Hugging Face's logo

Larer
/
spatial-mllm-v11-kit

Safetensors
Model card Files
xet
 Community
Larer commited on
Commit
b9ff69c
·
verified ·
1 Parent(s): 20a1a1d

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. data/batch_v5/pair_00019/meta.json +237 -0
  2. data/batch_v5/pair_00026/meta.json +170 -0
  3. data/batch_v5/pair_01040/meta.json +237 -0
  4. data/batch_v5/pair_01063/meta.json +304 -0
  5. data/batch_v5/pair_01074/meta.json +170 -0
  6. data/batch_v5/pair_01082/meta.json +237 -0
  7. data/batch_v5/pair_01086/meta.json +170 -0
  8. data/batch_v5/pair_01090/meta.json +170 -0
  9. data/batch_v5/pair_01103/meta.json +170 -0
  10. data/batch_v5/pair_01122/meta.json +170 -0
  11. data/batch_v5/pair_01126/meta.json +304 -0
  12. data/batch_v5/pair_01142/meta.json +170 -0
  13. data/batch_v5/pair_01144/meta.json +237 -0
  14. data/batch_v5/pair_01148/meta.json +237 -0
  15. data/batch_v5/pair_01151/meta.json +170 -0
  16. data/batch_v5/pair_01168/meta.json +170 -0
  17. data/batch_v5/pair_01172/meta.json +170 -0
  18. data/batch_v5/pair_01174/meta.json +237 -0
  19. data/batch_v5/pair_01179/meta.json +170 -0
  20. data/batch_v5/pair_01195/meta.json +237 -0
  21. data/batch_v5/pair_01199/meta.json +237 -0
  22. data/batch_v5/pair_02009/meta.json +170 -0
  23. data/batch_v5/pair_02013/meta.json +170 -0
  24. data/batch_v5/pair_02014/meta.json +237 -0
  25. data/batch_v5/pair_02020/meta.json +237 -0
  26. data/batch_v5/pair_02021/meta.json +237 -0
  27. data/batch_v5/pair_02032/meta.json +170 -0
  28. data/batch_v5/pair_02044/meta.json +170 -0
  29. data/batch_v5/pair_02046/meta.json +237 -0
  30. data/batch_v5/pair_02048/meta.json +237 -0
  31. data/batch_v5/pair_02050/meta.json +170 -0
  32. data/batch_v5/pair_02051/meta.json +170 -0
  33. data/batch_v5/pair_02055/meta.json +304 -0
  34. data/batch_v5/pair_02056/meta.json +170 -0
  35. data/batch_v5/pair_02062/meta.json +170 -0
  36. data/batch_v5/pair_02073/meta.json +170 -0
  37. data/batch_v5/pair_02077/meta.json +170 -0
  38. data/batch_v5/pair_02088/meta.json +170 -0
  39. data/batch_v5/pair_02089/meta.json +237 -0
  40. data/batch_v5/pair_02092/meta.json +170 -0
  41. data/batch_v5/pair_02104/meta.json +170 -0
  42. data/batch_v5/pair_02116/meta.json +170 -0
  43. data/batch_v5/pair_02131/meta.json +304 -0
  44. data/batch_v5/pair_02139/meta.json +170 -0
  45. data/batch_v5/pair_02141/meta.json +304 -0
  46. data/batch_v5/pair_02144/meta.json +237 -0
  47. data/batch_v5/pair_02149/meta.json +304 -0
  48. data/batch_v5/pair_02152/meta.json +237 -0
  49. data/batch_v5/pair_02153/meta.json +237 -0
  50. data/batch_v5/pair_02177/meta.json +237 -0
data/batch_v5/pair_00019/meta.json ADDED
@@ -0,0 +1,237 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 19,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "b62fcbb9-2b80-4d9e-ab5c-a8055ce5532e",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "9bbf3f4c-3de9-4de4-9ad6-7460413fdc88#365",
9
+ "category": "Sofa",
10
+ "raw_cat": "front3d_cat46",
11
+ "center": [
12
+ 5.570888519287109,
13
+ 1.4460450410842896,
14
+ 0.4067216217517853
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ 4.4247355461120605,
19
+ 1.6736892461776733,
20
+ 0.9572813212871552
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.7745184093583793,
41
+ 0.2551751550668659,
42
+ -0.5787977831691883,
43
+ 3.711406910184961
44
+ ],
