---
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:
        array3_d:
          shape:
          - -1
          - 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-*
---