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README.md

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+---
+dataset_info:
+  features:
+  - name: uid
+    dtype: int32
+  - name: scene_id
+    dtype: string
+  - name: image
+    dtype: image
+  - name: depth
+    dtype: image
+  - name: K
+    dtype:
+      array2_d:
+        shape:
+        - 3
+        - 3
+        dtype: float32
+  - name: wrd2cam
+    dtype:
+      array2_d:
+        shape:
+        - 4
+        - 4
+        dtype: float32
+  - name: wrd2cam_rect
+    dtype:
+      array2_d:
+        shape:
+        - 4
+        - 4
+        dtype: float32
+  - name: rect_inv
+    dtype:
+      array2_d:
+        shape:
+        - 3
+        - 3
+        dtype: float32
+  - name: objects
+    struct:
+    - name: bounds
+      dtype:
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+          shape:
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+          - 2
+          - 3
+          dtype: float32
+    - name: transforms
+      dtype:
+        array3_d:
+          shape:
+          - -1
+          - 4
+          - 4
+          dtype: float32
+    - name: model_ids
+      list: string
+    - name: raw_inst_ids
+      list: string
+    - name: pifu_ids
+      list: int32
+    - name: inst_ids
+      list: int32
+  - name: layout
+    struct:
+    - name: centroid
+      dtype:
+        array2_d:
+          shape:
+          - 1
+          - 3
+          dtype: float32
+    - name: coeffs
+      dtype:
+        array2_d:
+          shape:
+          - 1
+          - 3
+          dtype: float32
+    - name: bbox
+      dtype:
+        array2_d:
+          shape:
+          - 8
+          - 4
+          dtype: float32
+    - name: pitch
+      dtype: float32
+    - name: roll
+      dtype: float32
+  splits:
+  - name: train
+    num_bytes: 11528284467.86
+    num_examples: 22689
+  - name: val
+    num_bytes: 1336632620.86
+    num_examples: 2639
+  - name: test
+    num_bytes: 2626135483.06
+    num_examples: 5169
+  download_size: 15464390535
+  dataset_size: 15491052571.78
+configs:
+- config_name: default
+  data_files:
+  - split: train
+    path: data/train-*
+  - split: val
+    path: data/val-*
+  - split: test
+    path: data/test-*
+---

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