45
+ [
46
+ -0.6325513683211552,
47
+ -0.3124455421457934,
48
+ 0.7087006064822121,
49
+ 3.134987361811649
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.915020996168843,
54
+ 0.4034062178129854,
55
+ 1.5785906433152133
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 3.711406910184961,
66
+ 3.134987361811649,
67
+ 1.5785906433152133
68
+ ],
69
+ "gt": {
70
+ "clock": 3,
71
+ "dist": 1.2917447521794232,
72
+ "lr": "right",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ 0.3718599621213565,
76
+ 0.07008875249111512,
77
+ -1.6991359376381077
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ -0.3718599621213574,
81
+ -0.0700887524911149,
82
+ -2.74595752996626
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 448,
87
+ 367,
88
+ 930,
89
+ 626
90
+ ],
91
+ "anchor_bbox": [
92
+ 57,
93
+ 345,
94
+ 833,
95
+ 866
96
+ ],
97
+ "target_pixels": 78873,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_00019/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 135,
105
+ "cam2world": [
106
+ [
107
+ 0.9949485813998468,
108
+ 0.04049627906468814,
109
+ -0.09185516725991731,
110
+ 4.7936596307232024
111
+ ],
112
+ [
113
+ -0.10038585742241028,
114
+ 0.40136844414090744,
115
+ -0.9103988420892651,
116
+ -0.46353682931180495
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.9150209961688431,
121
+ 0.4034062178129854,
122
+ 1.5785906433152133
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 4.7936596307232024,
133
+ -0.46353682931180495,
134
+ 1.5785906433152133
135
+ ],
136
+ "gt": {
137
+ "clock": 10,
138
+ "dist": 1.2917447521794232,
139
+ "lr": "left",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ -0.5816077667216373,
143
+ 0.2743639772413897,
144
+ -2.162480604601726
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.5816077667216373,
148
+ -0.2743639772413897,
149
+ -2.282612863002641
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 93,
154
+ 308,
155
+ 394,
156
+ 535
157
+ ],
158
+ "anchor_bbox": [
159
+ 219,
160
+ 472,
161
+ 1023,
162
+ 931
163
+ ],
164
+ "target_pixels": 42053,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_00019/view_01_right/rgb.png",
166
+ "ok": true
167
+ },
168
+ {
169
+ "view_idx": 2,
170
+ "view_label": "back",
171
+ "azimuth_offset_deg": 225,
172
+ "cam2world": [
173
+ [
174
+ 0.1003858574224103,
175
+ -0.4013684441409075,
176
+ 0.9103988420892651,
177
+ 7.021216005642371
178
+ ],
179
+ [
180
+ 0.9949485813998468,
181
+ 0.040496279064688154,
182
+ -0.09185516725991733,
183
+ 1.355714741654599
184
+ ],
185
+ [
186
+ -0.0,
187
+ 0.9150209961688431,
188
+ 0.40340621781298547,
189
+ 1.5785906433152133
190
+ ],
191
+ [
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 1.0
196
+ ]
197
+ ],
198
+ "cam_pos_world": [
199
+ 7.021216005642371,
200
+ 1.355714741654599,
201
+ 1.5785906433152133
202
+ ],
203
+ "gt": {
204
+ "clock": 12,
205
+ "dist": 1.2917447521794232,
206
+ "lr": "right",
207
+ "fb": "behind",
208
+ "target_cam_xyz": [
209
+ 0.05571836498606775,
210
+ 0.4865110317834689,
211
+ -2.643680448852443
212
+ ],
213
+ "anchor_cam_xyz": [
214
+ -0.05571836498606797,
215
+ -0.48651103178346955,
216
+ -1.8014130187519228
217
+ ]
218
+ },
219
+ "target_bbox": [
220
+ 363,
221
+ 292,
222
+ 703,
223
+ 412
224
+ ],
225
+ "anchor_bbox": [
226
+ 0,
227
+ 425,
228
+ 812,
229
+ 1023
230
+ ],
231
+ "target_pixels": 33778,
232
