c7207ffa47c +size 15550041 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331414/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331414/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331414/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331414/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331414/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..da5135dad72a53cf21e617068eea05e16b7e1ccf --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331414/colmap/sparse/images.txt @@ -0,0 +1,794 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 395, mean observations per image: 0.0 +0 0.12623832 0.54995936 -0.8239634 0.051893212 -0.344763 0.121822 -0.0296597 0 47331414_201681.648_color.png + +1 0.12381255 0.5218668 -0.84196824 0.058437858 -0.358228 0.117772 -0.00300944 0 47331414_201681.731_color.png + +2 0.09906616 0.5030476 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0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331414/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331414/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331414/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331414/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331539/47331539_3dod_annotation.json 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"confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331539/47331539_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331539/47331539_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..7b5b60da33467f60294f9233532d0b06298266f0 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331539/47331539_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c6a4dc8e484d88e92cbfb3336138ea11b328228552f373c65b77ec8a5e4b380 +size 35894372 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331539/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331539/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331539/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331539/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331539/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..c3f027ea57ee8cee8f32748aaa455d513c234b8f --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331539/colmap/sparse/images.txt @@ -0,0 +1,1750 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 873, mean observations per image: 0.0 +0 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331539/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331539/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331539/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331539/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331700/47331700_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331700/47331700_3dod_annotation.json new file mode 100644 index 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"percentComplete": 2.9607362992217126, "annotatedSegments": 51, "annotatedVertices": 42717, "unannotatedSegments": 22352, "unannotatedVertices": 1400066}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331700/47331700_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331700/47331700_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..781aca2a8a16af6d91d1d64d678a6eaaae33bc47 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331700/47331700_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11baa9294419d02fd6779a159bbaf5d34f38f76195262e3c878b254ffc7d3afb +size 58373185 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331700/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331700/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331700/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331700/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331700/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..4644a42a39377560313ec1a334d7e95188c88513 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331700/colmap/sparse/images.txt @@ -0,0 +1,1688 @@ +# 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331700/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331700/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331700/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331700/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331700/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331700/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 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"attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331818/47331818_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331818/47331818_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..ba02f338b81f011c39186770bc37fad1fb582521 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331818/47331818_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f11c70c46814cf8461a593a6202e4b831bbe704b725d30523459ac53ccefc6e +size 9744026 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331818/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331818/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331818/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331818/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331818/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..d042155128acd72fbf240f0e979ad27c2b7d3347 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331818/colmap/sparse/images.txt @@ -0,0 +1,1662 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 829, mean observations per image: 0.0 +0 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331818/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331818/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331818/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331818/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331819/47331819_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331819/47331819_3dod_annotation.json new file mode 100644 index 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"skipped_reason": "", "label_version": "LO_v1.5.1"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331819/47331819_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331819/47331819_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..e82d5128c855278463d650de035ba3655ef64f81 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331819/47331819_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4f9eec1dff47421b72e2dd724a80865854f3f0f1a43cf83a888733197a92395 +size 8553606 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331819/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331819/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331819/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331819/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331819/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..c0ea62ba4f80801520e3055b23461fba976a1718 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331819/colmap/sparse/images.txt @@ -0,0 +1,786 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 391, mean observations per image: 0.0 +0 0.004089813 0.71892786 -0.693833 -0.041494764 0.0618343 0.0508971 -0.00566211 0 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differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47331819/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331819/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47331819/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332187/47332187_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332187/47332187_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..a2306a4874dd8dc4a5d58e77e7472118aa1a62e4 --- /dev/null +++ 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"unannotatedVertices": 797747}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332187/47332187_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332187/47332187_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..4357ea71efa18bdef0fb0cfccf9c2c6cddcf1a3c --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332187/47332187_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc9c0c9f2f03a442532101e08869a966ac69bb93035c299870e1b1a7f47996f8 +size 32393330 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332187/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332187/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332187/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332187/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332187/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..da921bcb2131cfadcd857e2157cffa2f43469ebb --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332187/colmap/sparse/images.txt @@ -0,0 +1,1242 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 619, mean observations per image: 0.0 +0 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332187/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332187/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332413/47332413_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332413/47332413_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..9040836a671c84014eb29a7fa322db5009cdaef8 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332413/47332413_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "4tQmJDKX4JmxhwIf", "label": 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"hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "0~20%"}}}, {"uid": "xxVrsm26dySyeK0R", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [-155.55276062509006, 122.90080590696533, -87.21183485617074], "axesLengths": [48.09297406794346, 221.96631461554773, 86.81682130945649], "normalizedAxes": [0.6722982726824126, 0, -0.7402803742827744, 0, 1, 0, 0.7402803742827744, 0, 0.6722982726824126]}, "partId": 8, "fixScale": true, "segments": [212039], "fixRotate": true, "obbAligned": {"centroid": [1.1836165242562857, -2.073027649166245, 0.43400804238035273], "axesLengths": [0.8681682130945649, 0.4809297406794346, 2.219663146155477], "normalizedAxes": [0.6722982726824126, 0.7402803742827744, 0, -0.7402803742827744, 0.6722982726824126, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.6722982726824126, 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332413/47332413_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5c9b19fe1dd6bc2e3ef4747e3ed5fc8996cc7efd44de3bdaf7ca7589b7a229c +size 13539502 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332413/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332413/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332413/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332413/colmap/sparse/images.txt 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/dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332413/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332432/47332432_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332432/47332432_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..a7ed867c3f2e5cda7d761da91028684ab26c6355 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332432/47332432_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "WhqG9hgqi7vnxejO", "label": "toilet", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [-24.14747181667101, 51.49255152595719, 24.68393745997922], "axesLengths": [36.059400061199014, 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{"tags": ["regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "0~20%"}}}], "stats": {"labelCount": 4, "totalSegments": 5519, "totalVertices": 283218, "percentComplete": 3.3853780480054234, "annotatedSegments": 154, "annotatedVertices": 9588, "unannotatedSegments": 5365, "unannotatedVertices": 273630}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332432/47332432_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332432/47332432_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..393a3b6a6386a438104bb547b8db9337510e7182 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332432/47332432_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f60a03ca75639a1718e7ce96af4d5d0795ecb15bcb45b7194464af4d709c4f99 +size 11190425 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332432/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332432/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332432/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332432/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332432/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..89c70ad0ada2f4e36549577da912298c2c2ad35f --- /dev/null +++ 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332432/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332432/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332432/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332432/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332436/47332436_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332436/47332436_3dod_annotation.json new file mode 100644 index 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+++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332436/47332436_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:464a6c93cae631d6e1983484a38edfe672e55d9e536585269e2d19658a511481 +size 56107363 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332436/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332436/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332436/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332436/colmap/sparse/images.txt 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332436/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332436/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332436/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332480/47332480_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332480/47332480_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..da07dac8adbb1116952552aff0835deed4efb369 --- /dev/null +++ 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"confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332480/47332480_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332480/47332480_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..28d2826adf32bfd0237f78c883dbb0daae7bc897 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332480/47332480_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57c6b0dffcd6a3a1295dc9bd16df0d5d00370be9ba6d2c1b04d771ccff7b1cfc +size 22194733 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332480/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332480/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332480/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332480/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332480/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..2d29784864ee641c4adb084fc4688192deffdb74 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332480/colmap/sparse/images.txt @@ -0,0 +1,1174 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 585, mean observations per image: 0.0 +0 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100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332480/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332493/47332493_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332493/47332493_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..40f1d6e57277856ca628b58cbf022b7dc4185eea --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332493/47332493_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "tkdVaWUNNDJdTp2K", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 29, "segments": {"obb": {"centroid": 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"unannotatedSegments": 9932, "unannotatedVertices": 406219}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332493/47332493_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332493/47332493_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..b51ff493d8158976b2c99945a68c20223e463630 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332493/47332493_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3046f85fd42cb0a5fb6f25dcbffcab8f290778f4c879a8f3bcdb2c7f38697d0f +size 17376503 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332493/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332493/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332493/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332493/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332493/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..d532b7de1ba58e59397e4de6ffb9d5c93d36f6f6 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332493/colmap/sparse/images.txt @@ -0,0 +1,964 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 480, mean 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0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332599/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332599/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332599/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..078d4c0b35da963009598c6a3cc00c7da348ecf9 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332599/colmap/sparse/images.txt @@ -0,0 +1,1106 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 551, mean observations per image: 0.0 +0 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0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332599/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332748/47332748_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332748/47332748_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..c59ac94269dff5a6fb58714f42ae82ddd8a57131 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332748/47332748_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "aCGvDB91xlgWUzFo", "label": "refrigerator", "modelId": "custom.abandon", "children": [], "objectId": 22, "segments": {"obb": {"centroid": 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\ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332748/47332748_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332748/47332748_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..0ffa52391b232f8ab5a37bf389b29dd011a86678 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332748/47332748_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b637701db66944761bd7199f37d49d69c64d0df3727cab81abc6ef369efa35b5 +size 23265523 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332748/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332748/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332748/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332748/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332748/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..30f9df96897ba1416b6a624012fa67b6118598cc --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332748/colmap/sparse/images.txt @@ -0,0 +1,1196 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 596, mean observations per image: 0.0 +0 0.010019369 -0.70797193 0.705988 -0.016010718 0.0490265 0.0512273 0.000859615 0 47332748_42489.131_color.png + +1 0.009234024 -0.7083257 0.7056482 -0.015812123 0.0482256 0.0515395 0.000695074 0 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332748/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332982/47332982_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332982/47332982_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..d735c87d9eff9bc315d454a05f4c3ddfcbc340c4 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332982/47332982_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "nSX2IJqK6XmGLnGz", "label": "bed", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [-222.35314402666205, 47.995850523820764, 19.190293653761238], "axesLengths": [160.07919625930592, 48.80559540820873, 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["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "20%~50%", "incompleteness": "20%~50%"}}}, {"uid": "PYyLTysO595ehK8T", "label": "tv_monitor", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [-23.788567921059713, 200.90094013642164, -265.35800270063504], "axesLengths": [95.94964338907349, 57.51996941244724, 6.115795076780538], "normalizedAxes": [0.878681092952504, 0, 0.4774091922950302, 0, 1, 0, -0.4774091922950302, 0, 0.878681092952504]}, "partId": 8, "fixScale": true, "segments": [547324, 531481, 491065], "fixRotate": true, "obbAligned": {"centroid": [-1.1915601066572292, 0.7053593740807237, 1.382194380326161], "axesLengths": [0.06115795076780538, 0.9594964338907349, 0.5751996941244724], "normalizedAxes": [0.878681092952504, -0.4774091922950302, 0, 0.4774091922950302, 0.878681092952504, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.4774091922950302, 0, 0.878681092952504]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "0~20%"}}}], "stats": {"labelCount": 7, "totalSegments": 9538, "totalVertices": 619681, "percentComplete": 5.306117179645656, "annotatedSegments": 11, "annotatedVertices": 32881, "unannotatedSegments": 9527, "unannotatedVertices": 586800}, "comment": "", "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332982/47332982_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332982/47332982_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..15449a66a6af415e26c4a4cfa3e8a34a389d1bfa --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332982/47332982_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c0c5830a6c9084ba07f7bba764cc80c1aeb160532f3203ed48c4f24bb788272 +size 24797465 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332982/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332982/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332982/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332982/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332982/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..3dd18366ba3d40e35bda194dfedc519b3cd1cd38 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332982/colmap/sparse/images.txt @@ -0,0 +1,1432 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 714, mean observations per image: 0.0 +0 0.022890644 0.69985116 -0.7112407 0.061815042 0.0500828 0.0583107 -0.00010934 0 47332982_123285.416_color.png + +1 0.02109288 0.69906527 -0.7122193 0.060054123 0.0485372 0.0611656 -0.00219615 0 47332982_123285.499_color.png + +2 0.01856097 0.6979996 -0.7138922 0.05300932 0.0446191 0.0738278 -0.00586411 0 47332982_123285.599_color.png + +3 0.01658799 0.6998988 -0.7123656 0.049007587 0.0427278 0.0806397 -0.00874544 0 47332982_123285.699_color.png + +4 0.01228135 0.7047383 -0.70788497 0.045737356 0.0413085 0.0858429 -0.0113704 0 47332982_123285.799_color.png + +5 0.009982088 0.7069257 -0.7059407 0.04247491 0.0399596 0.092101 -0.0147077 0 47332982_123285.899_color.png + +6 0.01261871 0.7068681 -0.70616543 0.038841125 0.0376417 0.0974664 -0.0173008 0 47332982_123285.999_color.png + +7 0.013775007 0.70701146 -0.70633304 0.032228507 0.0351671 0.101642 -0.0190363 0 47332982_123286.099_color.png + +8 0.01201459 0.70922816 -0.70456296 0.021025894 0.0330717 0.107577 -0.0196622 0 47332982_123286.199_color.png + +9 0.017491475 0.70812947 -0.70577914 0.011068926 0.031871 0.113158 -0.0196117 0 47332982_123286.299_color.png + +10 0.018139752 0.7067256 -0.70721054 0.007942511 0.0327147 0.11968 -0.0229767 0 47332982_123286.399_color.png + +11 0.015017727 0.7053165 -0.7086686 0.009590809 0.0345882 0.128415 -0.0290569 0 47332982_123286.499_color.png + +12 0.01157862 0.70356923 -0.71049243 0.0075353277 0.0376731 0.135406 -0.0361515 0 47332982_123286.599_color.png + +13 0.0115452865 0.70146203 -0.71257764 0.0071327193 0.0433838 0.135904 -0.0393645 0 47332982_123286.699_color.png + +14 0.017044486 0.703233 -0.7106747 0.0106914565 0.048803 0.130688 -0.0319076 0 47332982_123286.799_color.png + +15 0.015753658 0.7093602 -0.70466185 0.0034001751 0.0570022 0.114981 -0.0123879 0 47332982_123286.899_color.png + +16 0.03270451 0.71780926 -0.6954713 0.00013904476 0.0630006 0.0948453 0.0283089 0 47332982_123286.999_color.png + +17 0.047373194 0.7265832 -0.6854416 0.0015740477 0.0682346 0.0776574 0.0805651 0 47332982_123287.098_color.png + +18 0.07020332 0.73198575 -0.67747444 0.01722551 0.0722801 0.0704616 0.138068 0 47332982_123287.198_color.png + +19 0.10225785 0.73700637 -0.66650754 0.046180323 0.0755444 0.0725477 0.194544 0 47332982_123287.298_color.png + +20 0.12308627 0.75218034 -0.6424093 0.07990462 0.0776233 0.0689872 0.239017 0 47332982_123287.398_color.png + +21 0.16528612 0.759396 -0.61788136 0.11925105 0.0914243 0.0770528 0.272952 0 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332982/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47332982/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332982/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47332982/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333206/47333206_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333206/47333206_3dod_annotation.json new file mode 100644 index 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"incompleteness": "20%~50%"}}}, {"uid": "H7MJoKee8ze06f9B", "label": "table", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [161.7153063588388, 41.332094796468084, 34.38315500355242], "axesLengths": [74.68626367979661, 54.51096740327979, 47.490171202281836], "normalizedAxes": [-0.7114969388028476, -0.003659828747105345, 0.7026796650876693, -0.002525281949207649, 0.9999932965336977, 0.00265138430732714, -0.7026846583107206, 0.00011198754393200059, -0.7115014114065663]}, "partId": 5, "fixScale": true, "segments": [23637], "fixRotate": true, "obbAligned": {"centroid": [0.48921157017712574, 1.4921131284763884, -0.8801691042585247], "axesLengths": [0.4749017120228184, 0.7468626367979662, 0.545109674032798], "normalizedAxes": [-0.7115014114065663, -0.7026846583107206, 