| # gate_scenes_export |
|
|
| Self-contained bundle of two sagesplat scenes (left/right) plus the object |
| extractions in their shared (joint) mocap frame. |
|
|
| ## Layout |
|
|
| ``` |
| gate_scenes_export/ |
| ├── README.md |
| ├── MANIFEST.txt |
| ├── left_scene/ |
| │ ├── mocap_processed/ # data dir (referenced by config.yml as "./mocap_processed") |
| │ │ ├── images/ # 242 corrected RGB frames |
| │ │ ├── transforms.json # mocap-frame camera poses |
| │ │ └── sparse_pc.ply # initial point cloud (mocap frame) |
| │ └── mocap_outputs/sagesplat_mocap/sagesplat/2026-05-11_153901/ |
| │ ├── config.yml # trainer config (data path is relative) |
| │ ├── dataparser_transforms.json # mocap → nerfstudio internal frame |
| │ └── nerfstudio_models/step-000029999.ckpt |
| ├── right_scene/ # mirror layout |
| │ └── ... # training run timestamp 2026-05-11_144353 |
| └── objects_final/ |
| ├── README.md # detailed transform usage |
| ├── left_gate.ply, right_gate.ply # all PLYs in JOINT mocap frame |
| ├── left_table.ply, right_table.ply |
| ├── joint_mocap_to_nerf.json # the transforms |
| ├── objects_summary.json # per-object AABBs, plane, polygon |
| └── right_to_left_icp.json # ICP that built joint mocap |
| ``` |
|
|
| `config.yml` stores the data path as the **relative** string `mocap_processed`, |
| so ns-viewer/ns-eval/ns-render must be launched with the scene directory as |
| `cwd`. Everything else (checkpoint, dataparser transform) is referenced as |
| a path relative to the run timestamp directory. |
|
|
| ## Environment |
|
|
| This bundle was produced with the conda env `sagesplat` at |
| `/home/javier/miniconda3/envs/sagesplat`. To reproduce on another host: |
|
|
| - python 3.10 |
| - pytorch 2.1.2 + cu118 |
| - nerfstudio 1.1.5 |
| - gsplat 1.4.0 |
| - tinycudann (built against the same CUDA toolkit) |
| - sagesplat (editable install from |
| [Splat-MOVER](https://github.com/StanfordMSL/Splat-MOVER)) |
| - runtime env knobs we use on this machine: |
| - `PYTHONNOUSERSITE=1` (so `~/.local/lib/python3.10/site-packages` doesn't |
| shadow the conda env) |
| - `QT_QPA_PLATFORM=offscreen` (only relevant when running headless) |
| - `CUDA_HOME` set to a conda env that ships a full CUDA toolkit, with |
| `LIBRARY_PATH` extended with that env's stubs+system libcuda |
| |
| ## Launching `ns-viewer` for a scene |
|
|
| ```bash |
| # left |
| cd gate_scenes_export/left_scene |
| ns-viewer --load-config mocap_outputs/sagesplat_mocap/sagesplat/2026-05-11_153901/config.yml |
| |
| # right |
| cd gate_scenes_export/right_scene |
| ns-viewer --load-config mocap_outputs/sagesplat_mocap/sagesplat/2026-05-11_144353/config.yml |
| ``` |
|
|
| Viser will bind to `http://0.0.0.0:7007`. `ns-eval` / `ns-render` take the |
| same `--load-config` argument. |
|
|
| ## Using the object point clouds |
|
|
| See `objects_final/README.md` for the full transform chain and copy-pastable |
| Python snippets. Short version: |
|
|
| - All PLYs in `objects_final/` are in the **joint mocap frame**: |
| z-up, origin at the ArUco tag, +x along the tag's printed +y direction. |
| - The right scene's PLYs have an ICP correction baked in so they |
| align with the left scene's mocap (the joint reference). |
| - `objects_final/joint_mocap_to_nerf.json` carries the per-scene 4×4 |
| matrices needed to push points from joint mocap into either splat's |
| nerfstudio-internal frame (for use with `cv.aruco`-style PnP, or to |
| query the splat for renders at a specific mocap pose). |
|
|
| ## Frame conventions, quick reference |
|
|
| | frame | origin | up | notes | |
| |---|---|---|---| |
| | joint mocap | ArUco tag center | +z | reference; equals left scene's mocap | |
| | left mocap | tag center | +z | identical to joint mocap | |
| | right mocap | tag center | +z | offset by ICP correction (≈70 mm xyz, -0.5° yaw) | |
| | left nerf-internal | shifted | +z (auto-oriented) | nerfstudio dataparser applied | |
| | right nerf-internal | shifted | +z (auto-oriented) | nerfstudio dataparser applied | |
|
|
| ## Total size: ~12 GB |
|
|
| Per-component: |
| - `left_scene/` : 76 MB data + 4.9 GB checkpoint = ~5.0 GB |
| - `right_scene/` : 71 MB data + 6.3 GB checkpoint = ~6.4 GB |
| - `objects_final/` : 11 MB |
|
|
| `MANIFEST.txt` carries a build-time snapshot of the same. |
|
|