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_00019/view_02_back/rgb.png",
233
+ "ok": true
234
+ }
235
+ ],
236
+ "all_views_ok": true
237
+ }
data/batch_v5/pair_00026/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 26,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "3f6d609d-29ca-44c8-a5e0-005163494d5c",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "06543b99-4fe3-4be8-be81-f62a83bbee97#827",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ 0.02369023859500885,
13
+ 0.006527334451675415,
14
+ 0.3763450086116791
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -1.2514688968658447,
19
+ 0.19979913625866175,
20
+ 1.2676900625228882
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.6898316208906614,
41
+ 0.3935750525475555,
42
+ -0.60764382069725,
43
+ -2.3238558175553954
44
+ ],
45
+ [
46
+ -0.7239698438604766,
47
+ -0.37501633354404057,
48
+ 0.5789908589570496,
49
+ 1.732497612164924
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.8393220047081893,
54
+ 0.543634594569391,
55
+ 2.3518560807741777
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -2.3238558175553954,
66
+ 1.732497612164924,
67
+ 2.3518560807741777
68
+ ],
69
+ "gt": {
70
+ "clock": 3,
71
+ "dist": 1.5677629971570852,
72
+ "lr": "right",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ 0.3698610685658289,
76
+ 0.08688730564943892,
77
+ -2.128437846618636
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ -0.36986106856582923,
81
+ -0.08688730564943875,
82
+ -3.499749029231927
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 614,
87
+ 226,
88
+ 731,
89
+ 731
90
+ ],
91
+ "anchor_bbox": [
92
+ 210,
93
+ 359,
94
+ 638,
95
+ 746
96
+ ],
97
+ "target_pixels": 30743,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_00026/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 225,
105
+ "cam2world": [
106
+ [
107
+ -0.024139368959614885,
108
+ -0.5434761810669355,
109
+ 0.8390774287746818,
110
+ 1.7473529570906319
111
+ ],
112
+ [
113
+ 0.9997086029770034,
114
+ -0.01312299605752118,
115
+ 0.020260703547574605,
116
+ 0.16017874825614775
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.8393220047081895,
121
+ 0.543634594569391,
122
+ 2.3518560807741777
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 1.7473529570906319,
133
+ 0.16017874825614775,
134
+ 2.3518560807741777
135
+ ],
136
+ "gt": {
137
+ "clock": 12,
138
+ "dist": 1.5677629971570852,
139
+ "lr": "right",
140
+ "fb": "behind",
141
+ "target_cam_xyz": [
142
+ 0.11199850991621178,
143
+ 0.7193039148176108,
144
+ -3.104831147413316
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ -0.11199850991621182,
148
+ -0.719303914817611,
149
+ -2.523355728437246
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 0,
154
+ 0,
155
+ 0,
156
+ 0
157
+ ],
158
+ "anchor_bbox": [
159
+ 0,
160
+ 0,
161
+ 0,
162
+ 0
163
+ ],
164
+ "target_pixels": 0,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_00026/view_01_right/rgb.png",
166
+ "ok": false
167
+ }
168
+ ],
169
+ "all_views_ok": false
170
+ }
data/batch_v5/pair_01040/meta.json ADDED
@@ -0,0 +1,237 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 1040,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "ec064a37-13a7-49ef-89f6-7ccedbc9123a",
6
+ "target_category": "chair",
7
+ "anchor": {
8
+ "jid": "4000ed3d-3e7c-41a1-a869-107813bc55a7#558",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ -0.36803263425827026,