0.00011198754393200059, 0.7026796650876693, -0.7114969388028476, -0.003659828747105345, 0.00265138430732714, -0.002525281949207649, 0.9999932965336977]}, "fixPosition": true, "dominantNormal": [-0.7026846583107206, 0.00011198754393200059, -0.7115014114065663]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface"], "attributes": {"occlusion": "0~20%", "orientation": "1", "incompleteness": "50%~100%"}}}], "stats": {"labelCount": 4, "totalSegments": 3345, "totalVertices": 216414, "percentComplete": 0.9555758869574058, "annotatedSegments": 4, "annotatedVertices": 2068, "unannotatedSegments": 3341, "unannotatedVertices": 214346}, "comment": "", "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333206/47333206_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333206/47333206_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..16cadb5298cdb5becc6c4a908f02941e9c9ca3ee --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333206/47333206_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de6eb992ed5f16f44715138ed815283180c3ac896ba68eca804a57c34aca9cc3 +size 8556751 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333206/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333206/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333206/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333206/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333206/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..e3873c4985b706e45ae3a7460f3e146d1835ee06 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333206/colmap/sparse/images.txt @@ -0,0 +1,782 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 389, mean observations per image: 0.0 +0 0.083412156 0.7046696 -0.7010364 -0.070930205 0.0537558 0.056289 0.00490142 0 47333206_48187.609_color.png + +1 0.08353759 0.7053663 -0.7003257 -0.07087823 0.0548071 0.0562655 0.00746827 0 47333206_48187.693_color.png + +2 0.084466495 0.706065 -0.6993775 -0.07217172 0.054365 0.0550988 0.00778711 0 47333206_48187.793_color.png + +3 0.085065894 0.70708686 -0.6979351 -0.07535577 0.0542308 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0.025268875 0.30539647 -0.95132136 0.032895476 0.194571 -0.0898489 -0.11285 0 47333206_48226.394_color.png + diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333206/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333206/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333206/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333206/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333206/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333206/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333324/47333324_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333324/47333324_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..2ba2534dbdc6410eeb38f8ce897b3254722bd880 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333324/47333324_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "BNTbRMmVn9sk7ejl", "label": "bed", "modelId": "custom.abandon", "children": [], "objectId": 7, "segments": {"obb": {"centroid": [252.67665730938938, 44.786051659183116, 12.395490904046829], "axesLengths": [166.76634461431658, 48.50964499677284, 218.01232844037563], "normalizedAxes": [-0.9986011706374036, 0, 0.052874398356934395, 0, 1, 0, -0.052874398356934395, 0, -0.9986011706374036]}, "partId": 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[-0.9791264856110047, 0, -0.20325187619070884, 0, 1, 0, 0.20325187619070884, 0, -0.9791264856110047]}, "partId": 7, "fixScale": true, "segments": [416521], "fixRotate": true, "obbAligned": {"centroid": [1.0063953263529077, 1.3887693663984921, 0.7985529338241728], "axesLengths": [0.3760793340540176, 1.539427413689177, 2.560599447797944], "normalizedAxes": [-0.9791264856110047, 0.20325187619070884, 0, -0.20325187619070884, -0.9791264856110047, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.20325187619070886, 0, -0.9791264856110047]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}, {"uid": "lWtxd9VkXASJxWGB", "label": "chair", "modelId": "custom.abandon", "children": [], "objectId": 7, "segments": {"obb": {"centroid": [-2.3097870975817503, 70.63154434197354, -89.7654035527449], "axesLengths": [50.947799829872494, 102.61244431472105, 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[194.3396801262108, 254.71617224146962, 37.207933405401576], "normalizedAxes": [-0.9663954813244844, 0, 0.25705986399206293, 0, 1, 0, -0.25705986399206293, 0, -0.9663954813244844]}, "partId": 7, "fixScale": true, "segments": [495486], "fixRotate": true, "obbAligned": {"centroid": [1.06413590832066, -0.3912315640471631, 0.7918340711325493], "axesLengths": [0.3720793340540158, 1.943396801262108, 2.547161722414696], "normalizedAxes": [-0.9663954813244844, -0.25705986399206293, 0, 0.25705986399206293, -0.9663954813244844, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.25705986399206293, 0, -0.9663954813244844]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": [], "attributes": {"occlusion": "0~20%", "incompleteness": "50%~100%"}}}], "stats": {"labelCount": 6, "totalSegments": 7713, "totalVertices": 552353, "percentComplete": 3.151607758082241, "annotatedSegments": 10, "annotatedVertices": 17408, "unannotatedSegments": 7703, "unannotatedVertices": 534945}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333324/47333324_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333324/47333324_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..bd5a5a8ee22d6bbabc639c860538577185745bea --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333324/47333324_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e12e8560d897b0ce6876773a6d182b83cc1f061e0fab9693585265f4f120aa2 +size 22210059 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333324/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333324/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333324/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333324/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333324/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..c68890466245fa5e62ae8f2352f078785526f668 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333324/colmap/sparse/images.txt @@ -0,0 +1,1714 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 855, mean observations per image: 0.0 +0 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0.029236676 -0.71110386 0.70245266 -0.006069436 0.0667106 0.0994746 -0.0565648 0 47333324_29392.047_color.png + +853 0.028498316 -0.7125611 0.7009897 -0.007616508 0.066517 0.101147 -0.0559783 0 47333324_29392.147_color.png + +854 0.02996316 -0.711877 0.7016288 -0.0070978506 0.0662917 0.102096 -0.0555539 0 47333324_29392.247_color.png + diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333324/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333324/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333324/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333324/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333324/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333324/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333487/47333487_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333487/47333487_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..7c1af2910f0a23a3b8b1b0433708646355db82a8 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333487/47333487_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "56SLykcHq8vlh1ik", "label": "stool", "modelId": "custom.abandon", "children": [], "objectId": 6, "segments": {"obb": {"centroid": [-69.99561055866597, 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{"centroid": [11.008138331345787, 59.5444427344621, 134.6929816929793], "axesLengths": [51.115093986824675, 85.28549401232019, 24.994437768955294], "normalizedAxes": [-0.9343574085827984, 0, 0.3563372461958437, 0, 1, 0, -0.3563372461958437, 0, -0.9343574085827984]}, "partId": 6, "fixScale": true, "segments": [24577], "fixRotate": true, "obbAligned": {"centroid": [2.3082349583787676, -0.16741853085585365, -0.24831755318897886], "axesLengths": [0.24994437768955294, 0.5111509398682468, 0.8528549401232018], "normalizedAxes": [-0.9343574085827984, -0.3563372461958437, 0, 0.3563372461958437, -0.9343574085827984, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.3563372461958437, 0, -0.9343574085827984]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "0~20%"}}}, {"uid": "fr2tJgZmGMW1V5IK", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 6, "segments": {"obb": {"centroid": [92.4578147016944, 85.06947006573259, -18.586056906549373], "axesLengths": [81.15358295636466, 136.8687479851639, 30.23413929286437], "normalizedAxes": [0.3250215662063015, 0, 0.9457066043444989, 0, 1, 0, -0.9457066043444989, 0, 0.3250215662063015]}, "partId": 6, "fixScale": true, "segments": [276470], "fixRotate": true, "obbAligned": {"centroid": [0.7754445723834809, 0.6470782328476326, 0.006932720123726033], "axesLengths": [0.3023413929286437, 0.8115358295636466, 1.368687479851639], "normalizedAxes": [0.3250215662063015, -0.9457066043444989, 0, 0.9457066043444989, 0.3250215662063015, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.9457066043444989, 0, 0.3250215662063015]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "0~20%"}}}, {"uid": "f7KHqBvLhKzcMLGB", "label": "table", "modelId": "custom.abandon", "children": [], "objectId": 6, "segments": {"obb": {"centroid": [126.80145063002131, 38.24124340654637, 73.86324907862902], "axesLengths": [75.58641014748864, 46.35951393279152, 25.372169115597426], "normalizedAxes": [0.3250215662063015, 0, 0.9457066043444989, 0, 1, 0, -0.9457066043444989, 0, 0.3250215662063015]}, "partId": 6, "fixScale": true, "segments": [267287], "fixRotate": true, "obbAligned": {"centroid": [1.6999376322352648, 0.9905145921309015, -0.4613495464681362], "axesLengths": [0.25372169115597426, 0.7558641014748864, 0.46359513932791524], "normalizedAxes": [0.3250215662063015, -0.9457066043444989, 0, 0.9457066043444989, 0.3250215662063015, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.9457066043444989, 0, 0.3250215662063015]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["current_scanning"], "attributes": {"occlusion": "50%~100%", "orientation": "1", "incompleteness": "50%~100%"}}}], "stats": {"labelCount": 5, "totalSegments": 7293, "totalVertices": 383508, "percentComplete": 9.78441127694859, "annotatedSegments": 7, "annotatedVertices": 37524, "unannotatedSegments": 7286, "unannotatedVertices": 345984}, "comment": "", "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333487/47333487_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333487/47333487_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..64c05c7dac0a89dcd0117cfe28bc56bc1400580f --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333487/47333487_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b129d58687a2634393699073f7db14264f4f841743ba829dbc120b8832257e17 +size 15093894 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333487/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333487/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333487/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333487/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333487/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..751f5cff0e2a1813216f4314b87cc0cf2d062a4d --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333487/colmap/sparse/images.txt @@ -0,0 +1,1014 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 505, mean observations per image: 0.0 +0 0.015109849 0.7026827 -0.7108541 0.026365515 0.0330226 0.0435209 0.0164165 0 47333487_61223.805_color.png + +1 0.015537773 0.7017948 -0.7116798 0.027468693 0.028528 0.041036 0.0192683 0 47333487_61223.888_color.png + +2 0.0140029555 0.70187926 -0.71155214 0.029376676 0.0254272 0.036798 0.0210365 0 47333487_61223.988_color.png + +3 0.011999482 0.702303 -0.71117413 0.02928866 0.0250427 0.0339026 0.0207125 0 47333487_61224.088_color.png + +4 0.0094904 0.7022195 -0.7112935 0.02931321 0.0276188 0.0312775 0.0170182 0 47333487_61224.188_color.png + +5 0.008711504 0.7015649 -0.711922 0.029963553 0.0322974 0.029126 0.0131543 0 47333487_61224.288_color.png + +6 0.008406297 0.70102155 -0.7124539 0.030125659 0.0369103 0.027508 0.00652164 0 47333487_61224.388_color.png + +7 0.008491396 0.7000948 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0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333487/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333487/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333487/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333487/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333589/47333589_3dod_annotation.json 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No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333589/47333589_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333589/47333589_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..928ddce6e3fae23a7dd5a269c8410e31c1113b97 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333589/47333589_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a00be435c4617cc100a54d8a86d9d9ab4e852d59db841bff9bb512c35fccab61 +size 10217272 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333589/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333589/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333589/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333589/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333589/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..c0421233c0fa83ea3b97e5e21d4c195127b5a7a2 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333589/colmap/sparse/images.txt @@ -0,0 +1,746 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 371, mean observations per image: 0.0 +0 0.00014132718 -0.7043928 0.70980906 0.0013610967 0.0525034 0.0498214 0.00182532 0 47333589_208733.332_color.png + +1 0.00041015237 0.7036038 -0.71058995 -0.0018587586 0.0526498 0.049179 0.00136829 0 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333589/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333692/47333692_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333692/47333692_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..e5d1d26e0e962877934c660ec25215e74c165168 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333692/47333692_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "16ScCjwMB3U2iKo0", "label": "refrigerator", "modelId": "custom.abandon", "children": [], "objectId": 24, "segments": {"obb": {"centroid": [40.89937768267089, 128.75197943256362, 116.10329415978158], "axesLengths": [67.61165484573857, 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diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333692/47333692_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333692/47333692_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..91dba04517ff6c54442fe13b9f45c4f7563b8386 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333692/47333692_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9f3c1f11ebbfcb676c0de50d1ca2b68821181b4381740e7081422602b3ba84b +size 20167320 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333692/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333692/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333692/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333692/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333692/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..e4c47106a304531b35714ab86f5a59e2b5ffd93b --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333692/colmap/sparse/images.txt @@ -0,0 +1,948 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 472, mean observations per image: 0.0 +0 0.07586804 -0.71611035 0.6930048 -0.034269877 0.0246461 0.0336526 0.120495 0 47333692_48488.854_color.png + +1 0.067020245 -0.71875614 0.69080335 -0.041092988 0.0208843 0.0269286 0.154874 0 47333692_48488.937_color.png + +2 0.05449361 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333692/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333724/47333724_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333724/47333724_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..14b20a7cbdbb6edbfb50f798be7b2d0dfdb7948f --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333724/47333724_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "jFB4x2IPfHZY7HjL", "label": "sofa", "modelId": "custom.abandon", "children": [], "objectId": 15, "segments": {"obb": {"centroid": [88.7535300616815, 87.75880689877887, 10.548160770489623], "axesLengths": [218.08587328688608, 93.70461414571095, 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333724/47333724_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..f38786d17a4a1d5ebad68f6257d7237138469359 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333724/47333724_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24dd4c9c70d6d3960ce1b42278f625527ceb8287b08d92391bab1b30c19f91e2 +size 43056373 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333724/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333724/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333724/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333724/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333724/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..4cae0aae5a6698a082845561c8ac81febd03bf97 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333724/colmap/sparse/images.txt @@ -0,0 +1,1538 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 767, mean observations per image: 0.0 +0 0.016382284 -0.688058 0.72126967 -0.077960566 0.0408534 0.0662975 0.0378165 0 47333724_51475.230_color.png + +1 0.011036031 -0.6803721 0.72735745 -0.08901195 0.0371762 0.0709514 0.0523578 0 47333724_51475.330_color.png + +2 0.002192059 -0.6725822 0.73375165 -0.09610856 0.0333779 0.0786738 0.06908 0 47333724_51475.430_color.png + +3 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+++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333724/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333774/47333774_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333774/47333774_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..5d4c4d8e99126125bb694d0e50472a5f1feadc9a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333774/47333774_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "Yqd6u9sfmGDdMkoD", "label": "bed", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [12.30018329932243, 45.87264100511372, -51.13283948559055], "axesLengths": [159.5243250286067, 55.047490668013765, 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"table", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [-51.647924717394275, 55.388539257388445, 38.22736857835796], "axesLengths": [67.61266310776618, 80.4580614986335, 38.07696858889147], "normalizedAxes": [0.9968309015598817, 0, 0.0795496932446214, 0, 1, 0, -0.0795496932446214, 0, 0.9968309015598817]}, "partId": 8, "fixScale": true, "segments": [13260], "fixRotate": true, "obbAligned": {"centroid": [-0.3776563288267109, 0.9487407869485243, -0.0011146145786729011], "axesLengths": [0.3807696858889147, 0.6761266310776618, 0.804580614986335], "normalizedAxes": [0.9968309015598817, -0.0795496932446214, 0, 0.0795496932446214, 0.9968309015598817, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.0795496932446214, 0, 0.9968309015598817]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "current_scanning"], "attributes": {"occlusion": "0~20%", "orientation": "1", "incompleteness": "0~20%"}}}], "stats": {"labelCount": 7, "totalSegments": 9044, "totalVertices": 730836, "percentComplete": 2.358805532294523, "annotatedSegments": 7, "annotatedVertices": 17239, "unannotatedSegments": 9037, "unannotatedVertices": 713597}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333774/47333774_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333774/47333774_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..0f33120c4086e2a0985bfa8807e00a32ae8fc2b1 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333774/47333774_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57dd237f6cbf3d2ecf0b73c492ba4f4a01308c5983caaf248981c4619413e486 +size 29842494 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333774/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333774/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333774/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333774/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333774/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..81aba1a83b5b39fd137af8da39879d8823ce3cb6 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333774/colmap/sparse/images.txt @@ -0,0 +1,1808 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 902, mean observations per image: 0.0 +0 0.048183616 -0.7074587 0.70433515 -0.033054523 0.05284 0.0542927 0.00812555 0 47333774_48051.363_color.png + +1 0.04880972 -0.70736295 0.7043894 -0.033028297 0.0539278 0.0544873 0.010167 0 47333774_48051.447_color.png + +2 0.047814697 -0.7073274 0.7045344 -0.032140013 0.0540657 0.0562489 0.00734432 0 47333774_48051.547_color.png + +3 0.047633376 -0.70783645 0.70396066 -0.03373386 0.0533865 0.0562891 0.00435536 0 47333774_48051.647_color.png + +4 0.047628123 -0.7080208 0.70372784 -0.034716196 0.0555982 0.0563291 0.00449379 0 47333774_48051.747_color.png + +5 0.046981342 -0.70815206 0.7036137 -0.035229534 0.0554463 0.0561416 0.00435799 0 47333774_48051.847_color.png + +6 0.046523616 -0.70868766 0.703045 -0.03640251 0.0551488 0.0560658 0.00409339 0 47333774_48051.946_color.png + +7 0.04693144 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333774/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333774/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333774/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333827/47333827_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333827/47333827_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..02f1bdfaecdc8c3b6fde57910ea942939855ae08 --- /dev/null +++ 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"labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "50%~100%"}}}, {"uid": "4gUAIuNTFgYcb7ep", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 7, "segments": {"obb": {"centroid": [-1.6318106747408117, 57.14369251332891, 196.33291447017893], "axesLengths": [58.41982653935827, 79.0614523678267, 31.80883129481182], "normalizedAxes": [-0.07493724027670301, 0, 0.9971882520465792, 0, 1, 0, -0.9971882520465792, 0, -0.07493724027670301]}, "partId": 7, "fixScale": true, "segments": [102993], "fixRotate": true, "obbAligned": {"centroid": [1.4025742494915232, 1.4034319280617045, -0.058563070098339276], "axesLengths": [0.31808831294811823, 0.5841982653935827, 0.790614523678267], "normalizedAxes": [-0.07493724027670301, -0.9971882520465792, 0, 0.9971882520465792, -0.07493724027670301, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.997188252046579, 0, 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"dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "0~20%"}}}, {"uid": "o1jr7gKbElKxle39", "label": "bathtub", "modelId": "custom.abandon", "children": [], "objectId": 7, "segments": {"obb": {"centroid": [-106.21037029307553, 43.69628954481282, 247.72285051797596], "axesLengths": [172.4481537543306, 52.16664643079454, 83.35797843887417], "normalizedAxes": [-0.9959910203052897, 0, -0.08945326976265006, 0, 1, 0, 0.08945326976265006, 0, -0.9959910203052897]}, "partId": 7, "fixScale": true, "segments": [227758, 16047, 26374, 27531], "fixRotate": true, "obbAligned": {"centroid": [1.9164736099694935, 0.35764633187835715, -0.1930370997835002], "axesLengths": [0.8335797843887417, 1.724481537543306, 0.5216664643079454], "normalizedAxes": [-0.9959910203052897, 0.08945326976265006, 0, -0.08945326976265006, -0.9959910203052897, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}, {"uid": "Fgz1K48pZjZnMyz2", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 7, "segments": {"obb": {"centroid": [-167.4972520410564, 71.76902808970624, 158.9660167945908], "axesLengths": [50.51249007350145, 111.16010284481396, 36.142873868355935], "normalizedAxes": [0.08671450825315408, 0, -0.9962332026480615, 0, 1, 0, 0.9962332026480615, 0, 0.08671450825315408]}, "partId": 7, "fixScale": true, "segments": [86092], "fixRotate": true, "obbAligned": {"centroid": [1.0289052727356418, -0.25522248560145155, 0.08769028566543402], "axesLengths": [0.36142873868355935, 0.5051249007350146, 1.1116010284481397], "normalizedAxes": [0.08671450825315408, 0.9962332026480615, 0, -0.9962332026480615, 0.08671450825315408, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.9962332026480615, 0, 0.08671450825315408]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "20%~50%", "incompleteness": "20%~50%"}}}, {"uid": "iehKNw6jUjrQ3qCD", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 7, "segments": {"obb": {"centroid": [-188.36257155432227, 70.58901651353776, -138.3236396262533], "axesLengths": [95.61538912571838, 108.80007969247696, 38.19340386925002], "normalizedAxes": [-0.030597226226771523, 0, 0.9995317952657773, 0, 1, 0, -0.9995317952657773, 0, -0.030597226226771523]}, "partId": 7, "fixScale": true, "segments": [302156], "fixRotate": true, "obbAligned": {"centroid": [-1.9439912914727993, -0.46387568073411023, 0.0758901699037492], "axesLengths": [0.3819340386925002, 0.9561538912571839, 1.0880007969247696], "normalizedAxes": [-0.030597226226771523, -0.9995317952657773, 0, 