13
+ 2.2855567932128906,
14
+ 0.3659999966621399
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -0.9470962435007095,
19
+ 0.49675149098038673,
20
+ 1.2470000088214874
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ 0.5864438802749503,
41
+ 0.2742651370864497,
42
+ -0.7621431688777448,
43
+ -2.9491759349829363
44
+ ],
45
+ [
46
+ -0.8099898612254722,
47
+ 0.19857175863136678,
48
+ -0.5518022121974381,
49
+ -0.2680043266579415
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.9409292700585932,
54
+ 0.3386031729724381,
55
+ 1.824611763742472
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -2.9491759349829363,
66
+ -0.2680043266579415,
67
+ 1.824611763742472
68
+ ],
69
+ "gt": {
70
+ "clock": 2,
71
+ "dist": 2.076367042280524,
72
+ "lr": "right",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ 0.5546629242922705,
76
+ 0.15746776173931665,
77
+ -2.1434464853381563
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ -0.5546629242922705,
81
+ -0.1574677617393162,
82
+ -3.870151981936287
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 621,
87
+ 226,
88
+ 909,
89
+ 703
90
+ ],
91
+ "anchor_bbox": [
92
+ 218,
93
+ 446,
94
+ 261,
95
+ 520
96
+ ],
97
+ "target_pixels": 42245,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01040/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 135,
105
+ "cam2world": [
106
+ [
107
+ 0.15807087903711292,
108
+ -0.3343461753572644,
109
+ 0.9290996890670041,
110
+ 2.1360517941797585
111
+ ],
112
+ [
113
+ 0.9874277680926511,
114
+ 0.05352330119650888,
115
+ -0.14873351682991084,
116
+ 0.943942317676294
117
+ ],
118
+ [
119
+ -0.0,
120
+ 0.9409292700585932,
121
+ 0.3386031729724381,
122
+ 1.824611763742472
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 2.1360517941797585,
133
+ 0.943942317676294,
134
+ 1.824611763742472
135
+ ],
136
+ "gt": {
137
+ "clock": 10,
138
+ "dist": 2.076367042280524,
139
+ "lr": "left",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ -0.9289245604335485,
143
+ 0.46341181821409383,
144
+ -2.9936207917703332
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.9289245604335488,
148
+ -0.4634118182140936,
149
+ -3.0199776755041094
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 260,
154
+ 217,
155
+ 327,
156
+ 536
157
+ ],
158
+ "anchor_bbox": [
159
+ 567,
160
+ 507,
161
+ 1023,
162
+ 811
163
+ ],
164
+ "target_pixels": 7982,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01040/view_01_right/rgb.png",
166
+ "ok": true
167
+ },
168
+ {
169
+ "view_idx": 2,
170
+ "view_label": "back",
171
+ "azimuth_offset_deg": 225,
172
+ "cam2world": [
173
+ [
174
+ -0.9874277680926511,
175
+ -0.0535233011965089,
176
+ 0.1487335168299109,
177
+ -0.21035261445914505
178
+ ],
179
+ [
180
+ 0.15807087903711298,
181
+ -0.3343461753572644,
182
+ 0.9290996890670041,
183
+ 4.184770375155887
184
+ ],
185
+ [
186
+ 0.0,
187
+ 0.9409292700585932,
188
+ 0.3386031729724381,
189
+ 1.824611763742472
190
+ ],
191
+ [
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 1.0
196
+ ]
197
+ ],
198
+ "cam_pos_world": [
199
+ -0.21035261445914505,
200
+ 4.184770375155887,
201
+ 1.824611763742472
202
+ ],
203
+ "gt": {
204
+ "clock": 12,
205
+ "dist": 2.076367042280524,
206
+ "lr": "right",
207
+ "fb": "behind",
208
+ "target_cam_xyz": [
209
+ 0.14451273035389822,
210
+ 0.7290161527961798,
211
+ -3.7316968424725028
212
+ ],
213
+ "anchor_cam_xyz": [
214
+ -0.144512730353898,
215
+ -0.7290161527961807,
216
+ -2.2819016248019373
217
+ ]
218
+ },
219
+ "target_bbox": [
220
+ 481,
221
+ 212,
222
+ 622,
223
+ 471
224
+ ],
225
+ "anchor_bbox": [
226
+ 312,
227
+ 554,
228
+ 659,
229
+ 1023
230
+ ],
231
+ "target_pixels": 13359,
232
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01040/view_02_back/rgb.png",
233
+ "ok": true
234
+ }
235
+ ],
236
+ "all_views_ok": true
237
+ }
data/batch_v5/pair_01063/meta.json ADDED
@@ -0,0 +1,304 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 1063,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "45078a8f-0573-472a-8523-38017a834801",
6
+ "target_category": "chair",
7
+ "anchor": {
8
+ "jid": "bef459c6-112e-4678-b361-a345e3da9c0d#364",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ -0.317015677690506,
13
+ -1.7106610536575317,
14
+ 0.36833590269088745
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ 1.4259369522333145,
19
+ -2.3371169567108154,
20
+ 1.2517451047897339
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ 0.22086008321242712,
41
+ -0.5417904369128126,
42
+ 0.8109771551117969,
43
+ 2.8710989233124384
44
+ ],
45
+ [
46
+ 0.9753055027238389,
47
+ 0.12268963996006814,
48
+ -0.1836475662868122,
49
+ -2.5484968569795035
50
+ ],
51
+ [
52
+ -0.0,
53
+ 0.8315108987357248,
54
+ 0.5555084385351022,
55
+ 2.3969065563998133
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 2.8710989233124384,
66
+ -2.5484968569795035,
67
+ 2.3969065563998133
68
+ ],
69
+ "gt": {
70
+ "clock": 7,
71
+ "dist": 2.0520094266307813,
72
+ "lr": "left",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ -0.11301861329070295,
76
+ -0.14330516824630352,
77
+ -1.8469595980823046
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.11301861329070251,
81
+ 0.14330516824630424,
82
+ -3.8662427318197627
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 293,
87
+ 416,
88
+ 648,
89
+ 879
90
+ ],
91
+ "anchor_bbox": [
92
+ 0,
93
+ 0,
94
+ 0,
95
+ 0
96
+ ],
97
+ "target_pixels": 58612,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01063/view_00_front/rgb.png",
99
+ "ok": false
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 90,
105
+ "cam2world": [
106
+ [
107
+ -0.9753055027238386,
108
+ -0.12268963996006825,
109
+ 0.18364756628681236,
110
+ 1.0790684890667346
111
+ ],
112
+ [
113
+ 0.22086008321242728,
114
+ -0.5417904369128126,
115
+ 0.8109771551117969,
116
+ 0.29274928085686014
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.8315108987357247,
121
+ 0.5555084385351023,
122
+ 2.3969065563998133
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 1.0790684890667346,
133
+ 0.29274928085686014,
134
+ 2.3969065563998133
135
+ ],
136
+ "gt": {
137
+ "clock": 10,
138
+ "dist": 2.0520094266307813,
139
+ "lr": "left",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ -0.9191351969144766,
143
+ 0.4300649831888317,
144
+ -2.7052067404395155
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.9191351969144764,
148
+ -0.4300649831888308,
149
+ -3.0079955894625514
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 28,
154
+ 206,
155
+ 257,
156
+ 572
157
+ ],
158
+ "anchor_bbox": [
159
+ 464,
160
+ 436,
161
+ 1023,
162
+ 760
163
+ ],
164
+ "target_pixels": 15330,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01063/view_01_right/rgb.png",
166
+ "ok": true
167
+ },
168
+ {
169
+ "view_idx": 2,
170