0.9995317952657773, -0.030597226226771523, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.9995317952657773, 0, -0.030597226226771523]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface"], "attributes": {"occlusion": "0~20%", "incompleteness": "50%~100%"}}}], "stats": {"labelCount": 6, "totalSegments": 6014, "totalVertices": 361326, "percentComplete": 1.7034478559527961, "annotatedSegments": 9, "annotatedVertices": 6155, "unannotatedSegments": 6005, "unannotatedVertices": 355171}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333827/47333827_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333827/47333827_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..1571f7f622ac67be75dcf016ee14f3f8220a6632 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333827/47333827_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:606aec59d173e3492bbd35b2fb0179e6617f85b7f2de22a4ea0ca0ea12d5e8d2 +size 14346525 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333827/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333827/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333827/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333827/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333827/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..1954636c7e40861836bb01a26748a141b3cb08a3 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333827/colmap/sparse/images.txt @@ -0,0 +1,1872 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 934, mean observations per image: 0.0 +0 0.037947122 -0.7091202 0.7039211 0.014271308 0.0407214 0.0662416 0.015092 0 47333827_53231.694_color.png + +1 0.04091194 -0.7091646 0.7036651 0.0163485 0.0341882 0.0779774 0.0228592 0 47333827_53231.777_color.png + +2 0.040504664 -0.70984703 0.703079 0.01250921 0.0393269 0.0773762 0.0172503 0 47333827_53231.877_color.png + +3 0.040222242 -0.7093498 0.70363986 0.009792086 0.0495353 0.0675555 0.0054657 0 47333827_53231.977_color.png + +4 0.041624162 -0.7087975 0.7040953 0.011104109 0.0518222 0.0655902 0.00191841 0 47333827_53232.077_color.png + +5 0.042328764 -0.7091888 0.7036537 0.011444551 0.0524306 0.062576 0.000844273 0 47333827_53232.177_color.png + +6 0.04368464 -0.7091728 0.7035994 0.01065231 0.0529359 0.0615829 0.000100352 0 47333827_53232.277_color.png + +7 0.044833213 -0.7084275 0.7042748 0.010839353 0.0537245 0.0623282 -0.000502442 0 47333827_53232.377_color.png + +8 0.045432627 -0.7090631 0.70360726 0.01010806 0.0547635 0.0634364 -0.000557528 0 47333827_53232.477_color.png + +9 0.04658658 -0.7089689 0.7036339 0.009596663 0.0553331 0.0656928 -0.000668832 0 47333827_53232.577_color.png + +10 0.04765814 -0.7074226 0.7051138 0.009822327 0.0557694 0.0691718 -0.00124964 0 47333827_53232.677_color.png + +11 0.047461186 -0.70602715 0.70652515 0.009761914 0.0565117 0.0742046 -0.00184688 0 47333827_53232.777_color.png + +12 0.046648383 -0.70534176 0.70725894 0.010089357 0.0571007 0.0817544 -0.00281625 0 47333827_53232.877_color.png + +13 0.04676115 -0.70515996 0.7074402 0.009550506 0.0558684 0.0827661 -0.00369104 0 47333827_53232.977_color.png + +14 0.046885286 -0.7042174 0.70837855 0.008914457 0.054907 0.0794733 -0.00355097 0 47333827_53233.077_color.png + +15 0.04632561 -0.7041514 0.70849437 0.0077757128 0.055395 0.0817511 -0.00360507 0 47333827_53233.177_color.png + +16 0.046714824 -0.7028497 0.709762 0.007613318 0.0559101 0.0815145 -0.00382848 0 47333827_53233.277_color.png + +17 0.046489388 -0.70042545 0.7121672 0.007801938 0.0560036 0.0788315 -0.00405588 0 47333827_53233.377_color.png + +18 0.0470991 -0.69816005 0.7143408 0.008451792 0.0568025 0.0802797 -0.00529245 0 47333827_53233.477_color.png + +19 0.047150444 -0.6960089 0.7164381 0.008052377 0.058093 0.0819487 -0.00711197 0 47333827_53233.577_color.png + +20 0.047401365 -0.6938376 0.71852434 0.008083305 0.0599013 0.0819132 -0.00879887 0 47333827_53233.677_color.png + +21 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333827/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333827/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333827/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333827/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333827/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333967/47333967_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333967/47333967_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..f65060f20db2ee81c663bba4f8c87a6d2444f19a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333967/47333967_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "EC0AoCORyCZZBLXv", "label": "oven", "modelId": "custom.abandon", "children": [], "objectId": 2, "segments": {"obb": {"centroid": [106.22853319671438, 60.53527390252647, 187.6775565611719], "axesLengths": [59.33418632708163, 78.18929158407332, 71.85281482472959], "normalizedAxes": [-0.9845605130464965, 0, 0.1750445547556948, 0, 1, 0, -0.1750445547556948, 0, -0.9845605130464965]}, "partId": 2, "fixScale": true, "segments": [45161], "fixRotate": true, "obbAligned": {"centroid": [4.45504049496591, 1.1822853367355155, -1.2396472895849646], "axesLengths": [0.7185281482472959, 0.5933418632708163, 0.7818929158407332], "normalizedAxes": [-0.9845605130464965, -0.1750445547556948, 0, 0.1750445547556948, -0.9845605130464965, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.9845605130464965, 0, 0.1750445547556948]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape"], "attributes": {"occlusion": "0~20%", "incompleteness": "50%~100%"}}}], "stats": {"labelCount": 1, "totalSegments": 1534, "totalVertices": 95329, "percentComplete": 0.41645249609247975, "annotatedSegments": 1, "annotatedVertices": 397, "unannotatedSegments": 1533, "unannotatedVertices": 94932}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333967/47333967_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333967/47333967_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..bf31983a66797b91ec9fefecb22be1663c395d8e --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333967/47333967_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4360c565a6fc2f464d4bd27521194bbc6b4439049bb1befc63d4f0647bf9d7a0 +size 3643716 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333967/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333967/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333967/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333967/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333967/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..ae1c3789822b08c54945560decf9ef0fa4878c94 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333967/colmap/sparse/images.txt @@ -0,0 +1,90 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 43, mean observations per image: 0.0 +0 0.6744058 0.41789868 -0.3306113 0.5111102 0.0474102 0.0389735 0.0237214 0 47333967_47361.501_color.png + +1 0.67030966 0.44738534 -0.33283854 0.48964256 0.0375626 0.018704 0.0352331 0 47333967_47361.568_color.png + +2 0.6611673 0.49898204 -0.32139924 0.45888692 0.15868 -0.0681934 -0.227686 0 47333967_47361.668_color.png + +3 0.6403275 0.55505145 -0.33536208 0.4116198 0.16156 -0.0947639 -0.335641 0 47333967_47361.768_color.png + +4 0.6240977 0.59601974 -0.34197432 0.37190872 0.142609 -0.104195 -0.404576 0 47333967_47361.867_color.png + +5 0.6082692 0.63309723 -0.34263945 0.3343571 0.107401 -0.108368 -0.456684 0 47333967_47361.967_color.png + +6 0.58438617 0.67062294 -0.346984 0.29725373 0.0685334 -0.100729 -0.512077 0 47333967_47362.067_color.png + +7 0.55157304 0.70881784 -0.34930906 0.26707235 0.0303198 -0.0844149 -0.563115 0 47333967_47362.167_color.png + +8 0.51109046 0.7454231 -0.35521075 0.23865528 -0.00284166 -0.0528358 -0.611243 0 47333967_47362.267_color.png + +9 0.46918568 0.7771552 -0.3629075 0.21022053 -0.0310487 -0.0113846 -0.652969 0 47333967_47362.367_color.png + +10 0.4333733 0.80081284 -0.36550614 0.19311045 -0.0492612 0.0263929 -0.692307 0 47333967_47362.467_color.png + +11 0.4040612 0.81631297 -0.3724762 0.1778459 -0.0635634 0.0688052 -0.729934 0 47333967_47362.567_color.png + +12 0.37612486 0.8263541 -0.38595903 0.16341574 -0.0738073 0.123092 -0.767297 0 47333967_47362.667_color.png + +13 0.3363789 0.8324958 -0.41360512 0.15076718 -0.064332 0.202358 -0.804659 0 47333967_47362.767_color.png + +14 0.2906639 0.83321524 -0.4485421 0.1416927 -0.037193 0.295384 -0.841502 0 47333967_47362.867_color.png + +15 0.23343426 0.82628506 -0.49639553 0.1278786 0.013082 0.417629 -0.866234 0 47333967_47362.967_color.png + +16 0.17371415 0.80176985 -0.5606915 0.112310134 0.10358 0.548868 -0.863093 0 47333967_47363.067_color.png + +17 0.12405093 0.76077557 -0.6291009 0.10031932 0.222088 0.647654 -0.842775 0 47333967_47363.167_color.png + +18 0.081274375 0.70432127 -0.6997131 0.087906614 0.361153 0.716694 -0.810314 0 47333967_47363.267_color.png + +19 0.04396636 0.63083994 -0.7707194 0.07809944 0.517367 0.740558 -0.768791 0 47333967_47363.367_color.png + +20 0.025589965 0.5448249 -0.8357723 0.06321147 0.651183 0.715695 -0.743308 0 47333967_47363.467_color.png + +21 0.016195487 0.44638532 -0.89335704 0.048898317 0.773502 0.647587 -0.731774 0 47333967_47363.567_color.png + +22 0.026855202 0.34182867 -0.9386805 0.036204837 0.850679 0.540287 -0.761109 0 47333967_47363.667_color.png + +23 0.043079216 0.23838219 -0.9698271 0.027449304 0.88997 0.417756 -0.800824 0 47333967_47363.767_color.png + +24 0.058220707 0.14088555 -0.9881709 0.016727109 0.89948 0.301355 -0.836593 0 47333967_47363.867_color.png + +25 0.063156515 0.04299591 -0.9970508 0.007225799 0.90952 0.184206 -0.856973 0 47333967_47363.967_color.png + +26 0.059945304 -0.057370912 -0.99645025 0.014214642 0.914036 0.0380026 -0.863596 0 47333967_47364.067_color.png + +27 0.055886406 -0.15267593 -0.98625064 0.02960552 0.894469 -0.116277 -0.862247 0 47333967_47364.166_color.png + +28 0.054062568 -0.23039888 -0.9705538 0.044932537 0.857927 -0.242983 -0.863687 0 47333967_47364.266_color.png + +29 0.0419503 -0.2977846 -0.95229346 0.051977463 0.835506 -0.344434 -0.849881 0 47333967_47364.366_color.png + +30 0.02054174 -0.37610635 -0.92479706 0.05359509 0.803586 -0.466137 -0.818969 0 47333967_47364.466_color.png + +31 0.012201864 -0.45549005 -0.88883215 0.04855255 0.728699 -0.575123 -0.81648 0 47333967_47364.566_color.png + +32 0.01480041 -0.5314613 -0.8459225 0.041771907 0.618268 -0.663811 -0.841067 0 47333967_47364.666_color.png + +33 0.014368425 -0.5852887 -0.81055504 0.01520559 0.550234 -0.69512 -0.877786 0 47333967_47364.766_color.png + +34 0.0006428877 0.6161243 0.78763735 0.004234607 0.532176 -0.721349 -0.885484 0 47333967_47364.866_color.png + +35 0.0027608369 0.6201188 0.7842024 0.021718187 0.542825 -0.703712 -0.913755 0 47333967_47364.966_color.png + +36 0.0011783107 -0.6196125 -0.7844967 -0.025374215 0.53691 -0.69205 -0.940316 0 47333967_47365.066_color.png + +37 0.0031014795 -0.61994785 -0.7842623 -0.024242153 0.528098 -0.689142 -0.95627 0 47333967_47365.166_color.png + +38 0.009428164 -0.61584955 -0.7875355 -0.020694599 0.520215 -0.681309 -0.973251 0 47333967_47365.266_color.png + +39 0.013750263 -0.60549724 -0.79539704 -0.022968775 0.53428 -0.65986 -0.987744 0 47333967_47365.366_color.png + +40 0.014256651 -0.59750295 -0.8012788 -0.027188838 0.551464 -0.642645 -0.995967 0 47333967_47365.466_color.png + +41 0.017007856 -0.59511274 -0.80300236 -0.02717904 0.549495 -0.634274 -1.00263 0 47333967_47365.566_color.png + +42 0.019897139 -0.5892538 -0.8072372 -0.027425533 0.554599 -0.622819 -1.00958 0 47333967_47365.666_color.png + diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333967/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333967/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333967/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47333967/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333967/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47333967/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334152/47334152_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334152/47334152_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..3d9c4fa1927c4a0d85b2e02c901c2526d1c7e494 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334152/47334152_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "ce392EDEGedAqUMY", "label": "toilet", "modelId": "custom.abandon", "children": [], "objectId": 2, "segments": {"obb": {"centroid": [1.3748117522013055, 24.484038856717053, 6.317978338122219], "axesLengths": [38.56925877372689, 44.50512427669344, 53.19380900124151], "normalizedAxes": [-0.9994174748769773, 0, 0.03412786120646777, 0, 1, 0, -0.03412786120646777, 0, -0.9994174748769773]}, "partId": 2, "fixScale": true, "segments": [2536], "fixRotate": true, "obbAligned": {"centroid": [0.10067977742075772, -0.04424788729785694, -0.6109486171892077], "axesLengths": [0.5319380900124151, 0.3856925877372689, 0.44505124276693436], "normalizedAxes": [-0.9994174748769773, -0.03412786120646777, 0, 0.03412786120646777, -0.9994174748769773, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.9994174748769769, 0, 0.034127861206467734]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "50%~100%"}}}], "stats": {"labelCount": 1, "totalSegments": 54, "totalVertices": 3263, "percentComplete": 21.452650934722648, "annotatedSegments": 1, "annotatedVertices": 700, "unannotatedSegments": 53, "unannotatedVertices": 2563}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334152/47334152_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334152/47334152_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..238829c600f6e600341abfcfedab12030e620018 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334152/47334152_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:677239d18b158bfdf45f52ad57b89f584163eeca8fa2d01c4ea1253af42ab047 +size 126784 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334152/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334152/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334152/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334152/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334152/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..7c788e56282f02bff20832488169cdcbfb2a91fc --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334152/colmap/sparse/images.txt @@ -0,0 +1,106 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 51, mean observations per image: 0.0 +0 0.0073542455 0.70546526 -0.70868444 0.0055726697 0.0526989 0.0654995 -0.00054534 0 47334152_144356.017_color.png + +1 0.025152247 0.69783306 -0.7156759 -0.014298055 0.0518429 0.0669688 -0.00519862 0 47334152_144356.084_color.png + +2 0.012800318 0.69215304 -0.721473 -0.015395408 0.0530012 0.0589749 -0.0115291 0 47334152_144356.184_color.png + +3 0.009387742 0.7038724 -0.7101242 -0.01411433 0.0540554 0.0555426 -0.0171342 0 47334152_144356.284_color.png + +4 0.0072877435 0.71585876 -0.6980492 -0.014848736 0.0557501 0.0550498 -0.0206878 0 47334152_144356.384_color.png + +5 0.014126116 0.7177464 -0.6960783 -0.010750828 0.0574086 0.0550406 -0.0202682 0 47334152_144356.484_color.png + +6 0.01133826 0.7197437 -0.6941344 -0.0042245393 0.0569373 0.0554082 -0.0173258 0 47334152_144356.584_color.png + 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point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334167/47334167_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334167/47334167_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..3e76fa841a0916ae4c1e9f28ca311cc194975232 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334167/47334167_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "3biagaq9tFNdWrO3", "label": "bathtub", "modelId": "custom.abandon", "children": [], "objectId": 9, "segments": {"obb": {"centroid": [-28.94760113316625, 54.53601813903723, 264.72290022092017], "axesLengths": [165.7367371417266, 59.66213389726843, 69.73436270100079], "normalizedAxes": [-0.9862747063769104, 0, 0.16511269957559085, 0, 1, 0, -0.16511269957559085, 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100644 index 0000000000000000000000000000000000000000..10b8db6beedf42770b4513f7bd8b42e4a0dec004 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334167/47334167_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65075939e141453e8e04f0cffa22a1f3ee71f52f5302ec7bcff552970fed84e8 +size 13545500 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334167/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334167/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334167/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334167/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334167/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..5b8561a48bf6533231be38e196ac38cd6b3f0ede --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334167/colmap/sparse/images.txt @@ -0,0 +1,1626 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 811, mean observations per image: 0.0 +0 0.059965078 -0.72843 0.68247217 0.0050771455 0.0401746 0.0531739 -0.0139988 0 47334167_349248.909_color.png + +1 0.061168846 -0.7336908 0.67669374 -0.00646879 0.0356022 0.053942 -0.0214539 0 47334167_349248.992_color.png + +2 0.057682928 -0.7357037 0.67484134 0.0013503028 0.0113595 0.0538512 -0.0318896 0 47334167_349249.093_color.png + +3 0.05241772 -0.7443105 0.6657725 0.0011304123 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334167/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334167/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334167/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334167/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334167/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334167/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334660/47334660_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334660/47334660_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..9ce9114243e3f8c5748c8c49a0604734f7d83412 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334660/47334660_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "FIHXdmKL2ehLL0j2", "label": "sofa", "modelId": "custom.abandon", "children": [], "objectId": 14, "segments": {"obb": {"centroid": [-93.56313428762432, 57.80402164054597, 118.60870168369753], "axesLengths": [240.19041101107086, 78.47425159280439, 100.18919635985522], "normalizedAxes": [-0.9932459185320603, 0, -0.116028209153658, 0, 1, 0, 0.116028209153658, 0, -0.9932459185320603]}, "partId": 14, "fixScale": true, "segments": [30804, 45200], "fixRotate": true, "obbAligned": {"centroid": [1.2178919360798341, 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--git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334660/47334660_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334660/47334660_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..52739e890bda2827e55c418daba11e82be80fd7f --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334660/47334660_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7fcc53171c895ceac39358d87f9d08fa3bb0d68c96151a8cc7947587a2a8e168 +size 24705574 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334660/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334660/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334660/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334660/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334660/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..1a9104fea8ee459d417095c28704436f86d60380 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334660/colmap/sparse/images.txt @@ -0,0 +1,740 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 368, mean observations per image: 0.0 +0 0.19925721 0.6646713 -0.6965633 0.1825054 0.0288899 0.00296271 -0.0868881 0 47334660_390804.725_color.png + +1 0.18470716 0.6607919 -0.7046456 0.18086462 0.0255443 0.0107071 -0.103801 0 47334660_390804.808_color.png + +2 0.17429292 0.65364754 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334660/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334660/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334660/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334660/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334729/47334729_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334729/47334729_3dod_annotation.json new file mode 100644 index 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334729/47334729_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..5ff5e583d13997152a41269e467416e6687c0304 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334729/47334729_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86d5528b34e766e762da74e19050b5f995aa17aec0df5af25ff3e58416011939 +size 35789727 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334729/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334729/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334729/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334729/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334729/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..cc09ff66ae1eb2a45318428964951b0fcc370089 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334729/colmap/sparse/images.txt @@ -0,0 +1,1466 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 731, mean observations per image: 0.0 +0 0.06298529 0.704346 -0.6995947 0.1024544 0.0558748 0.0454715 0.00856512 0 47334729_535870.260_color.png + +1 0.067230694 0.7033951 -0.699766 0.10508525 0.0568298 0.0447291 0.0109183 0 47334729_535870.344_color.png + +2 0.07027138 0.7032637 -0.69941723 0.10629015 0.0572621 0.043964 0.0117598 0 47334729_535870.444_color.png + +3 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334729/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334729/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334729/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334729/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334729/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git 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true, "segments": [44338], "fixRotate": true, "obbAligned": {"centroid": [0.5277299304830245, 0.29512397533907764, -1.2125913146023342], "axesLengths": [0.5974854170489452, 1.36266102414216, 0.4886871237091797], "normalizedAxes": [-0.8721014707942052, -0.4893250705191639, 0, 0.4893250705191639, -0.8721014707942052, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "50%~100%"}}}], "stats": {"labelCount": 6, "totalSegments": 1651, "totalVertices": 89160, "percentComplete": 3.5632570659488563, "annotatedSegments": 7, "annotatedVertices": 3177, "unannotatedSegments": 1644, "unannotatedVertices": 85983}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334808/47334808_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334808/47334808_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..06a4e1c04dc2d177c68c328e0537515e84fc7aa3 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334808/47334808_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99b82b7c68c1f44c676042fc2b0522f8cec5c4f24c13317c83a3c666b99ca59c +size 3508781 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334808/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334808/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334808/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334808/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334808/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..f81616eaf18f321e029bca1b846cee48cd503c67 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334808/colmap/sparse/images.txt @@ -0,0 +1,106 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 51, mean observations per image: 0.0 +0 0.35987544 0.59902483 -0.56552297 -0.43799847 0.0835814 0.0639001 0.0625723 0 47334808_430131.296_color.png + +1 0.36323297 0.5941806 -0.55395526 -0.45622894 0.102613 0.0616382 0.0812071 0 47334808_430131.396_color.png + +2 0.36863518 0.589815 -0.54424727 -0.46906424 0.121049 0.0592601 0.0945696 0 47334808_430131.496_color.png + +3 0.366032 0.58401287 -0.5371861 -0.4861899 0.130943 0.0557436 0.10345 0 47334808_430131.596_color.png + +4 0.36508465 0.57799906 -0.53043586 -0.5012664 0.143327 0.0486611 0.115002 0 47334808_430131.696_color.png + +5 0.37150714 0.57230526 -0.5255839 -0.5081443 0.158195 0.0430536 0.126972 0 47334808_430131.796_color.png + +6 0.37247533 0.5647781 -0.5177077 -0.5237047 0.173843 0.0357969 0.135525 0 47334808_430131.896_color.png + +7 0.37149635 0.56108505 -0.5097367 -0.53604335 0.185377 0.0290159 0.140685 0 47334808_430131.996_color.png + +8 0.37352508 0.56013924 -0.5031751 -0.5417914 0.193206 0.0247315 0.144644 0 47334808_430132.096_color.png + +9 0.37433526 0.55681854 -0.49904212 -0.54843706 0.200139 0.021101 0.148263 0 47334808_430132.196_color.png + +10 0.37596816 0.55497426 -0.4966845 -0.5513221 0.204042 0.019619 0.152573 0 47334808_430132.296_color.png + +11 0.377139 0.5565776 -0.49744874 -0.54820824 0.20382 0.0204492 0.156738 0 47334808_430132.396_color.png + +12 0.37513936 0.55854595 -0.49830955 -0.5467948 0.203365 0.0207476 0.160332 0 47334808_430132.496_color.png + +13 0.3715587 0.5606864 -0.4982632 -0.54709107 0.203168 0.0202214 0.162279 0 47334808_430132.596_color.png + +14 0.37448567 0.5604976 -0.49799135 -0.5455342 0.204384 0.0218502 0.164212 0 47334808_430132.696_color.png + +15 0.37655225 0.5579804 -0.49809873 -0.546593 0.207145 0.0229422 0.166109 0 47334808_430132.796_color.png + +16 0.37623987 0.5567879 -0.49732745 -0.5487223 0.209735 0.0224878 0.167415 0 47334808_430132.896_color.png + +17 0.37798056 0.5567762 -0.49810058 -0.5468334 0.210891 0.0223695 0.168903 0 47334808_430132.996_color.png + +18 