+ "view_label": "back",
171
+ "azimuth_offset_deg": 180,
172
+ "cam2world": [
173
+ [
174
+ -0.22086008321242728,
175
+ 0.5417904369128126,
176
+ -0.8109771551117969,
177
+ -1.7621776487696295
178
+ ],
179
+ [
180
+ -0.9753055027238386,
181
+ -0.12268963996006825,
182
+ 0.18364756628681236,
183
+ -1.4992811533888433
184
+ ],
185
+ [
186
+ 0.0,
187
+ 0.8315108987357247,
188
+ 0.5555084385351023,
189
+ 2.3969065563998133
190
+ ],
191
+ [
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 1.0
196
+ ]
197
+ ],
198
+ "cam_pos_world": [
199
+ -1.7621776487696295,
200
+ -1.4992811533888433,
201
+ 2.3969065563998133
202
+ ],
203
+ "gt": {
204
+ "clock": 12,
205
+ "dist": 2.0520094266307813,
206
+ "lr": "right",
207
+ "fb": "behind",
208
+ "target_cam_xyz": [
209
+ 0.11301861329070295,
210
+ 0.877869547834925,
211
+ -3.375501465374291
212
+ ],
213
+ "anchor_cam_xyz": [
214
+ -0.11301861329070229,
215
+ -0.8778695478349253,
216
+ -2.3377008645277746
217
+ ]
218
+ },
219
+ "target_bbox": [
220
+ 0,
221
+ 0,
222
+ 0,
223
+ 0
224
+ ],
225
+ "anchor_bbox": [
226
+ 246,
227
+ 467,
228
+ 812,
229
+ 1023
230
+ ],
231
+ "target_pixels": 0,
232
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01063/view_02_back/rgb.png",
233
+ "ok": false
234
+ },
235
+ {
236
+ "view_idx": 3,
237
+ "view_label": "left",
238
+ "azimuth_offset_deg": 270,
239
+ "cam2world": [
240
+ [
241
+ 0.9753055027238389,
242
+ 0.12268963996006807,
243
+ -0.18364756628681206,
244
+ 0.02985278547607484
245
+ ],
246
+ [
247
+ -0.22086008321242695,
248
+ 0.5417904369128127,
249
+ -0.8109771551117969,
250
+ -4.340527291225207
251
+ ],
252
+ [
253
+ 0.0,
254
+ 0.8315108987357247,
255
+ 0.5555084385351023,
256
+ 2.3969065563998133
257
+ ],
258
+ [
259
+ 0.0,
260
+ 0.0,
261
+ 0.0,
262
+ 1.0
263
+ ]
264
+ ],
265
+ "cam_pos_world": [
266
+ 0.02985278547607484,
267
+ -4.340527291225207,
268
+ 2.3969065563998133
269
+ ],
270
+ "gt": {
271
+ "clock": 2,
272
+ "dist": 2.0520094266307813,
273
+ "lr": "right",
274
+ "fb": "in front of",
275
+ "target_cam_xyz": [
276
+ 0.919135196914476,
277
+ 0.3044993963997897,
278
+ -2.51725432301708
279
+ ],
280
+ "anchor_cam_xyz": [
281
+ -0.9191351969144764,
282
+ -0.30449939639978957,
283
+ -3.195948006884986
284
+ ]
285
+ },
286
+ "target_bbox": [
287
+ 763,
288
+ 198,
289
+ 1023,
290
+ 569
291
+ ],
292
+ "anchor_bbox": [
293
+ 0,
294
+ 408,
295
+ 636,
296
+ 787
297
+ ],
298
+ "target_pixels": 24250,
299
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01063/view_03_left/rgb.png",
300
+ "ok": true
301
+ }
302
+ ],
303
+ "all_views_ok": false
304
+ }
data/batch_v5/pair_01074/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 1074,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "697a1396-5e87-4761-b8b0-844b64c87a4b",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "2383a24b-483b-4011-87fb-8e2c89202f78#290",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ -1.6634702682495117,
13
+ 5.520051956176758,
14
+ 0.16750000417232513
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -2.7646602988243103,
19
+ 5.282294273376465,
20
+ 0.720798909664154
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ 0.7097293159309067,
41
+ 0.4197547806187432,
42
+ -0.5657651652902976,
43
+ -3.588602344337077
44
+ ],
45
+ [
46
+ -0.7044744836459637,
47
+ 0.4228858251408087,
48
+ -0.5699853338347665,
49
+ 4.016383075491602
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.803102423755954,
54
+ 0.5958409997283771,
55
+ 1.891756320537422
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -3.588602344337077,
66
+ 4.016383075491602,
67
+ 1.891756320537422
68
+ ],
69
+ "gt": {
70
+ "clock": 9,
71
+ "dist": 1.2551047278957825,
72
+ "lr": "left",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ -0.30702631314309325,
76
+ -0.05920922075801949,
77
+ -1.8854129586348098
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.3070263131430959,
81
+ 0.05920922075801638,
82
+ -2.973624483498563
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 65,
87
+ 308,
88
+ 592,
89
+ 800
90
+ ],
91
+ "anchor_bbox": [
92
+ 482,
93
+ 349,
94
+ 864,
95
+ 709
96
+ ],
97
+ "target_pixels": 125515,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01074/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 270,
105
+ "cam2world": [
106
+ [
107
+ -0.7044744836459638,
108
+ 0.4228858251408087,
109
+ -0.5699853338347664,
110
+ -3.59885532282192
111
+ ],
112
+ [
113
+ -0.7097293159309066,
114
+ -0.4197547806187434,
115
+ 0.5657651652902977,
116
+ 6.775710175576777
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.803102423755954,
121
+ 0.5958409997283772,
122
+ 1.891756320537422
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ -3.59885532282192,
133
+ 6.775710175576777,
134
+ 1.891756320537422
135
+ ],
136
+ "gt": {
137
+ "clock": 3,
138
+ "dist": 1.2551047278957825,
139
+ "lr": "right",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ 0.47225193787821684,
143
+ 0.03923898066490361,
144
+ -2.018106058326177
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ -0.47225193787821684,
148
+ -0.03923898066490272,
149
+ -2.8409313838071926
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 535,
154
+ 270,
155
+ 1003,
156
+ 753
157
+ ],
158
+ "anchor_bbox": [
159
+ 85,
160
+ 364,
161
+ 567,
162
+ 758
163
+ ],
164
+ "target_pixels": 109813,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01074/view_01_right/rgb.png",
166
+ "ok": true
167
+ }
168
+ ],
169
+ "all_views_ok": true
170
+ }
data/batch_v5/pair_01082/meta.json ADDED
@@ -0,0 +1,237 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 1082,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "846bef72-20b1-4910-918d-cf16981a1c70",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "1d127f82-0a20-4417-b879-08d73f208a0a#663",
9
+ "category": "Sofa",
10
+ "raw_cat": "front3d_cat46",
11
+ "center": [
12
+ -1.5907164812088013,
13
+ 2.0854697227478027,
14
+ 0.589899480342865
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -0.2591773346066475,
19
+ 1.1623936295509338,
20
+ 1.1062918901443481
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ 0.440534195285514,
41
+ -0.7131154019711068,
42
+ 0.5453403031646674,
43
+ 1.286564167957617
44
+ ],
45
+ [
46
+ 0.8977358312912238,
47
+ 0.3499378200168298,
48
+ -0.26760773407680916,
49
+ 0.5387056907165824
50
+ ],
51
+ [
52
+ -0.0,
53
+ 0.6074618881818477,
54
+ 0.7943488241361879,
55
+ 4.069407611912897
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 1.286564167957617,
66
+ 0.5387056907165824,
67
+ 4.069407611912897
68
+ ],
69
+ "gt": {
70
+ "clock": 6,
71
+ "dist": 1.7005078928561812,
72
+ "lr": "left",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ -0.12104497871580322,
76
+ -0.4794358006158197,
77
+ -3.3636063450713993