0.3756933 0.5577981 -0.49784973 -0.5475961 0.207976 0.0206919 0.168959 0 47334808_430133.096_color.png + +19 0.36357796 0.56898284 -0.4993161 -0.54291165 0.187659 0.0162531 0.167365 0 47334808_430133.196_color.png + +20 0.3495804 0.6023382 -0.5037526 -0.5110925 0.139389 0.0107696 0.162728 0 47334808_430133.296_color.png + +21 0.33518827 0.6324499 -0.5199262 -0.4661896 0.0735395 0.00498011 0.142873 0 47334808_430133.396_color.png + +22 0.29475224 0.68021685 -0.54363465 -0.39355758 -0.0079685 -0.00472369 0.0926847 0 47334808_430133.496_color.png + +23 0.23885004 0.73025715 -0.5588292 -0.31206584 -0.080249 -0.0207007 0.0165694 0 47334808_430133.595_color.png + +24 0.18132848 0.7696304 -0.5646689 -0.23651242 -0.126769 -0.0379237 -0.0674218 0 47334808_430133.695_color.png + +25 0.1327785 0.7983842 -0.5584934 -0.1817627 -0.146579 -0.0599975 -0.137523 0 47334808_430133.795_color.png + +26 0.10750026 0.82940745 -0.5300498 -0.13990772 -0.144688 -0.107278 -0.182156 0 47334808_430133.895_color.png + +27 0.08532461 0.8588209 -0.48754916 -0.13206887 -0.134422 -0.160002 -0.206768 0 47334808_430133.995_color.png + +28 0.059990097 0.8854364 -0.43627128 -0.14856282 -0.117414 -0.211743 -0.220234 0 47334808_430134.095_color.png + +29 0.051556014 0.9104831 -0.369869 -0.17764968 -0.0821475 -0.280376 -0.219103 0 47334808_430134.195_color.png + +30 0.05806921 0.9303976 -0.3002372 -0.2021034 -0.0247733 -0.357149 -0.209099 0 47334808_430134.295_color.png + +31 0.061147947 0.9423391 -0.23073202 -0.23456468 0.0408139 -0.424534 -0.209635 0 47334808_430134.395_color.png + +32 0.060021702 0.94959056 -0.16267511 -0.2611741 0.11587 -0.487992 -0.225189 0 47334808_430134.495_color.png + +33 0.055072073 0.9571148 -0.0903745 -0.2696863 0.213271 -0.545936 -0.260547 0 47334808_430134.595_color.png + +34 0.050722227 0.9626876 -0.024667976 -0.26467207 0.317818 -0.593452 -0.307732 0 47334808_430134.695_color.png + +35 0.03948871 0.965035 0.030767687 -0.2572963 0.418606 -0.62415 -0.364388 0 47334808_430134.795_color.png + +36 0.03424897 0.9647286 0.08367381 -0.2472335 0.527334 -0.637747 -0.404801 0 47334808_430134.895_color.png + +37 0.01588449 0.9644206 0.13202952 -0.22849235 0.638194 -0.62389 -0.44773 0 47334808_430134.995_color.png + +38 0.019519739 -0.9587521 -0.18289979 0.21670513 0.739941 -0.570911 -0.521451 0 47334808_430135.095_color.png + +39 0.04612901 -0.9515601 -0.22411874 0.20536873 0.827254 -0.513933 -0.584207 0 47334808_430135.195_color.png + +40 0.03767967 -0.9459072 -0.25866652 0.1921758 0.92181 -0.477185 -0.592213 0 47334808_430135.295_color.png + +41 0.033497732 -0.93794125 -0.2906978 0.18611525 1.00408 -0.426468 -0.61552 0 47334808_430135.395_color.png + +42 0.040134415 -0.92855686 -0.31082547 0.19889435 1.04593 -0.380465 -0.679951 0 47334808_430135.495_color.png + +43 0.04958908 -0.9209938 -0.32895365 0.20273346 1.09642 -0.323551 -0.734513 0 47334808_430135.595_color.png + +44 0.06755273 -0.9148559 -0.34933126 0.19090037 1.16437 -0.240492 -0.768896 0 47334808_430135.695_color.png + +45 0.0750862 -0.90915215 -0.3641943 0.1875286 1.21931 -0.182992 -0.793903 0 47334808_430135.795_color.png + +46 0.07418864 -0.90347564 -0.38032243 0.18325569 1.27854 -0.134685 -0.803203 0 47334808_430135.895_color.png + +47 0.06978758 -0.8999388 -0.39421487 0.17272659 1.34679 -0.0956535 -0.794265 0 47334808_430135.994_color.png + +48 0.062281165 -0.89807355 -0.397068 0.17866716 1.39322 -0.100518 -0.819876 0 47334808_430136.095_color.png + +49 0.053587582 -0.89969116 -0.3939778 0.18018235 1.44878 -0.125585 -0.836437 0 47334808_430136.194_color.png + +50 0.050819192 -0.9060466 -0.38052905 0.17802975 1.50026 -0.178062 -0.851377 0 47334808_430136.294_color.png + diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334808/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334808/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334808/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334808/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334808/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334808/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334912/47334912_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334912/47334912_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..7cd497f3cef14b85b801ed849bf55533bdcb6626 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334912/47334912_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "evcLH8G3O765jkDH", "label": 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0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334912/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334912/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334912/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..b70bd8abcca99769be69b5278712af689aa89039 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334912/colmap/sparse/images.txt @@ -0,0 +1,2584 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 1290, mean observations per image: 0.0 +0 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334912/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334912/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334941/47334941_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334941/47334941_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..6f35499f3b88867926471bdf58e178b087c626e5 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334941/47334941_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "K61W1GXwXpwZNXxj", "label": "bed", 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"regular_shape", "current_scanning"], "attributes": {"occlusion": "50%~100%", "incompleteness": "0~20%"}}}, {"uid": "vsYKBIfUPuEcfoNj", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 7, "segments": {"obb": {"centroid": [-232.883126523213, 136.54943330238618, 18.783547879995204], "axesLengths": [395.95784063855507, 238.42084121284415, 51.1983141451658], "normalizedAxes": [-0.015438561861992106, 0, -0.9998808183016781, 0, 1, 0, 0.9998808183016781, 0, -0.015438561861992106]}, "partId": 7, "fixScale": true, "segments": [730331], "fixRotate": true, "obbAligned": {"centroid": [0.563950324075831, -1.92681128766255, -0.3895056622077666], "axesLengths": [0.511983141451658, 3.9595784063855506, 2.3842084121284417], "normalizedAxes": [-0.015438561861992106, 0.9998808183016781, 0, -0.9998808183016781, -0.015438561861992106, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.9998808183016781, 0, -0.015438561861992106]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "0~20%"}}}], "stats": {"labelCount": 6, "totalSegments": 15036, "totalVertices": 954116, "percentComplete": 3.3560908736463912, "annotatedSegments": 6, "annotatedVertices": 32021, "unannotatedSegments": 15030, "unannotatedVertices": 922095}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334941/47334941_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334941/47334941_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..f1c645041b376137fb4c28a128e9a8ec1da2f0b5 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334941/47334941_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0bb744c413e7ba529935cfb33abf5f297a9af3a336232c2cbeb8f197cb5afbc1 +size 38408846 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334941/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334941/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334941/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334941/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334941/colmap/sparse/images.txt new file mode 100644 index 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/47334941/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334941/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47334941/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47429686/47429686_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429686/47429686_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..1d5a1cc6c072c0e9b499b8f51ce1f3eeac29c108 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429686/47429686_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "cu7VX1irArJ3NBGj", "label": "bathtub", "modelId": "custom.abandon", "children": [], "objectId": 3, "segments": {"obb": {"centroid": [-20.99493506697617, 113.24773530856743, 303.50321555859745], "axesLengths": [202.93736653644083, 61.03768548758777, 91.8081708686619], "normalizedAxes": [-0.21583541553316654, 0, -0.976429758560044, 0, 1, 0, 0.976429758560044, 0, -0.21583541553316654]}, "partId": 3, "fixScale": true, "segments": [277206, 54555, 57829, 201348, 41804, 41888, 44947, 42965, 51364, 45241, 45227, 275716, 40601, 42759, 201044, 201052, 44185, 57397, 55518, 44060, 47504, 52420, 275980, 275582, 200780, 274907, 200787, 199594, 199897, 112146, 112342, 281845, 282041, 199437, 199390, 199403, 278809, 282120, 42318, 43760, 40045, 42439], "fixRotate": true, "obbAligned": {"centroid": [2.839172008109778, -0.27077934773244483, -0.4502625961407052], "axesLengths": [0.9180817086866191, 2.0293736653644086, 0.6103768548758778], "normalizedAxes": [-0.21583541553316654, 0.976429758560044, 0, -0.976429758560044, -0.21583541553316654, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "50%~100%"}}}], "stats": {"labelCount": 2, "totalSegments": 8002, "totalVertices": 499325, "percentComplete": 1.269714114053973, "annotatedSegments": 51, "annotatedVertices": 6340, "unannotatedSegments": 7951, "unannotatedVertices": 492985}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47429686/47429686_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429686/47429686_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..26f5aa3e2c27d84c55aa5d5ee8d701c868f6e41d --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429686/47429686_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7d6ef96f223822d699ee8a2ab5ee883dc09f192edcd959fc410c6c0b97214d0 +size 19853870 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47429686/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429686/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429686/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47429686/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429686/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..b08e920f36db5f06283bfab9b3ed0ca4ba633e51 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429686/colmap/sparse/images.txt @@ -0,0 +1,434 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 215, mean observations per image: 0.0 +0 0.027276184 0.6925015 -0.7196504 0.042439144 0.0587469 0.0521831 0.012369 0 47429686_10941.522_color.png + +1 0.026436677 0.6877133 -0.72408855 0.04524654 0.0633342 0.0514391 0.0197768 0 47429686_10941.605_color.png + +2 0.030806735 0.680053 -0.730403 0.05559018 0.0665717 0.0564491 0.0339459 0 47429686_10941.705_color.png + +3 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100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429686/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47429729/47429729_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429729/47429729_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..13fa36e7ed976a2c6938c5d02e7f85c235b74047 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429729/47429729_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "oEZgpFTleGajohTR", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 17, "segments": {"obb": {"centroid": 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"partId": 17, "fixScale": true, "segments": [441993], "fixRotate": true, "obbAligned": {"centroid": [1.943498358024942, 0.7964628926634758, 1.3027294359113484], "axesLengths": [0.21598666729367233, 0.5308161348491058, 1.7694769869657878], "normalizedAxes": [-0.9999735998557155, 0.0072663327478218855, 0, -0.0072663327478218855, -0.9999735998557155, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.0072663327478218855, 0, -0.9999735998557155]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape"], "attributes": {"occlusion": "50%~100%", "incompleteness": "20%~50%"}}}], "stats": {"labelCount": 16, "totalSegments": 7020, "totalVertices": 489206, "percentComplete": 2.5604755460889685, "annotatedSegments": 16, "annotatedVertices": 12526, "unannotatedSegments": 7004, "unannotatedVertices": 476680}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47429729/47429729_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429729/47429729_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..91f7405d8a9a83132cd6b044d8cb3eb8fd78c6fe --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429729/47429729_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71b8df2c07934cdf4496442317184439f0b721429e5d8f35bd619710d3924721 +size 19700975 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47429729/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429729/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429729/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47429729/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429729/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..a3bdedb0eb3d58d14a46f9fcebd26aad4f1be61b --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429729/colmap/sparse/images.txt @@ -0,0 +1,1770 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 883, mean observations per image: 0.0 +0 0.021122243 -0.7119012 0.7017577 -0.016930968 0.0480003 0.0534706 0.00479028 0 47429729_18957.479_color.png + +1 0.020603053 -0.7134596 0.700227 -0.015265157 0.0472873 0.0538917 0.00544492 0 47429729_18957.562_color.png + +2 0.01992725 -0.7140271 0.69967246 -0.01505433 0.0454289 0.0547613 0.00569375 0 47429729_18957.662_color.png + +3 0.019029612 -0.71347314 0.70026994 -0.014695295 0.0403655 0.0542021 0.00747139 0 47429729_18957.762_color.png + +4 0.017629819 -0.7132364 0.700558 -0.014194942 0.0325952 0.0519246 0.0110558 0 47429729_18957.862_color.png + +5 0.0153022995 -0.7137344 0.7000724 -0.015740307 0.0272533 0.0493072 0.0124383 0 47429729_18957.962_color.png + +6 0.015658064 -0.71433413 0.69945186 -0.015769785 0.0254913 0.0487755 0.0114529 0 47429729_18958.062_color.png + +7 0.015389156 -0.7160784 0.697674 -0.015682062 0.0270739 0.0499751 0.00950121 0 47429729_18958.162_color.png + +8 0.01714393 -0.7171758 0.6964826 -0.01664306 0.0287777 0.0512736 0.00745831 0 47429729_18958.262_color.png + +9 0.016127191 -0.71913815 0.6944824 -0.016566345 0.0263443 0.0514373 0.00668444 0 47429729_18958.361_color.png + +10 0.015159166 -0.7199214 0.69367653 -0.01721277 0.0225991 0.0512319 0.00576682 0 47429729_18958.462_color.png + +11 0.013971251 -0.7193685 0.69424987 -0.018189508 0.0203238 0.0515348 0.00431466 0 47429729_18958.561_color.png + +12 0.012857248 -0.71791154 0.6957637 -0.018723879 0.0168835 0.0525038 0.00261964 0 47429729_18958.661_color.png + +13 0.01285728 -0.71637887 0.6973275 -0.019246241 0.0114769 0.0542031 2.8103e-05 0 47429729_18958.761_color.png + +14 0.013119085 -0.7153052 0.69840664 -0.019862944 0.0061421 0.0563911 -0.00240271 0 47429729_18958.861_color.png + +15 0.012677928 -0.7147285 0.6990122 -0.019607048 0.00115695 0.0584419 -0.00429507 0 47429729_18958.961_color.png + +16 0.012377577 -0.71395886 0.6998277 -0.018727718 -0.00580526 0.0598042 -0.00733254 0 47429729_18959.061_color.png + +17 0.012303176 -0.71258897 0.7012349 -0.018311027 -0.0154822 0.0600611 -0.0111152 0 47429729_18959.161_color.png + +18 0.012634182 -0.711216 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0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429729/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47429808/47429808_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429808/47429808_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..8274ca1234800362aa0706da90cebd0781609505 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429808/47429808_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "tYyPSadzbdFXomec", "label": "toilet", "modelId": "custom.abandon", "children": [], "objectId": 3, "segments": {"obb": {"centroid": 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"percentComplete": 0.30470826810124724, "annotatedSegments": 2, "annotatedVertices": 870, "unannotatedSegments": 4980, "unannotatedVertices": 284649}, "comment": "", "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47429808/47429808_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429808/47429808_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..b8b7a1e1aa4938fb17a3a51f0945b13509e1fd44 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429808/47429808_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71b4d3e14b50bb62da109ac6ac90aebb5b5fa1733d47d6f73c663b7444c0b90f +size 11310649 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47429808/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429808/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429808/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47429808/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429808/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..9f1ce3c51a7cd9ca0bba279578315a31d9857381 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429808/colmap/sparse/images.txt @@ -0,0 +1,820 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 408, mean observations per image: 0.0 +0 0.04605027 0.7106994 -0.70036316 0.047719877 0.051329 0.0572607 0.00111535 0 47429808_739404.720_color.png + +1 0.044499084 0.7118741 -0.6993043 0.047207974 0.0509743 0.0569379 -4.0258e-05 0 47429808_739404.804_color.png + +2 0.04002592 0.71120673 -0.7004037 0.04491747 0.050249 0.0554627 0.000127084 0 47429808_739404.904_color.png + +3 0.038491894 0.7115322 -0.7002037 0.044216547 0.050026 0.0549808 0.000600102 0 47429808_739405.003_color.png + +4 0.039543573 0.71071815 -0.70101744 0.04348045 0.0505785 0.0562645 0.00198531 0 47429808_739405.103_color.png + +5 0.040028516 0.71085733 -0.70088077 0.04296174 0.0504432 0.0574286 0.0014136 0 47429808_739405.203_color.png + +6 0.041061234 0.7113686 -0.70027864 0.043341234 0.051145 0.0568439 0.00143512 0 47429808_739405.303_color.png + +7 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429808/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47429808/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429808/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429808/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47429816/47429816_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429816/47429816_3dod_annotation.json new file mode 100644 index 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0000000000000000000000000000000000000000..76485dfbfb133a7992bf03935e65efa6c030a17f --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429816/47429816_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:347f0cf9d89f809dac2fdaba975f23888a7e264bb47695e078ee3bc32d20dae1 +size 92198389 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47429816/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429816/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429816/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47429816/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429816/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..3f96c22ec0bcec8770599b4815cedf3b95b97203 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429816/colmap/sparse/images.txt @@ -0,0 +1,3192 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 1594, mean observations per image: 0.0 +0 0.07581056 0.7249705 -0.6801239 0.07811499 0.0232058 0.0200019 0.207701 0 47429816_744497.830_color.png + +1 0.0915722 0.7253013 -0.6767556 0.08691563 0.0125693 0.0147638 0.255869 0 47429816_744497.913_color.png + +2 0.111267775 0.72599006 -0.6715764 0.09768901 -0.00248807 0.00872461 0.317431 0 47429816_744498.013_color.png + +3 0.13607654 0.72509354 -0.6648774 0.1168784 -0.0176453 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0.005815026 0.717457 -0.6965339 0.007882408 0.0393605 0.0796357 -0.1006 0 47429816_744656.715_color.png + +1590 0.0049696676 0.71392775 -0.7000403 0.015035668 0.0400799 0.0785097 -0.110051 0 47429816_744656.815_color.png + +1591 0.004959314 0.7107039 -0.7031503 0.021331932 0.0401801 0.0773519 -0.113565 0 47429816_744656.915_color.png + +1592 0.0065041813 0.7103396 -0.7034368 0.023494704 0.0382772 0.0767334 -0.113756 0 47429816_744657.015_color.png + +1593 0.010132256 0.7102945 -0.70328695 0.027685892 0.036283 0.0763127 -0.113495 0 47429816_744657.115_color.png + diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47429816/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429816/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429816/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47429816/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429816/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429816/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47429855/47429855_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429855/47429855_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..7a62fc9f9a521b35528aba40d612ef400b25b84e --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429855/47429855_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "riBoVmgKMCznrjTT", "label": "bathtub", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [144.58595584409525, 53.352248268532485, 112.5299333101136], "axesLengths": [198.59958682463332, 54.04227620205792, 69.34795500745913], "normalizedAxes": [-0.9999041843621794, 0, 0.013842763272030663, 0, 1, 0, -0.013842763272030663, 0, -0.9999041843621794]}, "partId": 5, "fixScale": true, "segments": [220431, 276924, 280119, 284723, 242102, 238219, 224082, 140057, 143909, 145280, 145323, 146528, 255222, 255701], "fixRotate": true, "obbAligned": {"centroid": [2.176504372125489, 0.10841453776529342, -0.1114774982411888], "axesLengths": [0.6934795500745914, 1.9859958682463332, 0.5404227620205793], "normalizedAxes": [-0.9999041843621794, -0.013842763272030663, 0, 0.013842763272030663, -0.9999041843621794, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}, {"uid": "HxbtoFknigLVWwas", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [72.86468786165368, 65.99803617962769, 8.513807072223113], "axesLengths": [108.21999476365755, 80.28296445025678, 55.659898605472065], "normalizedAxes": [-0.01735169595654784, 0, -0.999849447990762, 0, 1, 0, 0.999849447990762, 0, -0.01735169595654784]}, "partId": 5, "fixScale": true, "segments": [14660], "fixRotate": true, "obbAligned": {"centroid": [1.1363431097465841, -0.6087981420591224, 0.014980380869763277], "axesLengths": [0.5565989860547207, 1.0821999476365756, 0.8028296445025679], "normalizedAxes": [-0.01735169595654784, 0.999849447990762, 0, -0.999849447990762, -0.01735169595654784, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.999849447990762, 0, -0.01735169595654784]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}, {"uid": "md9CoxQpsvrRgWic", "label": "sink", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [72.76024143160251, 104.96325015095208, 11.153363709819452], "axesLengths": [58.37377223678468, 16.367793480507885, 48.27777475590713], "normalizedAxes": [-0.01735169595654762, 0, -0.9998494479907623, 0, 1, 0, 0.9998494479907623, 0, -0.01735169595654762]}, "partId": 5, "fixScale": true, "segments": [49358], "fixRotate": true, "obbAligned": {"centroid": [1.1627386761225476, -0.609842606359634, 0.404632520583007], "axesLengths": [0.4827777475590713, 0.5837377223678468, 0.16367793480507886], "normalizedAxes": [-0.01735169595654762, 0.9998494479907623, 0, -0.9998494479907623, -0.01735169595654762, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}, {"uid": "ql0YKZ49lXXjni8d", "label": "toilet", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [217.52903861706025, 51.918838251287816, 9.56954459371988], "axesLengths": [35.667435780250976, 36.756659887919696, 51.40386236553886], "normalizedAxes": [0.004078718226701805, 0, 0.9999916819942193, 0, 1, 0, -0.9999916819942193, 0, 0.004078718226701805]}, "partId": 5, "fixScale": true, "segments": [305009, 306232, 304442, 303764], "fixRotate": true, "obbAligned": {"centroid": [1.1469004849615518, 0.8378453654949434, -0.12581159841363554], "axesLengths": [0.5140386236553887, 0.3566743578025098, 0.36756659887919696], "normalizedAxes": [0.004078718226701805, -0.9999916819942193, 0, 0.9999916819942193, 0.004078718226701805, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.004078718226701805, 0, 0.9999916819942193]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "50%~100%"}}}], "stats": {"labelCount": 4, "totalSegments": 7362, "totalVertices": 417826, "percentComplete": 3.6890954607898987, "annotatedSegments": 20, "annotatedVertices": 15414, "unannotatedSegments": 7342, "unannotatedVertices": 402412}, "comment": "", "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47429855/47429855_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429855/47429855_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..f4335d597558cbf3e49ac8e4aca84c6b397de23f --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429855/47429855_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28394f91118bdecfa6653a16861b97f7b03e5da30f8a80d756cefe29bb858f94 +size 16585768 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47429855/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429855/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429855/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47429855/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429855/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..716d0d88031a693f7ae0e706342fbd7dfb8ec232 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429855/colmap/sparse/images.txt @@ -0,0 +1,1878 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 937, mean observations per image: 0.0 +0 0.022118427 -0.70745945 0.7056766 0.032130517 0.0509354 0.0553375 0.00265452 0 47429855_12634.088_color.png + +1 0.020782037 -0.706947 0.7062999 0.030569037 0.0503212 0.0541272 0.00417954 0 47429855_12634.172_color.png + +2 0.02027562 -0.707246 0.7060631 0.029443746 0.0503286 0.0522189 0.00523144 0 47429855_12634.272_color.png + +3 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429855/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47429855/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429855/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47429855/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430058/47430058_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430058/47430058_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..29d57ee4b9f0fc98a4e6135d780d0a563e19115c --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430058/47430058_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "0R2tHgAIa8yoACyN", "label": "bed", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [55.5764255570542, 41.04605632821218, -126.79605189088763], "axesLengths": [174.60993496834038, 40.970618454166384, 224.64386434769185], "normalizedAxes": [0.37425655580844486, 0, -0.9273252020916937, 0, 1, 0, 0.9273252020916937, 0, 0.37425655580844486]}, "partId": 8, "fixScale": true, "segments": [509442], "fixRotate": true, "obbAligned": {"centroid": [-0.5065455141786517, 2.1917942142955176, -0.3091574591597422], "axesLengths": [2.2464386434769184, 1.7460993496834039, 0.40970618454166385], "normalizedAxes": [0.37425655580844486, 0.9273252020916937, 0, -0.9273252020916937, 0.37425655580844486, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}, {"uid": "X2xj0VZ4hOpc9SsE", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [238.13448259891112, 64.84160912458341, -99.47909637187863], "axesLengths": [97.86842174219568, 86.83734656074643, 43.373603630799344], "normalizedAxes": [-0.3592705022208227, 0, 0.9332334682350384, 0, 1, 0, -0.9332334682350384, 0, -0.3592705022208227]}, "partId": 8, "fixScale": true, "segments": [369659], "fixRotate": true, "obbAligned": {"centroid": [-0.23337595898856167, 4.017374784714087, -0.07120193119602991], "axesLengths": [0.43373603630799346, 0.9786842174219568, 0.8683734656074643], "normalizedAxes": [-0.3592705022208227, -0.9332334682350384, 0, 0.9332334682350384, -0.3592705022208227, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.9332334682350386, 0, -0.3592705022208209]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "20%~50%", "incompleteness": "0~20%"}}}, {"uid": "8QsdRwETdI6GnbSK", "label": "tv_monitor", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [234.92592345440448, 141.63122045386444, -102.67621910068706], "axesLengths": [93.98016935085724, 66.60885369040557, 4.430936545142205], "normalizedAxes": [-0.3676136117419404, -0.0010512855707552182, 0.9299780251493553, 0.027781018447107807, 0.9995406570851428, 0.012111558439865978, -0.9295635790391573, 0.030288110413981835, -0.3674155452501473]}, "partId": 8, "fixScale": true, "segments": [401747], "fixRotate": true, "obbAligned": {"centroid": [-0.2653471862766461, 3.9852891932690206, 0.6966941820967805], "axesLengths": [0.04430936545142205, 0.9398016935085725, 0.6660885369040557], "normalizedAxes": [-0.3674155452501473, -0.9295635790391573, 0.030288110413981835, 0.9299780251493553, -0.3676136117419404, -0.0010512855707552182, 0.012111558439865978, 0.027781018447107807, 0.9995406570851428]}, "fixPosition": true, "dominantNormal": [-0.925350154920982, 0.03029805621058693, -0.37790093751878273]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "0~20%"}}}, {"uid": "LqguANs0Nb6RzzgI", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [-11.165585600937478, 145.03704505147087, 83.54350178788705], "axesLengths": [314.77189942674863, 248.9525959006838, 59.10215613060862], "normalizedAxes": [-0.9237205593223854, 0, -0.3830670023444215, 0, 1, 0, 0.3830670023444215, 0, -0.9237205593223854]}, "partId": 8, "fixScale": true, "segments": [180365], "fixRotate": true, "obbAligned": {"centroid": [1.5968500226090951, 1.5243741027156008, 0.7307524280728448], "axesLengths": [0.5910215613060862, 3.1477189942674864, 2.489525959006838], "normalizedAxes": [-0.9237205593223854, 0.3830670023444215, 0, -0.3830670023444215, -0.9237205593223854, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.3830670023444215, 0, -0.9237205593223854]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "0~20%"}}}, {"uid": "bGP7XRoQJ1p0xE4f", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [-207.29649700825553, 50.869125955489515, 16.77640852451677], "axesLengths": [62.18095764468616, 57.49512228626688, 52.79036768294579], "normalizedAxes": [-0.44418700507387676, 0, 0.8959340960826859, 0, 1, 0, -0.8959340960826859, 0, -0.44418700507387676]}, "partId": 8, "fixScale": true, "segments": [85482], "fixRotate": true, "obbAligned": {"centroid": [0.9291790899753923, -0.43693501135757984, -0.21092676288696888], "axesLengths": [0.5279036768294579, 0.6218095764468616, 0.5749512228626688], "normalizedAxes": [-0.44418700507387676, -0.8959340960826859, 0, 0.8959340960826859, -0.44418700507387676, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.8959340960826859, 0, -0.44418700507387676]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": [], "attributes": {"occlusion": "20%~50%", "incompleteness": "50%~100%"}}}], "stats": {"labelCount": 7, "totalSegments": 9508, "totalVertices": 616853, "percentComplete": 3.1676914921383212, "annotatedSegments": 8, "annotatedVertices": 19540, "unannotatedSegments": 9500, "unannotatedVertices": 597313}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430058/47430058_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430058/47430058_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..9f32083480d8249b50fa5dc03c32ceb39a38a6b3 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430058/47430058_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0b69fade89ce86d739bc2abc69501a4eb2c4d869ba2d05ed8665cf92c4d1f24 +size 24534844 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430058/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430058/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430058/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430058/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430058/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..1855dc85c1bfc38418836be7971b56e237c3b48d --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430058/colmap/sparse/images.txt @@ -0,0 +1,820 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 408, mean observations per image: 0.0 +0 0.033907782 -0.71341443 0.6997108 0.017172007 0.048852 0.0555997 0.0108505 0 47430058_34197.160_color.png + +1 0.030323895 -0.7129326 0.7002559 0.021197686 0.0489572 0.056312 0.0128993 0 47430058_34197.243_color.png + +2 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430058/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430058/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430058/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430058/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430192/47430192_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430192/47430192_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..a7216f7c9e0963e55fdc7c5a23b36af139a5c929 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430192/47430192_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "HNGbY9o3nB6cdqa1", "label": "washer", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [143.08397771465263, 147.32876442017255, -71.28335913630296], "axesLengths": [61.11516358245063, 88.7470852303194, 51.35799207591349], "normalizedAxes": [-0.23169404214600253, 0, 0.972788708216767, 0, 1, 0, -0.972788708216767, 0, -0.23169404214600253]}, "partId": 5, "fixScale": true, "segments": [23610], "fixRotate": true, "obbAligned": {"centroid": [0.5696664372471999, 1.9283748270618402, -0.05450230616906304], "axesLengths": [0.5135799207591348, 0.6111516358245063, 0.887470852303194], "normalizedAxes": [-0.23169404214600253, -0.972788708216767, 0, 0.972788708216767, -0.23169404214600253, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.972788708216767, 0, -0.23169404214600253]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "20%~50%", "incompleteness": "50%~100%"}}}, {"uid": "GszcHlAsiOuqW7ch", "label": "toilet", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [71.08303278614892, 157.8289938055495, -92.53217762502013], "axesLengths": [37.48681254868392, 106.4650374607377, 61.2326354616142], "normalizedAxes": [0.9725082127436836, 0, 0.23286858127726515, 0, 1, 0, -0.23286858127726515, 0, 0.9725082127436836]}, "partId": 5, "fixScale": true, "segments": [28208], "fixRotate": true, "obbAligned": {"centroid": [0.3571782523600282, 1.2083653777768029, 0.050499987684706316], "axesLengths": [0.612326354616142, 0.37486812548683923, 1.064650374607377], "normalizedAxes": [0.9725082127436836, -0.23286858127726515, 0, 0.23286858127726515, 0.9725082127436836, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.9725082127436836, 0, 0.23286858127726515]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}, {"uid": "HToz9fh2gSkx2xz5", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [21.577196669413933, 141.62051882102728, -4.701154370395243], "axesLengths": [47.15623286561684, 74.1310656621441, 28.955796231145335], "normalizedAxes": [-0.9624452462586499, 0, -0.27147586992977324, 0, 1, 0, 0.27147586992977324, 0, -0.9624452462586499]}, "partId": 5, "fixScale": true, "segments": [91066], "fixRotate": true, "obbAligned": {"centroid": [1.235488484906277, 0.7133070166094531, -0.11158476216051572], "axesLengths": [0.28955796231145337, 0.47156232865616843, 0.741310656621441], "normalizedAxes": [-0.9624452462586499, 0.27147586992977324, 0, -0.27147586992977324, -0.9624452462586499, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.2714758699297733, 0, -0.9624452462586499]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "50%~100%"}}}, {"uid": "tcdrIsNtEtF18UD0", "label": "sink", "modelId": "custom.abandon", "children": [], "objectId": 5, "segments": {"obb": {"centroid": [24.187371753468558, 183.39496639353152, -9.659770442845028], "axesLengths": [51.058827850642665, 19.268325797550737, 39.40385031911597], "normalizedAxes": [-0.9624452462586499, 0, -0.2714758699297733, 0, 1, 0, 0.2714758699297733, 0, -0.9624452462586499]}, "partId": 5, "fixScale": true, "segments": [109987], "fixRotate": true, "obbAligned": {"centroid": [1.1859023241817792, 0.7394087674499993, 0.30615971356452665], "axesLengths": [0.3940385031911597, 0.5105882785064266, 0.19268325797550737], "normalizedAxes": [-0.9624452462586499, 0.2714758699297733, 0, -0.2714758699297733, -0.9624452462586499, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "0~20%"}}}], "stats": {"labelCount": 4, "totalSegments": 4034, "totalVertices": 252858, "percentComplete": 0.821805123824439, "annotatedSegments": 4, "annotatedVertices": 2078, "unannotatedSegments": 4030, "unannotatedVertices": 250780}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430192/47430192_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430192/47430192_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..cf63a45600d5c3de4bca6bc7a9c0b02e1180b98f --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430192/47430192_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc21e0877a5ce343c86ca27670fcf3609212e3f345645fb62536de33b845fea8 +size 10067132 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430192/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430192/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430192/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430192/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430192/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..f3d8ad3d71af89fdcc4de6ee4e53e65eddc6e79d --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430192/colmap/sparse/images.txt @@ -0,0 +1,562 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 279, mean observations per image: 0.0 +0 0.0132321995 -0.7040784 0.7099185 -0.0106919315 0.0553981 0.0578234 0.0367605 0 47430192_54187.829_color.png + +1 0.0071180966 -0.70701885 0.7070609 -0.011770511 0.0545137 0.0591023 0.0608494 0 47430192_54187.913_color.png + +2 0.011328963 0.7079419 -0.70616746 0.0041707503 0.0576113 0.0636643 0.106207 0 47430192_54188.013_color.png + +3 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430192/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430192/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430192/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430588/47430588_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430588/47430588_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..9bade2c6d602864b6977aa60a9b86917ade1d5c1 --- /dev/null +++ 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0000000000000000000000000000000000000000..f520d424026eff94da18a2fd524e77113b8e804f --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430588/47430588_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:204eecedda7ac70ff36a2ef9994e81fd51e3304d4cb85bbf5fae2d96a7eec779 +size 36005076 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430588/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430588/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430588/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430588/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430588/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..b5a427a2a911df09a61d2a1338a35c3a75ba34f9 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430588/colmap/sparse/images.txt @@ -0,0 +1,860 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 428, mean observations per image: 0.0 +0 0.027511733 -0.66832554 0.7433495 -0.0039479476 0.0865647 0.0702906 0.0560072 0 47430588_310642.455_color.png + +1 0.042132664 -0.6607427 0.7494187 -0.003949058 0.091301 0.0719407 0.065283 0 47430588_310642.538_color.png + +2 0.04532131 -0.64888704 0.7595314 0.0019269392 0.0971042 0.0750218 0.0706114 0 47430588_310642.638_color.png + +3 0.0473554 -0.6409172 0.76607925 0.010256477 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430588/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430588/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430588/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430588/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430588/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430637/47430637_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..b728d1f8dd12d1fb1eb3a85eacb6661a94913f9d --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430637/47430637_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ee3666d9561fae86f74e6e957ce309c441e725ff3aeb48a5e16f9793cedf6ee +size 15126690 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430637/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430637/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430637/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430637/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430637/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..288499705a5311d392c5e4c45b1f69827a646984 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430637/colmap/sparse/images.txt @@ -0,0 +1,600 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 298, mean observations per image: 0.0 +0 0.008175515 0.7068183 -0.7072752 -0.010140671 0.0520954 0.050931 0.0160938 0 47430637_322955.399_color.png + +1 0.01622066 0.7054849 -0.7080963 -0.02504969 0.0602216 0.0511893 0.0365849 0 47430637_322955.499_color.png + +2 0.027852328 0.7102894 -0.70236623 -0.037347708 0.0728349 0.0484614 0.0669174 0 47430637_322955.599_color.png + +3 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430637/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430637/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430637/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430637/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430637/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430699/47430699_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430699/47430699_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..b6daced7c123a237cb66c122c30e795dc80db0a0 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430699/47430699_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "rfis5fnQUXJ45JUZ", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 10, "segments": {"obb": {"centroid": [-131.95253005204898, 125.68617623721391, -27.51934979930677], "axesLengths": [282.37089752189735, 178.60066181214302, 56.94445446724726], "normalizedAxes": [0.5987923418878007, 0, -0.8009043209376031, 0, 1, 0, 0.8009043209376031, 0, 0.5987923418878007]}, "partId": 10, "fixScale": true, "segments": [145889], "fixRotate": true, "obbAligned": {"centroid": [0.9111765171512805, -2.327055393713544, 0.4203737538729937], 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"0~20%", "incompleteness": "50%~100%"}}}, {"uid": "OkpNRxLYgwnVSid4", "label": "toilet", "modelId": "custom.abandon", "children": [], "objectId": 10, "segments": {"obb": {"centroid": [204.9535356741278, 71.23761533810352, -270.0992541903992], "axesLengths": [44.8595935642363, 79.94267253191282, 67.35582623964439], "normalizedAxes": [0.7722012673374418, 0, 0.63537799987287, 0, 1, 0, -0.63537799987287, 0, 0.7722012673374418]}, "partId": 10, "fixScale": true, "segments": [520029, 517481, 520004, 524746], "fixRotate": true, "obbAligned": {"centroid": [-1.514622526759644, 1.0420052635482238, -0.12411185511811029], "axesLengths": [0.6735582623964439, 0.448595935642363, 0.7994267253191282], "normalizedAxes": [0.7722012673374418, -0.63537799987287, 0, 0.63537799987287, 0.7722012673374418, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.7722012673374418, 0, 0.63537799987287]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["regular_shape"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}], "stats": {"labelCount": 9, "totalSegments": 8038, "totalVertices": 550345, "percentComplete": 3.5266968901325533, "annotatedSegments": 25, "annotatedVertices": 19409, "unannotatedSegments": 8013, "unannotatedVertices": 530936}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430699/47430699_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430699/47430699_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..53163704e4ab35966197ca48c9dd7a08c83a0d1e --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430699/47430699_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:955f8f0b1a84f0535b5668021de6a0655d5f2a1754f17db9561269c6f514201f +size 21989600 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430699/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430699/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430699/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430699/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430699/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..b241d0e4c1b7275419f87bf1c6bac3e921bf552b --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430699/colmap/sparse/images.txt @@ -0,0 +1,734 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 365, mean observations per image: 0.0 +0 0.050577946 -0.6824241 0.7291875 -0.004980554 0.0498159 0.0593907 0.00312467 0 47430699_328205.577_color.png + +1 0.054977708 -0.6777778 0.7331533 -0.008994946 0.0500581 0.0576914 0.00413728 0 47430699_328205.660_color.png + +2 0.05837478 -0.6701933 0.7398168 -0.010218326 0.0492826 0.0554426 0.0036925 0 47430699_328205.760_color.png + +3 0.063425094 -0.66420776 0.74475425 -0.0121007 0.0479547 0.0524512 0.00302967 0 47430699_328205.860_color.png + +4 0.064294524 -0.65815324 0.7499988 -0.01422399 0.04284 0.0519401 0.00422432 0 47430699_328205.960_color.png + +5 0.06613878 -0.65309393 0.7541954 -0.016830627 0.0412715 0.0467848 0.00309178 0 47430699_328206.060_color.png + +6 0.067156285 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0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430699/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430699/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430699/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430699/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430882/47430882_3dod_annotation.json 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430882/47430882_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430882/47430882_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..67b8869f6fbc105c5d01de057605ab9bdd80571f --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430882/47430882_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1bc82df0ee6e63ca61adfebee875d14f851b145f501b5d35255f85fd344af6fd +size 37619805 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430882/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430882/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430882/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430882/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430882/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..41c7e1a71963b1f5a29a63d167afac94da1f9495 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430882/colmap/sparse/images.txt @@ -0,0 +1,1064 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 530, mean observations per image: 0.0 +0 0.06562834 0.701318 -0.7045808 -0.08609173 0.0508668 0.0446094 0.0505468 0 47430882_76435.875_color.png + +1 0.06465781 0.70078826 -0.7050336 -0.08742303 0.0496169 0.0437949 0.0591768 0 47430882_76435.958_color.png + +2 0.06697961 0.699088 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430882/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430882/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430882/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47430882/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430882/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47430882/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47431118/47431118_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47431118/47431118_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..784f5e4995fe1a8743b842bda7f2ae4bf94561ee --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47431118/47431118_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "1qouRrYFhzP84CfI", "label": "shelf", "modelId": "custom.abandon", "children": [], "objectId": 3, "segments": {"obb": {"centroid": [-66.3359166313665, 45.15636817872437, -5.733078493534935], "axesLengths": [58.63037517540076, 67.97508284144237, 22.285035366691883], "normalizedAxes": [0.025153172694336146, 0, -0.9996836089000405, 0, 1, 0, 0.9996836089000405, 0, 0.025153172694336146]}, "partId": 3, "fixScale": true, "segments": [48079, 50019, 47745], "fixRotate": true, "obbAligned": {"centroid": [0.4247241936737357, -0.3597491692795921, -0.26897433834672846], "axesLengths": [0.22285035366691883, 0.5863037517540076, 0.6797508284144237], "normalizedAxes": [0.025153172694336146, 0.9996836089000405, 0, -0.9996836089000405, 0.025153172694336146, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.9996836089000405, 0, 0.02515317269433559]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "20%~50%", "incompleteness": "20%~50%"}}}, {"uid": "JlrJyob0gYZh0Lr9", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 3, "segments": {"obb": {"centroid": [56.8633658137887, 58.02544180416657, -32.92872392573563], "axesLengths": [65.8500669901166, 113.0513057874988, 37.492000697571655], "normalizedAxes": [0.9961229044061508, 0, -0.08797249182246979, 0, 1, 0, 0.08797249182246979, 0, 0.9961229044061508]}, "partId": 3, "fixScale": true, "segments": [16544], "fixRotate": true, "obbAligned": {"centroid": [0.15276773935172877, 0.8722436551719599, -0.1402836020923065], "axesLengths": [0.37492000697571654, 0.6585006699011661, 1.130513057874988], "normalizedAxes": [0.9961229044061508, 0.08797249182246979, 0, -0.08797249182246979, 0.9961229044061508, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.08797249182246974, 0, 0.9961229044061508]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "50%~100%"}}}], "stats": {"labelCount": 2, "totalSegments": 699, "totalVertices": 56342, "percentComplete": 1.2672606581236023, "annotatedSegments": 4, "annotatedVertices": 714, "unannotatedSegments": 695, "unannotatedVertices": 55628}, "comment": "", "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47431118/47431118_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47431118/47431118_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..a2657ee4246a53bfeb31dcbceb832cd1a40717b8 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47431118/47431118_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a90f8df17fe7c2d4706034e2b49311be2a2d8569ada352e670bd9e36503d7e67 +size 2238624 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47431118/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47431118/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47431118/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47431118/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47431118/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..cc257fdd06ed35a68c9ba9f71039189074b7af9b --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47431118/colmap/sparse/images.txt @@ -0,0 +1,120 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 58, mean observations per image: 0.0 +0 0.050686724 -0.68770695 0.7242025 -0.004555715 0.0572497 0.0680178 0.0265894 0 47431118_348860.674_color.png + +1 0.06108306 -0.6829871 0.72773576 -0.01407519 0.0555994 0.0735739 0.0356305 0 47431118_348860.757_color.png + +2 0.055764034 -0.6764852 0.7342245 -0.013135214 0.0540554 0.0804711 0.0469183 0 47431118_348860.857_color.png + +3 0.04554658 -0.6679017 0.742741 -0.012987571 0.0530503 0.082277 0.0588579 0 47431118_348860.957_color.png + +4 0.0378115 -0.672607 0.7389623 -0.010238432 0.0515734 0.0794308 0.0758411 0 47431118_348861.057_color.png + +5 0.03673557 -0.69248825 0.72047216 -0.005514837 0.0504086 0.0705862 0.0879745 0 47431118_348861.157_color.png + +6 0.040201947 -0.72314173 0.68943805 -0.011180587 0.044572 0.05789 0.0905252 0 47431118_348861.257_color.png + +7 0.028515115 -0.7571689 0.652073 -0.026132017 0.042408 0.0445685 0.096803 0 47431118_348861.357_color.png + +8 0.020035574 -0.79681844 0.60207355 -0.046758875 0.0520483 0.0275885 0.112638 0 47431118_348861.457_color.png + +9 0.008305492 -0.84040964 0.5395631 -0.05014263 0.0765994 0.0121262 0.140227 0 47431118_348861.557_color.png + +10 0.033805467 0.87389916 -0.48197216 0.05348195 0.120774 0.023416 0.179529 0 47431118_348861.657_color.png + +11 0.08799765 0.9025299 -0.4170484 0.061374318 0.179289 0.0673931 0.218172 0 47431118_348861.757_color.png + +12 0.15147373 0.92335093 -0.34534538 0.07221769 0.234937 0.14505 0.249318 0 47431118_348861.857_color.png + +13 0.23054086 0.92862594 -0.2784415 0.08351739 0.278287 0.257179 0.26516 0 47431118_348861.957_color.png + +14 0.31378046 0.91892904 -0.21792291 0.09808575 0.301546 0.392919 0.260029 0 47431118_348862.057_color.png + +15 0.40856045 0.8884263 -0.17103197 0.120520316 0.308558 0.543101 0.218407 0 47431118_348862.157_color.png + +16 0.5003878 0.8434553 -0.1359381 0.14041375 0.307815 0.685799 0.139789 0 47431118_348862.257_color.png + +17 0.5824215 0.79014164 -0.10610267 0.15875627 0.295795 0.811886 0.0339939 0 47431118_348862.357_color.png + +18 0.66136503 0.72310394 -0.07551092 0.18443175 0.263622 0.913312 -0.109174 0 47431118_348862.457_color.png + +19 0.72917366 0.6473351 -0.049745943 0.21630609 0.221635 0.976699 -0.272751 0 47431118_348862.557_color.png + +20 0.7850248 0.57063377 -0.028223574 0.23940875 0.189115 0.999257 -0.441524 0 47431118_348862.656_color.png + +21 0.832251 0.48842698 -0.011817611 0.26202616 0.167219 0.979119 -0.615149 0 47431118_348862.757_color.png + +22 0.8618588 0.4075003 -0.00065963593 0.30189827 0.138726 0.92763 -0.767274 0 47431118_348862.856_color.png + +23 0.8689351 0.33792645 0.0121664265 0.36139935 0.0827393 0.864503 -0.882115 0 47431118_348862.956_color.png + +24 0.85488456 0.2764513 0.023980107 0.43837428 0.0125821 0.787166 -0.970181 0 47431118_348863.056_color.png + +25 0.812439 0.22949775 0.03064192 0.5351025 -0.0685183 0.71271 -1.02628 0 47431118_348863.156_color.png + +26 0.7489747 0.18974832 0.026274858 0.6343044 -0.123522 0.640621 -1.06717 0 47431118_348863.256_color.png + +27 0.67486215 0.15865374 0.0023252687 0.7206835 -0.130555 0.603975 -1.09322 0 47431118_348863.356_color.png + +28 0.5941557 0.14129002 -0.040485505 0.79080784 -0.118601 0.616209 -1.09384 0 47431118_348863.456_color.png + +29 0.5130622 0.1329776 -0.09610329 0.84252495 -0.0982445 0.656761 -1.06971 0 47431118_348863.556_color.png + +30 0.4396686 0.1379906 -0.16789037 0.8714717 -0.0748059 0.739992 -1.00558 0 47431118_348863.656_color.png + +31 0.37780455 0.15028407 -0.24196732 0.8809825 -0.0624269 0.827224 -0.91136 0 47431118_348863.756_color.png + +32 0.33467603 0.16928077 -0.31340843 0.87241685 -0.0546636 0.902536 -0.796157 0 47431118_348863.856_color.png + +33 0.3051951 0.17951888 -0.38111603 0.85403717 -0.021571 0.950448 -0.676895 0 47431118_348863.956_color.png + +34 0.2848164 0.19420843 -0.45518363 0.8209571 0.0275007 0.986953 -0.533513 0 47431118_348864.056_color.png + +35 0.2587132 0.211595 -0.52887714 0.7801179 0.051242 0.984475 -0.379709 0 47431118_348864.156_color.png + +36 0.23051307 0.24019536 -0.609607 0.7194089 0.0397978 0.948745 -0.202381 0 47431118_348864.256_color.png + +37 0.20775725 0.28429303 -0.6786035 0.644602 0.0197281 0.880067 -0.0428062 0 47431118_348864.356_color.png + +38 0.18832365 0.32373857 -0.73383975 0.56675106 0.0257187 0.788653 0.0757895 0 47431118_348864.456_color.png + +39 0.16272564 0.35600263 -0.77969366 0.48873332 0.0415301 0.686815 0.155364 0 47431118_348864.556_color.png + +40 0.1370188 0.38046297 -0.8181252 0.40883365 0.0699122 0.586527 0.207274 0 47431118_348864.656_color.png + +41 0.11283548 0.39969838 -0.84970206 0.32483184 0.104075 0.488873 0.234071 0 47431118_348864.756_color.png + +42 0.076786764 0.4085239 -0.8755197 0.24632765 0.12809 0.396477 0.254681 0 47431118_348864.856_color.png + +43 0.04133912 0.4075684 -0.89332503 0.1847956 0.154841 0.32512 0.257719 0 47431118_348864.956_color.png + +44 0.0076827174 0.391116 -0.9098485 0.13836507 0.191067 0.271774 0.25556 0 47431118_348865.056_color.png + +45 0.030270362 -0.3652152 0.92494714 -0.10086815 0.23479 0.227767 0.263714 0 47431118_348865.155_color.png + +46 0.065170385 -0.335185 0.9377971 -0.06277243 0.290943 0.185805 0.284791 0 47431118_348865.255_color.png + +47 0.09295561 -0.315013 0.9436491 -0.040650506 0.347588 0.161581 0.314512 0 47431118_348865.355_color.png + +48 0.09791636 -0.2997879 0.94843465 -0.03180015 0.401161 0.161333 0.342661 0 47431118_348865.455_color.png + +49 0.1059181 -0.2779873 0.9530594 -0.056411624 0.429081 0.185391 0.383379 0 47431118_348865.555_color.png + +50 0.12612066 -0.25455242 0.95525986 -0.08231177 0.433375 0.213396 0.431678 0 47431118_348865.655_color.png + +51 0.13509983 -0.2270977 0.9570575 -0.11922951 0.439445 0.252206 0.463209 0 47431118_348865.755_color.png + +52 0.12033827 -0.20427182 0.9530305 -0.18847954 0.463079 0.334701 0.463079 0 47431118_348865.855_color.png + +53 0.09760074 -0.18056963 0.9447658 -0.25551176 0.503152 0.425649 0.443504 0 47431118_348865.955_color.png + +54 0.08354862 -0.1472295 0.93635666 -0.30753747 0.548121 0.497736 0.428686 0 47431118_348866.055_color.png + +55 0.078992635 -0.1199199 0.92741066 -0.34538218 0.584305 0.562126 0.425809 0 47431118_348866.155_color.png + +56 0.07871389 -0.09394844 0.9140994 -0.3865231 0.613848 0.627857 0.418438 0 47431118_348866.255_color.png + +57 0.07767487 -0.06685277 0.90113163 -0.421259 0.647256 0.677467 0.405903 0 47431118_348866.355_color.png + diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47431118/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47431118/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47431118/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47431118/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47431118/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47431118/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47431153/47431153_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47431153/47431153_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..c0fbc50a917a6ac061a1dd49c868e257b0128f17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47431153/47431153_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "shx4IX2UH3hZ1ePy", "label": "washer", "modelId": "custom.abandon", "children": [], "objectId": 7, "segments": {"obb": {"centroid": [-103.44191460118033, 77.47270811786242, 64.65497041120715], "axesLengths": [61.33073950290796, 83.96096965277383, 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{"uid": "DEn6pYf2DSyZ9I4K", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 7, "segments": {"obb": {"centroid": [217.91546295411345, 89.8196635145807, 30.989781133851903], "axesLengths": [71.05141077493393, 113.34061128627744, 16.181698340924267], "normalizedAxes": [0.9992055019977791, 0, -0.03985429434033726, 0, 1, 0, 0.03985429434033726, 0, 0.9992055019977791]}, "partId": 7, "fixScale": true, "segments": [154979], "fixRotate": true, "obbAligned": {"centroid": [-0.3279071737078677, 0.6047747085816617, -0.06635135660681757], "axesLengths": [0.16181698340924267, 0.7105141077493393, 1.1334061128627744], "normalizedAxes": [0.9992055019977791, 0.03985429434033726, 0, -0.03985429434033726, 0.9992055019977791, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.03985429434033726, 0, 0.9992055019977791]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": [], "attributes": {"occlusion": "0~20%", "incompleteness": "50%~100%"}}}], "stats": {"labelCount": 6, "totalSegments": 6164, "totalVertices": 394567, "percentComplete": 3.6252398198531557, "annotatedSegments": 9, "annotatedVertices": 14304, "unannotatedSegments": 6155, "unannotatedVertices": 380263}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47431153/47431153_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47431153/47431153_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..eb6a16019114a80192c279694dadc6a8d52a36d4 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47431153/47431153_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a36bfd1daf6db7bc5d5f772243227b557db736bb13eb7f46db6534d660fa722 +size 15739592 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47431153/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47431153/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47431153/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47431153/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47431153/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..8783ed2173e4a8842cf02a122d62a17ce6e71d01 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47431153/colmap/sparse/images.txt @@ -0,0 +1,518 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 257, mean observations per image: 0.0 +0 0.027165934 0.70689 -0.70531386 0.045835584 0.0476019 0.032743 -0.00447781 0 47431153_351613.099_color.png + +1 0.038761903 0.707452 -0.70413774 0.04689649 0.0505105 0.028696 0.0106513 0 47431153_351613.182_color.png + +2 0.04850777 0.70492333 -0.7060108 0.047737334 0.0580446 0.0298318 0.0427764 0 47431153_351613.282_color.png + +3 0.06422866 0.7040983 -0.70522213 0.052744757 0.0644659 0.0320746 0.0923564 0 47431153_351613.382_color.png + +4 0.086606756 0.70653176 -0.6999474 0.0581871 0.071379 0.0470926 0.158527 0 47431153_351613.482_color.png + +5 0.12738685 0.7097341 -0.6901477 0.061206866 0.0862632 0.0861287 0.25902 0 47431153_351613.582_color.png + +6 0.19162974 0.72127354 -0.6527716 0.13012204 0.0861954 0.189419 0.359391 0 47431153_351613.682_color.png + +7 0.2566031 0.7124491 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47431153/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47431153/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47431153/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47431153/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47669913/47669913_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47669913/47669913_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..dc96c1c083817c404480954969700077e6f01c6d --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47669913/47669913_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "9qkwhlXLzMti76PX", "label": "toilet", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [-111.59033474668578, 36.79730402402983, -195.33065065835515], "axesLengths": [36.702794475464096, 37.62178723468571, 53.66245340162871], "normalizedAxes": [0.9999721367808839, 0, -0.007464962282101548, 0, 1, 0, 0.007464962282101548, 0, 0.9999721367808839]}, "partId": 8, "fixScale": true, "segments": [68127, 39797, 38035], "fixRotate": true, "obbAligned": {"centroid": [-2.172296594092707, 0.02132463481578073, -0.8065169347352876], "axesLengths": [0.5366245340162871, 0.36702794475464096, 0.3762178723468571], "normalizedAxes": [0.9999721367808839, 0.007464962282101548, 0, -0.007464962282101548, 0.9999721367808839, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0.9999721367808839, 0, -0.007464962282101548]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}, {"uid": "7sqlwkrED3WCyzqq", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [-71.42764157840608, 63.79493227724491, -89.83447209103119], "axesLengths": [42.079728317054666, 57.84085765463877, 26.973041542837745], "normalizedAxes": [0.025226154544748858, 0, 0.9996817699282531, 0, 1, 0, -0.9996817699282531, 0, 0.025226154544748858]}, "partId": 8, "fixScale": true, "segments": [32282, 10868, 45808], "fixRotate": true, "obbAligned": {"centroid": [-1.1173348084194672, 0.4229515664985777, -0.5365406522031368], "axesLengths": [0.26973041542837745, 0.42079728317054665, 0.5784085765463877], "normalizedAxes": [0.025226154544748858, -0.9996817699282531, 0, 0.9996817699282531, 0.025226154544748858, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.9996817699282531, 0, 0.025226154544748858]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "20%~50%", "incompleteness": "20%~50%"}}}, {"uid": "02xqYaHZUWIKPeCL", "label": "sink", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [-71.43143872122886, 90.99449224390008, -89.98494823479005], "axesLengths": [42.76471896139512, 10.202083627599778, 26.97304154283775], "normalizedAxes": [0.02522615454474908, 0, 0.9996817699282529, 0, 1, 0, -0.9996817699282529, 0, 0.02522615454474908]}, "partId": 8, "fixScale": true, "segments": [48058], "fixRotate": true, "obbAligned": {"centroid": [-1.1188395698570557, 0.42291359507035, -0.2645450525365851], "axesLengths": [0.2697304154283775, 0.4276471896139512, 0.10202083627599778], "normalizedAxes": [0.02522615454474908, -0.9996817699282529, 0, 0.9996817699282529, 0.02522615454474908, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}], "stats": {"labelCount": 7, "totalSegments": 5915, "totalVertices": 327218, "percentComplete": 6.458385541137712, "annotatedSegments": 16, "annotatedVertices": 21133, "unannotatedSegments": 5899, "unannotatedVertices": 306085}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47669913/47669913_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47669913/47669913_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..3e106c3f70ec61033c2bb83236538ccdda265509 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47669913/47669913_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1fc15e84ee49c5433bb8a96817ceff5b3644be88a409da3d381714866008fd91 +size 12941068 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47669913/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47669913/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47669913/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47669913/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47669913/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..c01c987c3f45334a4f93d77a2615b067019a58ad --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47669913/colmap/sparse/images.txt @@ -0,0 +1,682 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 339, mean observations per image: 0.0 +0 0.22250974 -0.64456826 0.68611634 0.2535065 0.04702 0.0964702 0.0353741 0 47669913_12730.138_color.png + +1 0.22455192 -0.6585532 0.67541 0.24434718 0.0389788 0.115083 0.0467267 0 47669913_12730.221_color.png + +2 0.22903381 -0.6742716 0.6623231 0.23287217 0.0241723 0.135893 0.0557266 0 47669913_12730.321_color.png + +3 0.22676966 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"relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47669959/47669959_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47669959/47669959_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..8497a3d58a49a56f20632d7a073b96e2170ffa16 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47669959/47669959_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:896157bd1fc40db1520275d7b47fdfa01e10ef013deb214952026604a58a2b55 +size 67818018 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47669959/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47669959/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47669959/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47669959/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47669959/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..ab27ef9ee1975d7fd9140a597209b5aba802eff4 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47669959/colmap/sparse/images.txt @@ -0,0 +1,2950 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 1473, mean observations per image: 0.0 +0 0.29243684 0.64498585 -0.6478693 0.28060535 0.0706026 0.102824 0.038577 0 47669959_27715.523_color.png + 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47669959/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47669959/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47670133/47670133_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670133/47670133_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..787aaefcb0fd78b715d9903d15ecc4809bdba26d --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670133/47670133_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "ibG6IereP9s10HVI", "label": 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130179, 129956], "fixRotate": true, "obbAligned": {"centroid": [0.11938366344305862, 2.6977204681436007, -0.39449082951826386], "axesLengths": [0.34414034021088263, 0.4351067586515923, 1.0709190778026219], "normalizedAxes": [-0.053508654085183016, -0.9985673857772406, 0, 0.9985673857772406, -0.053508654085183016, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.9985673857772408, 0, -0.05350865408518213]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "50%~100%"}}}], "stats": {"labelCount": 8, "totalSegments": 12520, "totalVertices": 709108, "percentComplete": 2.2789194311726844, "annotatedSegments": 58, "annotatedVertices": 16160, "unannotatedSegments": 12462, "unannotatedVertices": 692948}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47670133/47670133_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670133/47670133_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..150814bd4474381bf25548bc338e612d8f567a8d --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670133/47670133_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db55028c98cd515a68fa1bdc4dffdec8ba5e7da9b008462086974092c8b9aa96 +size 28378900 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47670133/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670133/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670133/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47670133/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670133/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..fced04c55217b853699b0ab8520a934bb9096df8 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670133/colmap/sparse/images.txt @@ -0,0 +1,1496 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 746, mean observations per image: 0.0 +0 0.37078506 0.5960474 -0.5915472 -0.39663315 0.124108 0.0669229 0.0555748 0 47670133_39995.602_color.png + +1 0.37927747 0.5906985 -0.5839259 -0.4077431 0.139923 0.0681272 0.0598259 0 47670133_39995.685_color.png + +2 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670133/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670133/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47670133/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670133/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670133/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47670158/47670158_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670158/47670158_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..0ff171e3b04fda8999c6896d18799528a90215ab --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670158/47670158_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "u0LXvruFFwo4gzpF", "label": "table", "modelId": "custom.abandon", "children": [], "objectId": 41, "segments": {"obb": {"centroid": [-27.21323857978728, 80.83590501248055, 478.5485184369575], "axesLengths": [364.82649119666564, 75.62649871594346, 105.5436475567104], "normalizedAxes": [-0.9988018271498362, 0, 0.04893781852667559, 0, 1, 0, -0.04893781852667559, 0, -0.9988018271498362]}, "partId": 41, "fixScale": true, "segments": [794989], "fixRotate": true, "obbAligned": {"centroid": [2.689155018506538, 4.443887840680704, -1.031460977226574], "axesLengths": 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100644 index 0000000000000000000000000000000000000000..93ee70dadcaaeac17a5f4a54103260024b4b0e98 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670158/47670158_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1383ef35da39fa213aa4c76b515a314f6f336632d5ce83740bc98d71a77939e +size 48824808 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47670158/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670158/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670158/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47670158/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670158/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..775309b1ae5f1603e4c49eb6a61293373366571d --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670158/colmap/sparse/images.txt @@ -0,0 +1,3208 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 1602, mean observations per image: 0.0 +0 0.40498543 0.58828914 -0.5835579 -0.3864749 0.0727425 0.055124 0.0118593 0 47670158_40642.463_color.png + +1 0.41403872 0.5826888 -0.5739981 -0.39946452 0.0773279 0.0558994 0.0112797 0 47670158_40642.546_color.png + +2 0.43025473 0.57176 -0.5635011 -0.41284123 0.134732 0.0491626 0.0625345 0 47670158_40642.646_color.png + +3 0.4458795 0.56274986 -0.5514881 -0.42469397 0.164 0.0486505 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100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670158/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47670158/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670158/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670158/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47670270/47670270_3dod_annotation.json 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670270/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670270/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47670270/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670270/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..01d15725055d32cfa63a9d14646fed76b9622c30 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670270/colmap/sparse/images.txt @@ -0,0 +1,744 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 370, mean observations per image: 0.0 +0 0.34936607 0.62084824 -0.60593015 -0.3540331 0.0677294 0.0286724 0.0253416 0 47670270_66510.152_color.png + +1 0.3585293 0.6128543 -0.60288686 -0.36385956 0.0724968 0.0320538 0.0351711 0 47670270_66510.235_color.png + +2 0.366846 0.6067974 -0.5953805 -0.37781343 0.0846254 0.0359285 0.0478273 0 47670270_66510.335_color.png + +3 0.37072444 0.59636295 -0.5911134 -0.39686215 0.102663 0.0402385 0.0623333 0 47670270_66510.435_color.png + +4 0.38534653 0.584622 -0.58602893 -0.40779313 0.123056 0.0461376 0.0755085 0 47670270_66510.535_color.png + +5 0.40059206 0.57757264 -0.5770805 -0.41582927 0.141861 0.0521485 0.0835002 0 47670270_66510.635_color.png + +6 0.41131964 0.5744017 -0.56890965 -0.4209759 0.158736 0.0553604 0.088295 0 47670270_66510.735_color.png + +7 0.4196583 0.57083 -0.5611393 -0.42797515 0.174361 0.0567435 0.0907944 0 47670270_66510.834_color.png + +8 0.42452914 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670270/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670270/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47670270/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670270/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47670270/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895233/47895233_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895233/47895233_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..5dcf4f55edc0fed457456bdfc2a33964b85bd8af --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895233/47895233_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "kltAiZhWD2q7rOPY", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 25, "segments": {"obb": {"centroid": [-50.26738856429182, 59.337380945930384, -96.59968119696836], "axesLengths": [106.03185999889571, 85.72651618988444, 60.37986385588649], "normalizedAxes": [0.9993583969336328, 0, -0.03581612036834288, 0, 1, 0, 0.03581612036834288, 0, 0.9993583969336328]}, "partId": 25, "fixScale": true, "segments": [14050], "fixRotate": true, "obbAligned": {"centroid": [-0.9509968262747984, 1.1998260404473222, 0.030936811568831435], 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895233/47895233_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..a2a7f2cf2cc86a8386cdf602276cb4e6a4fe21ee --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895233/47895233_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92cb39a600c8b09ee8e284d52da1de1d41774926e5fdafa92bc4d53b203c6363 +size 12583376 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895233/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895233/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895233/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895233/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895233/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..7ed7e42fd7b56d1d9e17d6233ad2bd5b61cce092 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895233/colmap/sparse/images.txt @@ -0,0 +1,1674 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 835, mean observations per image: 0.0 +0 0.04539038 -0.7045088 0.7076264 -0.029529182 0.046397 0.057557 0.0013912 0 47895233_73786.628_color.png + +1 0.04574078 -0.70476097 0.70738375 -0.028774569 0.0474232 0.0558657 0.00202925 0 47895233_73786.712_color.png + +2 0.04566842 -0.7049046 0.7072645 -0.028299361 0.048438 0.0549809 0.00215267 0 47895233_73786.812_color.png + +3 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895233/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895233/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895233/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895233/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895465/47895465_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895465/47895465_3dod_annotation.json new file mode 100644 index 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895465/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895465/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895465/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..d45c9a91b3ffb34286e8c75e4686844f1fd3ef16 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895465/colmap/sparse/images.txt @@ -0,0 +1,2504 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 1250, mean observations per image: 0.0 +0 0.0077211782 -0.7067265 0.70667195 0.033057597 0.0513537 0.0575262 0.00308665 0 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mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895465/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895465/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895465/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895465/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895622/47895622_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895622/47895622_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..615964db423c3da69de00c5b15fc518e60dd89f9 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895622/47895622_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "SOjkcbtDL69EmoVM", "label": "table", "modelId": "custom.abandon", "children": [], "objectId": 6, "segments": {"obb": {"centroid": [62.993599655288435, 55.64365193194251, -12.781380913989466], "axesLengths": [62.814309820456515, 84.71089345923613, 39.36608496015871], "normalizedAxes": [-0.04325169210195812, 0, 0.9990642077115552, 0, 1, 0, -0.9990642077115552, 0, -0.04325169210195812]}, "partId": 6, "fixScale": true, "segments": [107659, 31813], "fixRotate": true, "obbAligned": {"centroid": [-0.3678138186766378, 1.20208598854202, -0.15315647870837645], "axesLengths": [0.3936608496015871, 0.6281430982045652, 0.8471089345923614], "normalizedAxes": 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"normalizedAxes": [-0.05200749850271791, 0, 0.9986466943316288, 0, 1, 0, -0.9986466943316288, 0, -0.05200749850271791]}, "partId": 6, "fixScale": true, "segments": [113199], "fixRotate": true, "obbAligned": {"centroid": [0.19587672265966066, 1.2972609508759863, -0.17156965183871808], "axesLengths": [0.6848313856919812, 0.3786979540984703, 0.8102825883316777], "normalizedAxes": [-0.05200749850271791, -0.9986466943316288, 0, 0.9986466943316288, -0.05200749850271791, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.05200749850271813, 0, 0.998646694331629]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "0~20%"}}}, {"uid": "79N1Ztai5PFpsqKh", "label": "washer", "modelId": "custom.abandon", "children": [], "objectId": 6, "segments": {"obb": {"centroid": [77.56418319331013, 55.43328837862096, 102.68242882369519], "axesLengths": [62.049640031989675, 84.29016635259299, 52.231937607741095], "normalizedAxes": [-0.05200749850271791, 0, 0.9986466943316288, 0, 1, 0, -0.9986466943316288, 0, -0.05200749850271791]}, "partId": 6, "fixScale": true, "segments": [132901], "fixRotate": true, "obbAligned": {"centroid": [0.7868242787002087, 1.347791823922237, -0.15526011424159192], "axesLengths": [0.522319376077411, 0.6204964003198967, 0.8429016635259299], "normalizedAxes": [-0.05200749850271791, -0.9986466943316288, 0, 0.9986466943316288, -0.05200749850271791, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [-0.998646694331629, 0, -0.05200749850271813]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "20%~50%", "incompleteness": "20%~50%"}}}], "stats": {"labelCount": 5, "totalSegments": 3719, "totalVertices": 247778, "percentComplete": 1.1304474166390883, "annotatedSegments": 6, "annotatedVertices": 2801, "unannotatedSegments": 3713, "unannotatedVertices": 244977}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895622/47895622_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895622/47895622_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..7a462c7668947fd22ac114fbad4fa38545bb378b --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895622/47895622_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:767aafaec04595617cc2d568fbfd5894273da56783b94608017f8653f5abc34a +size 9950973 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895622/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895622/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895622/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895622/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895622/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..3ff2a3618d303b4dfb52e9b854dce9e212752ace --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895622/colmap/sparse/images.txt @@ -0,0 +1,1894 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 945, mean observations per 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895622/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895622/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895626/47895626_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895626/47895626_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..1da4aadac4b53093ed47251d4b48a073d59664d9 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895626/47895626_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "BiMR4bPBGb7YE73A", "label": 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"isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "0~20%"}}}, {"uid": "HfEcP41JJuC0BIcn", "label": "bathtub", "modelId": "custom.abandon", "children": [], "objectId": 6, "segments": {"obb": {"centroid": [-42.062875487364984, 46.479536616338194, -102.65695804501689], "axesLengths": [138.97408450168948, 54.47936835282439, 70.19213135963967], "normalizedAxes": [0.9997640211727054, 0, -0.021723304734370393, 0, 1, 0, 0.021723304734370393, 0, 0.9997640211727054]}, "partId": 6, "fixScale": true, "segments": [22881, 36589], "fixRotate": true, "obbAligned": {"centroid": [-1.0565696114445842, 0.951871247510536, -0.3088156429575592], "axesLengths": [0.7019213135963968, 1.3897408450168949, 0.5447936835282439], "normalizedAxes": [0.9997640211727054, 0.021723304734370393, 0, -0.021723304734370393, 0.9997640211727054, 0, 0, 0, 1]}, "fixPosition": true, "dominantNormal": [0, 1, 0]}, "hierarchy": 1, "isInGroup": false, "labelType": "category", "attributes": {"tags": ["double_surface", "regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "0~20%"}}}], "stats": {"labelCount": 5, "totalSegments": 3471, "totalVertices": 240811, "percentComplete": 1.3413008541968596, "annotatedSegments": 7, "annotatedVertices": 3230, "unannotatedSegments": 3464, "unannotatedVertices": 237581}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895626/47895626_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895626/47895626_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..79d7e145ae47e4c407473f537e9f8cf952627ae4 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895626/47895626_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:448ee4b01e991b6d4261c2ae325dd10ba587aa3914cbc60f0d1a24131a7740a7 +size 9648869 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895626/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895626/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895626/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895626/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895626/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..eec69d397635714c70ff669bc9524e43526cf95b --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895626/colmap/sparse/images.txt @@ -0,0 +1,1298 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 647, mean observations per image: 0.0 +0 0.06538908 -0.711656 0.69927216 0.016986148 0.0478174 0.0593965 0.00370528 0 47895626_470687.175_color.png + +1 0.06617456 -0.71561176 0.69528866 0.009720582 0.0466496 0.0613165 0.00357683 0 47895626_470687.258_color.png + +2 0.06726226 -0.71878374 0.6919724 7.4021875e-05 0.0464199 0.0619962 0.000448221 0 47895626_470687.358_color.png + +3 0.068599425 -0.7183862 0.6922494 -0.0024746459 0.0470771 0.0633333 -0.00218778 0 47895626_470687.458_color.png + +4 0.06921401 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895626/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895626/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895626/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895626/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895626/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git 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"totalSegments": 19763, "totalVertices": 1100196, "percentComplete": 1.7853182523841205, "annotatedSegments": 27, "annotatedVertices": 19642, "unannotatedSegments": 19736, "unannotatedVertices": 1080554}, "comment": "", "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895633/47895633_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895633/47895633_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..a1a779a2315d271a3f3dedee9002bc61a6fb7e9f --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895633/47895633_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b211d7d5e5b933fec2e9e3d1f6fbf1e7c640808c139be595c3d53565914bdd6e +size 43954306 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895633/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895633/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895633/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895633/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895633/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..9b0c6a07c7db6eaea8b9f88779fd43890b7f98fa --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895633/colmap/sparse/images.txt @@ -0,0 +1,2014 @@ +# 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47895633_471806.514_color.png + diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895633/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895633/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895633/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895633/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895633/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895633/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) 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3.729438154240547, "annotatedSegments": 10, "annotatedVertices": 20949, "unannotatedSegments": 9166, "unannotatedVertices": 540771}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895701/47895701_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895701/47895701_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..068d7d547b3fc1d759c32778e41a8ba2ae5a3c1d --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895701/47895701_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a1fd1c783f7c6af7b5399af192eaadaf624030e1b1fcd8e61c1764f0af8ea40 +size 22403910 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895701/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895701/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895701/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895701/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895701/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..959c39e76df0c89b744cfd810d7c79bf79d4a78b --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895701/colmap/sparse/images.txt @@ -0,0 +1,1260 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 628, mean observations per image: 0.0 +0 0.0010479175 0.7008557 -0.7132074 -0.011637793 0.0315481 0.0441088 0.000792058 0 47895701_372277.947_color.png + +1 0.0057764687 0.7003946 -0.7135488 -0.01619524 0.0289503 0.041544 0.00219857 0 47895701_372278.030_color.png + +2 0.0107595 0.70094615 -0.7127052 -0.024698623 0.021912 0.0403749 0.00250567 0 47895701_372278.130_color.png + +3 0.017965147 0.700473 -0.71280795 -0.030324865 0.0208831 0.0373067 0.00380135 0 47895701_372278.230_color.png + +4 0.024106365 0.70165473 -0.71152186 -0.028916573 0.0238396 0.0330868 0.00557095 0 47895701_372278.330_color.png + +5 0.03277426 0.701906 -0.71081996 -0.031445116 0.024162 0.0298192 0.0112751 0 47895701_372278.430_color.png + +6 0.041510355 0.69896275 -0.7133476 -0.029378925 0.0229258 0.0281153 0.0171542 0 47895701_372278.530_color.png + +7 0.054539118 0.69481385 -0.7166783 -0.025126947 0.0194178 0.0273506 0.0258048 0 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895701/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895701/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895701/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895701/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895701/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git 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"annotatedVertices": 31226, "unannotatedSegments": 13458, "unannotatedVertices": 859941}, "comment": "", "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895864/47895864_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895864/47895864_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..72896dbdb2b1f8752e398fb8aa8893199220d64f --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895864/47895864_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aebf6b6480aeff52b8ec4056b148e8d9901a8dc85167c86e3fb42fa50131fad9 +size 36023324 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895864/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895864/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895864/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895864/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895864/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..56da2f3acf3a4830cfc296a9f1c2158857265e77 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895864/colmap/sparse/images.txt @@ -0,0 +1,1168 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 582, mean observations per image: 0.0 +0 0.5439178 0.45208615 -0.52942604 -0.4684865 0.0221852 0.0776404 -0.0683498 0 47895864_489573.198_color.png + +1 0.5102428 0.47394484 -0.56998724 -0.43605402 0.0173484 0.0941551 -0.112937 0 47895864_489573.298_color.png + +2 0.46904674 0.49302387 -0.60896415 -0.40753564 0.0231703 0.120799 -0.163871 0 47895864_489573.398_color.png + +3 0.432232 0.5062392 -0.644059 -0.37694216 0.0327265 0.143839 -0.201875 0 47895864_489573.498_color.png + +4 0.39581114 0.5112607 -0.6772622 -0.3510869 0.0383115 0.1866 -0.236812 0 47895864_489573.597_color.png + +5 0.36933568 0.5157323 -0.7018613 -0.32404023 0.0314316 0.219593 -0.275666 0 47895864_489573.698_color.png + +6 0.33900994 0.525403 -0.7225733 -0.29480797 0.0356263 0.251996 -0.323001 0 47895864_489573.797_color.png + +7 0.30469218 0.535801 -0.74249834 -0.2622522 0.0627704 0.268562 -0.365842 0 47895864_489573.897_color.png + +8 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895864/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895864/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895864/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895900/47895900_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895900/47895900_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..8f1ec8334b2a61e2eb93114377438af49c8f9885 --- /dev/null +++ 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"attributes": {"tags": ["regular_shape", "current_scanning"], "attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}], "stats": {"labelCount": 18, "totalSegments": 14832, "totalVertices": 844615, "percentComplete": 2.882023170320205, "annotatedSegments": 57, "annotatedVertices": 24342, "unannotatedSegments": 14775, "unannotatedVertices": 820273}, "confirm": false, "skipped": false, "attributes": {"tags": ["regular_shape", "current_scanning"], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895900/47895900_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895900/47895900_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..70b184f57e80e1b78a242a939e5f9820aa8db827 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895900/47895900_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4bcf3a93eac64007ad1f71dc69c9900fdccd278bc33a3cd895422f52fb9637d0 +size 33750836 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895900/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895900/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895900/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895900/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895900/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..3f9b3a9bbb8ecd77668325d779d5d67b995b8767 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895900/colmap/sparse/images.txt @@ -0,0 +1,908 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 452, mean observations per image: 0.0 +0 0.07776722 -0.72360295 0.68499714 0.0336146 0.0434593 0.0623317 -0.000190737 0 47895900_493284.989_color.png + +1 0.07398196 -0.72725123 0.6810088 0.043119952 0.0428843 0.0625611 0.00122465 0 47895900_493285.072_color.png + +2 0.06768273 -0.7329254 0.67488843 0.052582823 0.042076 0.0637758 -0.00136923 0 47895900_493285.172_color.png + +3 0.059786834 -0.73578274 0.6719238 0.05972988 0.0377141 0.0676797 -0.00204823 0 47895900_493285.272_color.png + +4 0.056411713 -0.7389786 0.6685101 0.061826896 0.0321215 0.0715689 -0.000831726 0 47895900_493285.372_color.png + +5 0.056010555 -0.7426878 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0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895900/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895900/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895900/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895900/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895967/47895967_3dod_annotation.json 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new file mode 100644 index 0000000000000000000000000000000000000000..9d62f8507888bb7d2dd6137661e68ab97f9fa5b6 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895967/47895967_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98910ca25fa6072243565a5c843767e36c23fcda619991638f414369f5a44d00 +size 43777165 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895967/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895967/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895967/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895967/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895967/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..3d5150eb531938c1a3b36de05998ea839e9126fa --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895967/colmap/sparse/images.txt @@ -0,0 +1,1490 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 743, mean observations per image: 0.0 +0 0.012770653 -0.7091672 0.70457256 0.022278983 0.0568074 0.0786462 0.00882306 0 47895967_406838.725_color.png + +1 0.009793721 -0.7081251 0.70563257 0.02335796 0.0603856 0.0858869 0.00855844 0 47895967_406838.809_color.png + +2 0.008512152 -0.7074998 0.70599604 0.030679004 0.0609685 0.0827629 0.00188324 0 47895967_406838.909_color.png + +3 0.0028003957 -0.709259 0.704344 0.029042568 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895967/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895967/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895967/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895976/47895976_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895976/47895976_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..40bf3e2f68146956a08c29f2097948d18cc19b0c --- /dev/null +++ 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+size 42148103 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895976/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895976/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895976/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895976/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895976/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..e8316cda11ec227b3cf9ef93c93e4de897d04b8a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895976/colmap/sparse/images.txt @@ -0,0 +1,840 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 418, mean observations per image: 0.0 +0 0.015197408 0.7105123 -0.70305294 -0.025648503 0.0446438 0.0634144 0.00449735 0 47895976_406791.128_color.png + +1 0.012983248 0.71181905 -0.7016661 -0.028455464 0.0456042 0.0619821 0.00579795 0 47895976_406791.212_color.png + +2 0.010211346 0.71459556 -0.6984656 -0.037346613 0.044768 0.0624882 0.00931143 0 47895976_406791.312_color.png + +3 0.008782906 0.71588165 -0.69687635 -0.042422857 0.0401315 0.0664817 0.012542 0 47895976_406791.412_color.png + +4 0.0076267906 0.7155795 -0.69712764 -0.043598358 0.0366743 0.0682995 0.0131363 0 47895976_406791.512_color.png + +5 0.0032035788 0.71467805 -0.69801575 -0.044710625 0.0330021 0.0684514 0.0127264 0 47895976_406791.611_color.png + +6 0.0019101339 0.71636814 -0.6964798 -0.041580882 0.0285285 0.0682899 0.0133506 0 47895976_406791.711_color.png + +7 0.0023849644 0.7113765 -0.701482 -0.043136824 0.0221099 0.0710237 0.0149806 0 47895976_406791.811_color.png + +8 0.0059792907 -0.7026137 0.7103462 0.041309334 0.0108584 0.0755716 0.0126686 0 47895976_406791.911_color.png + +9 0.010895764 -0.7101715 0.7038373 0.012281562 -0.00328865 0.0734861 0.00957182 0 47895976_406792.011_color.png + +10 0.009148426 -0.7223868 0.6914175 -0.003930467 -0.0157128 0.067633 0.024561 0 47895976_406792.111_color.png + +11 0.014541675 -0.7230759 0.690611 0.0024740105 -0.0209659 0.0639074 0.0594551 0 47895976_406792.211_color.png + +12 0.019480748 -0.71661204 0.69713646 0.009406006 -0.024462 0.0632794 0.111495 0 47895976_406792.311_color.png + +13 0.01489227 -0.70894486 0.70461965 0.026202794 -0.0252315 0.0645085 0.184389 0 47895976_406792.411_color.png + +14 0.001301631 0.7042921 -0.70876426 -0.040300753 -0.0157131 0.0696715 0.269514 0 47895976_406792.511_color.png + +15 0.028214887 0.6974731 -0.7132287 -0.06356105 0.0160648 0.0774604 0.365522 0 47895976_406792.611_color.png + +16 0.06600759 0.6889451 -0.7125031 -0.115485765 0.0909975 0.0704693 0.463893 0 47895976_406792.711_color.png + +17 0.12860368 0.6827784 -0.7008515 -0.16149887 0.207549 0.0751271 0.542786 0 47895976_406792.811_color.png + +18 0.19090222 0.6774703 -0.67487025 -0.2216765 0.36487 0.069476 0.591368 0 47895976_406792.911_color.png + +19 0.24863365 0.6678632 -0.63630843 -0.2953839 0.556586 0.0518059 0.597488 0 47895976_406793.011_color.png + +20 0.31070462 0.6450157 -0.5914483 -0.37095323 0.769435 0.0417684 0.548015 0 47895976_406793.111_color.png + +21 0.37130803 0.61477953 -0.53872836 -0.44039547 0.974941 0.0442034 0.445937 0 47895976_406793.211_color.png + +22 0.4261303 0.5757689 -0.48169565 -0.50484896 1.14891 0.0529491 0.293249 0 47895976_406793.311_color.png + +23 0.45761108 0.53986657 -0.4250037 -0.56436515 1.26687 0.0494736 0.130641 0 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895976/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895976/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895976/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895976/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895976/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895976/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 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"attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895978/47895978_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895978/47895978_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..835224bd7e4cbc0f0a8904e01d1c3f5d632ac6c8 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895978/47895978_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6caf9a0c0a94b23d99b03ef74f764ac795d4951c1943780981bc066c338cc41 +size 17779430 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895978/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895978/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895978/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895978/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895978/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..3ca645951bc94421d45471ebf5ae709c6f572bf3 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895978/colmap/sparse/images.txt @@ -0,0 +1,612 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 304, mean observations per image: 0.0 +0 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mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895978/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/47895978/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895978/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/47895978/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018098/48018098_3dod_annotation.json 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index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018098/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018098/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018098/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..9236a6b537bfb77d790f6bed7c80314b9b46a49d --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018098/colmap/sparse/images.txt @@ -0,0 +1,1700 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 848, mean observations per image: 0.0 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018098/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018109/48018109_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018109/48018109_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..d59b375e47bb03884df331f70b6869c45e6ccf81 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018109/48018109_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "zQcsSfAqe0ENQRqu", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 16, "segments": {"obb": {"centroid": [-113.41057765781773, 62.38055289988343, 75.8225203236919], "axesLengths": [50.35859496373551, 65.1585045012269, 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0000000000000000000000000000000000000000..7a5a21b5761e6d03b99b88c8aa4396851dd3aad5 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018109/48018109_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9d73ff75d6922c542b126f1f0b8456eb624b9c6cc4334517a54cd9fc05121e9 +size 57565449 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018109/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018109/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018109/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git 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0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018109/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018109/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018109/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018109/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018196/48018196_3dod_annotation.json 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"totalSegments": 6012, "totalVertices": 415557, "percentComplete": 3.121834068491206, "annotatedSegments": 20, "annotatedVertices": 12973, "unannotatedSegments": 5992, "unannotatedVertices": 402584}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018196/48018196_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018196/48018196_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..94a6e7f7fec34f52ada2771f75231df393485ccd --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018196/48018196_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1322f1691a76d094169d20a53b1fad4dc39e96d6aea6f1385572b5d359a1d80d +size 16707505 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018196/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018196/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018196/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018196/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018196/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..9a69333a027088d5f18e0ab80e21091a60aa5764 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018196/colmap/sparse/images.txt @@ -0,0 +1,430 @@ +# 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018196/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018196/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018196/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018196/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018196/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018243/48018243_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018243/48018243_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..590e9137c28f3a646eb76bae066b7293a0f22f28 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018243/48018243_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "KrhwTh56EGZfP9TV", "label": "bed", "modelId": "custom.abandon", "children": [], "objectId": 11, "segments": {"obb": {"centroid": [130.3538641024994, 65.69170253339684, -74.22599915498526], "axesLengths": [85.13524101290776, 42.022777077179654, 172.90912630738634], "normalizedAxes": [0.9999731430057768, 0, -0.007328933561462335, 0, 1, 0, 0.007328933561462335, 0, 0.9999731430057768]}, "partId": 11, "fixScale": true, "segments": [459099], "fixRotate": true, "obbAligned": {"centroid": [1.3508149262434213, 0.9510386791719665, -0.14423895906773454], 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"annotatedVertices": 9733, "unannotatedSegments": 8606, "unannotatedVertices": 586183}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "relabel_reason": "", "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018243/48018243_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018243/48018243_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..c80e6b182a5106fec09c4b8918b590d18832ef4f --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018243/48018243_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a11ea676d960de138742e34670b4b13015f098a2f3cf863848c8f0060db38582 +size 23908483 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018243/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018243/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018243/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018243/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018243/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..bada7a0516c21f2fb44ab56569e7bf9ae60b23d3 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018243/colmap/sparse/images.txt @@ -0,0 +1,600 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 298, mean observations per image: 0.0 +0 0.00968067 -0.7029171 0.7110602 -0.014395814 0.0442073 0.0540528 0.00508471 0 48018243_469650.171_color.png + +1 0.0067580882 -0.7042822 0.7097046 -0.01613473 0.0416025 0.0523799 0.00652197 0 48018243_469650.255_color.png + +2 0.005857433 -0.7062599 0.7077249 -0.016973715 0.0382897 0.049335 0.0080276 0 48018243_469650.355_color.png + +3 0.009198491 -0.7089702 0.7049491 -0.01798428 0.0351789 0.0449645 0.00746434 0 48018243_469650.455_color.png + +4 0.010144937 -0.71096057 0.7028577 -0.020573005 0.0321609 0.0407908 0.00751467 0 48018243_469650.555_color.png + +5 0.009592064 -0.7086432 0.7052864 -0.017434359 0.0284989 0.0376071 0.00764322 0 48018243_469650.655_color.png + +6 0.010024177 -0.7068667 0.70703214 -0.01856287 0.0241072 0.0344611 0.00879119 0 48018243_469650.754_color.png + +7 0.009384332 -0.70665103 0.7072726 -0.017936107 0.0196588 0.030055 0.0108652 0 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48018243_469679.843_color.png + diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018243/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018243/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018243/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018243/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018243/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018243/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018341/48018341_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018341/48018341_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..bcfb03c5d3e5d7f16d93fba61c6b339372dcf34c --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018341/48018341_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "mmjrFPEMPOjwyAyR", "label": "sofa", "modelId": "custom.abandon", "children": [], "objectId": 13, "segments": {"obb": {"centroid": [240.4511403990387, 67.68660692763369, 62.104918709928796], "axesLengths": [138.10186443645645, 93.68830287571457, 107.10125044041449], "normalizedAxes": [-0.31298311498415843, 0, 0.9497586902654869, 0, 1, 0, -0.9497586902654869, 0, -0.31298311498415843]}, "partId": 13, "fixScale": true, "segments": [359604, 380467, 377237, 384858, 63984, 79983, 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018341/48018341_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1d3c8fc06bc7c99490151a632bc603992ed89003963214aed481e389c6260b0 +size 43038568 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018341/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018341/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018341/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018341/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018341/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..a26ab8469dc3f5c0d49d9a37592adea2ee576d6d --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018341/colmap/sparse/images.txt @@ -0,0 +1,790 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 393, mean observations per image: 0.0 +0 0.25176042 0.65635645 -0.6607364 0.26313555 0.196713 0.0743484 -0.0838015 0 48018341_117149.147_color.png + +1 0.23026553 0.66004205 -0.6691495 0.25211337 0.238422 0.0694765 -0.12294 0 48018341_117149.230_color.png + +2 0.20647262 0.6618583 -0.677723 0.24495755 0.274152 0.0715097 -0.153146 0 48018341_117149.330_color.png + +3 0.18566677 0.66301 -0.68566597 0.23623672 0.289117 0.0795326 -0.164423 0 48018341_117149.430_color.png + +4 0.17055802 0.66491854 -0.6902268 0.22886744 0.299029 0.0910649 -0.177134 0 48018341_117149.530_color.png + +5 0.16552648 0.66565007 -0.69138813 0.22692162 0.307385 0.109383 -0.18982 0 48018341_117149.630_color.png + +6 0.18219355 0.6656032 -0.6850689 0.2333634 0.306701 0.130557 -0.200076 0 48018341_117149.730_color.png + +7 0.2150915 0.6646487 -0.6727535 0.24368098 0.298054 0.15406 -0.210695 0 48018341_117149.830_color.png + +8 0.25461993 0.66322184 -0.65740085 0.2512561 0.284053 0.179775 -0.22395 0 48018341_117149.930_color.png + +9 0.29629338 0.6577378 -0.6376853 0.27009016 0.270862 0.200259 -0.237098 0 48018341_117150.030_color.png + +10 0.336177 0.65289354 -0.61497146 0.28727192 0.257366 0.218305 -0.252342 0 48018341_117150.130_color.png + +11 0.37134615 0.6443346 -0.58839256 0.31737855 0.24954 0.230448 -0.268369 0 48018341_117150.230_color.png + +12 0.40969113 0.63072443 -0.5598322 0.3477467 0.2463 0.239067 -0.292913 0 48018341_117150.330_color.png + +13 0.45207924 0.6095001 -0.5322493 0.37529287 0.247918 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018341/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018702/48018702_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018702/48018702_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..85a9897485922be00d7cde05df236c7af958f273 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018702/48018702_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "psLPCaR6k8y9cNHk", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 6, "segments": {"obb": {"centroid": [-60.616610414268706, 144.36896934604445, -61.40511018264366], "axesLengths": [26.221039116444597, 252.85611260974858, 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018702/48018702_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4aa7df2a056cd15ddc67e7a406426254a8be817c740d7401a4f574e06f37a42 +size 15752126 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018702/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018702/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018702/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018702/colmap/sparse/images.txt 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018702/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018746/48018746_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018746/48018746_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..07dd9c6b415f22ce7fa3eec5e5926216313c6554 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018746/48018746_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "kAcH3rBRTWJZSIOE", "label": "refrigerator", "modelId": "custom.abandon", "children": [], "objectId": 34, "segments": {"obb": {"centroid": [-30.141138704529347, 120.77952363415352, 402.1351517664745], "axesLengths": [72.81657376891295, 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018746/48018746_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018746/48018746_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..4577cfd89cf3e38d5414d5e488d5f138acc5df24 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018746/48018746_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0049666866c5d015adc138f6abc71f8eea98689d02853c68ce18021e8b8cd607 +size 54927506 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018746/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018746/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018746/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018746/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018746/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..d2e72ca21fdc677d91b101d5056b1507508f3aaf --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018746/colmap/sparse/images.txt @@ -0,0 +1,1910 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 953, mean observations per image: 0.0 +0 0.091331415 0.68331134 -0.701987 0.17876926 0.0527426 0.0559211 -0.000389961 0 48018746_7201.892_color.png + +1 0.09241476 0.68173176 -0.703193 0.17950182 0.0523768 0.0556495 -0.000448955 0 48018746_7201.975_color.png + +2 0.09083332 0.6796824 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0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018746/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018788/48018788_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018788/48018788_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..aad8c19e43c5a40a069ac7811d2ecf2517853c01 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018788/48018788_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "L7e9QOOmDdrwJSW7", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 13, "segments": {"obb": {"centroid": 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0000000000000000000000000000000000000000..c752d80ca0e0351c3b7f910b8a3a073fcecdb425 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018788/48018788_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a8cde173d02a3544fd9921c92dc10776298b7d61ce1d72b76f51bba47638876 +size 35974614 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018788/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018788/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018788/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018788/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018788/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..11f7fdf15145389eee70bad9c9f6053ce8a8d73f --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018788/colmap/sparse/images.txt @@ -0,0 +1,1142 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 569, mean observations per image: 0.0 +0 0.03892345 -0.7105261 0.7025395 0.008710795 0.0545284 0.0566868 0.00247176 0 48018788_17535.789_color.png + +1 0.039468024 -0.710606 0.70242023 0.009340055 0.0539484 0.0558823 0.00254204 0 48018788_17535.873_color.png + +2 0.03880802 -0.70987445 0.70319784 0.009219695 0.0534965 0.0547675 0.0026533 0 48018788_17535.973_color.png + +3 0.0386596 -0.7094821 0.7035989 0.009443483 0.0534157 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018788/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018788/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018788/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018788/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018788/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018788/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 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"confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018874/48018874_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018874/48018874_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..8e96f47bc7cfc3cf2a8e08edb4714a95b685e3cc --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018874/48018874_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:857077ec5019c9efe349f78d561591f42386b60bfd83b912f76e54e47189e6d3 +size 49480591 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018874/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018874/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018874/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48018874/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018874/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..ce3ebb96ef0a4ee8694c3f23214e1e1e47a37b36 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018874/colmap/sparse/images.txt @@ -0,0 +1,1146 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 571, mean observations per image: 0.0 +0 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b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018874/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48018874/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48458251/48458251_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458251/48458251_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..5e0ecbc347d6ee3d5646bcbe9c6972c936f61fe3 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458251/48458251_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "2oZJZpmGrlo4fnrh", "label": 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"attributes": {"occlusion": "0~20%", "incompleteness": "20%~50%"}}}, {"uid": "m6e49KmAjhLcMt51", "label": "cabinet", "modelId": "custom.abandon", "children": [], "objectId": 6, "segments": {"obb": {"centroid": [70.02347050694446, 36.54827651050614, -32.99555026074081], "axesLengths": [30.30446436634726, 55.19920695587873, 23.114099879957053], "normalizedAxes": [-0.6925181054005876, 0.002015673350985609, 0.7213976786442569, 0.0026348385894702964, 0.9999964937593406, -0.0002647539092340324, -0.7213956829077839, 0.0017174195664260287, -0.6925209882393781]}, "partId": 6, "fixScale": true, "segments": [165016], "fixRotate": true, "obbAligned": {"centroid": [-1.8478105507870346, 1.4885696707753162, -0.8195171776744796], "axesLengths": [0.23114099879957054, 0.3030446436634726, 0.5519920695587873], "normalizedAxes": [-0.6925209882393781, -0.7213956829077839, 0.0017174195664260287, 0.7213976786442569, -0.6925181054005876, 0.002015673350985609, -0.0002647539092340324, 0.0026348385894702964, 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0000000000000000000000000000000000000000..1b956fc243e43fb9f8478aa4017f6a66b4a010c4 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458251/48458251_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2cc8d15320a8faec92965e5e16f6c45c43565fec9a6ec8b6d5ab68ba7a326715 +size 10489315 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48458251/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458251/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458251/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48458251/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458251/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..3b54d686e5f7b135705c4979dc9943e7d25841c4 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458251/colmap/sparse/images.txt @@ -0,0 +1,530 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 263, mean observations per image: 0.0 +0 0.31340137 -0.6514293 0.62484896 0.29492918 0.0443319 0.0239683 0.0146264 0 48458251_79286.100_color.png + +1 0.3243907 -0.64637905 0.62054837 0.30312458 0.0442651 0.00681843 0.0205891 0 48458251_79286.183_color.png + +2 0.3388911 -0.639598 0.6145061 0.31376654 0.0454488 -0.0153059 0.0280023 0 48458251_79286.283_color.png + +3 0.3494077 -0.634242 0.608434 0.324745 0.0480737 -0.038046 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a/arkitscenes/webdataset/3dod/Training/3dod/Training/48458251/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458251/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458251/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48458301/48458301_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458301/48458301_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..8eeaa9a1938742aed24340b0854fdca0c9acac16 --- /dev/null +++ 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newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48458301/48458301_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458301/48458301_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..0fd05440a21e082e2e20ebe4edcbfd3964afd2a8 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458301/48458301_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a287ef1d772259029cb664e94c4eb13880baf92d0232c43f786bd7890db415d +size 20510532 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48458301/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458301/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458301/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48458301/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458301/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..41c4dac50c1c180326689f6a53540571bc8b9530 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458301/colmap/sparse/images.txt @@ -0,0 +1,856 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 426, mean observations per image: 0.0 +0 0.41891563 0.55866903 -0.5633309 -0.4416525 0.1151 0.0670102 0.0244426 0 48458301_77357.149_color.png + +1 0.43156752 0.54955924 -0.5555273 -0.45069227 0.114918 0.0677348 0.0183722 0 48458301_77357.232_color.png + +2 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list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48458506/48458506_3dod_annotation.json b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458506/48458506_3dod_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..ba090f62da4bac16a3b99a312b83ff9f56136cce --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458506/48458506_3dod_annotation.json @@ -0,0 +1 @@ +{"data": [{"uid": "ZTcNxev98MVfsCfe", "label": "sofa", "modelId": "custom.abandon", "children": [], "objectId": 8, "segments": {"obb": {"centroid": [-170.97317677775555, 116.44836058970476, 184.75397951173522], "axesLengths": [113.81473195954764, 85.95554719339931, 114.41735789024959], "normalizedAxes": [-0.3232051161172964, 0, -0.9463289348401035, 0, 1, 0, 0.9463289348401035, 0, 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"incompleteness": "20%~50%"}}}], "stats": {"labelCount": 7, "totalSegments": 10597, "totalVertices": 665850, "percentComplete": 3.171885559810768, "annotatedSegments": 9, "annotatedVertices": 21120, "unannotatedSegments": 10588, "unannotatedVertices": 644730}, "confirm": false, "skipped": false, "attributes": {"tags": [], "attributes": {}}, "mesh_quality": [], "skipped_reason": "", "label_version": "LO_v1.5.2"} \ No newline at end of file diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48458506/48458506_3dod_mesh.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458506/48458506_3dod_mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..f46f551f500e90a80083995708edacdc550b9240 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458506/48458506_3dod_mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c00864d5c9dc383c19d13bf1711c8b0552315dbaf964c4c9f479eefd076d645e +size 26699045 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48458506/colmap/sparse/cameras.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458506/colmap/sparse/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..eee5c7d7f563de820711c14f54a7a36ddd8e5e7a --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458506/colmap/sparse/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +0 PINHOLE 256 192 211.949 211.949 127.933 95.9333 diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48458506/colmap/sparse/images.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458506/colmap/sparse/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..9b4f74023261cca4d15ea704bdfdd28a3e34020c --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458506/colmap/sparse/images.txt @@ -0,0 +1,784 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 390, mean observations per image: 0.0 +0 0.33571565 0.6196421 -0.61011046 0.36208272 0.0869255 0.132148 0.0167542 0 48458506_113195.711_color.png + +1 0.35507792 0.6097645 -0.60535055 0.3683173 0.100421 0.159588 0.01493 0 48458506_113195.794_color.png + +2 0.37990293 0.59194225 -0.60327256 0.37595263 0.119536 0.192665 0.00922708 0 48458506_113195.894_color.png + +3 0.4084701 0.56951743 -0.5946598 0.39393118 0.137152 0.222114 -0.00062509 0 48458506_113195.994_color.png + +4 0.4310537 0.5527737 -0.58543414 0.40730917 0.151921 0.249459 -0.00966064 0 48458506_113196.094_color.png + +5 0.447803 0.53738105 -0.57580465 0.42325294 0.163842 0.274626 -0.0198459 0 48458506_113196.194_color.png + +6 0.45583376 0.5304153 -0.5693248 0.43213943 0.173839 0.298089 -0.0256035 0 48458506_113196.294_color.png + +7 0.46894056 0.52365506 -0.55510473 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+ +389 0.10251589 0.18449752 -0.8282538 0.5190826 3.24645 -0.33336 1.11244 0 48458506_113234.596_color.png + diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48458506/colmap/sparse/points3D.ply b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458506/colmap/sparse/points3D.ply new file mode 100644 index 0000000000000000000000000000000000000000..0d302ed6082feab925e5d8154532879e5c11815c Binary files /dev/null and b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458506/colmap/sparse/points3D.ply differ diff --git a/arkitscenes/webdataset/3dod/Training/3dod/Training/48458506/colmap/sparse/points3D.txt b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458506/colmap/sparse/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..35685e33cbccefc615a6e454fbcef7b2942bba17 --- /dev/null +++ b/arkitscenes/webdataset/3dod/Training/3dod/Training/48458506/colmap/sparse/points3D.txt @@ -0,0 +1,4 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 1, mean track length: 0.0 +0 0.0 0.0 0.0 0 0 0 0