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.12104497871580278,
81
+ 0.47943580061582125,
82
+ -4.746966312154589
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 413,
87
+ 513,
88
+ 556,
89
+ 781
90
+ ],
91
+ "anchor_bbox": [
92
+ 282,
93
+ 274,
94
+ 797,
95
+ 619
96
+ ],
97
+ "target_pixels": 8018,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01082/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 90,
105
+ "cam2world": [
106
+ [
107
+ -0.8977358312912237,
108
+ -0.34993782001683,
109
+ 0.2676077340768092,
110
+ 0.16027907752506176
111
+ ],
112
+ [
113
+ 0.4405341952855142,
114
+ -0.7131154019711067,
115
+ 0.5453403031646673,
116
+ 3.835442752014709
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.6074618881818475,
121
+ 0.7943488241361879,
122
+ 4.069407611912897
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 0.16027907752506176,
133
+ 3.835442752014709,
134
+ 4.069407611912897
135
+ ],
136
+ "gt": {
137
+ "clock": 10,
138
+ "dist": 1.7005078928561812,
139
+ "lr": "left",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ -0.8010084932877349,
143
+ 0.2529962906608795,
144
+ -3.9237186881792976
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.801008493287735,
148
+ -0.25299629066088003,
149
+ -4.186853969046692
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 206,
154
+ 392,
155
+ 447,
156
+ 519
157
+ ],
158
+ "anchor_bbox": [
159
+ 466,
160
+ 340,
161
+ 951,
162
+ 900
163
+ ],
164
+ "target_pixels": 16340,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01082/view_01_right/rgb.png",
166
+ "ok": true
167
+ },
168
+ {
169
+ "view_idx": 2,
170
+ "view_label": "back",
171
+ "azimuth_offset_deg": 180,
172
+ "cam2world": [
173
+ [
174
+ -0.4405341952855143,
175
+ 0.7131154019711067,
176
+ -0.5453403031646673,
177
+ -3.1364579837730653
178
+ ],
179
+ [
180
+ -0.8977358312912237,
181
+ -0.34993782001683005,
182
+ 0.26760773407680927,
183
+ 2.7091576615821547
184
+ ],
185
+ [
186
+ 0.0,
187
+ 0.6074618881818477,
188
+ 0.7943488241361879,
189
+ 4.069407611912897
190
+ ],
191
+ [
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 1.0
196
+ ]
197
+ ],
198
+ "cam_pos_world": [
199
+ -3.1364579837730653,
200
+ 2.7091576615821547,
201
+ 4.069407611912897
202
+ ],
203
+ "gt": {
204
+ "clock": 12,
205
+ "dist": 1.7005078928561812,
206
+ "lr": "right",
207
+ "fb": "behind",
208
+ "target_cam_xyz": [
209
+ 0.12104497871580344,
210
+ 0.7931245089166035,
211
+ -4.336770608635928
212
+ ],
213
+ "anchor_cam_xyz": [
214
+ -0.12104497871580255,
215
+ -0.7931245089166035,
216
+ -3.77380204859006
217
+ ]
218
+ },
219
+ "target_bbox": [
220
+ 482,
221
+ 264,
222
+ 599,
223
+ 443
224
+ ],
225
+ "anchor_bbox": [
226
+ 130,
227
+ 506,
228
+ 722,
229
+ 787
230
+ ],
231
+ "target_pixels": 7174,
232
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01082/view_02_back/rgb.png",
233
+ "ok": true
234
+ }
235
+ ],
236
+ "all_views_ok": true
237
+ }
data/batch_v5/pair_01086/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 1086,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "288ac6f4-47ef-418d-87d0-6cc1365a98f4",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "31d93b50-3d5d-4962-ab4e-d92c0249ec74#196",
9
+ "category": "Sofa",
10
+ "raw_cat": "front3d_cat46",
11
+ "center": [
12
+ 3.960742235183716,
13
+ 3.448499917984009,
14
+ 0.2741914987564087
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ 2.7121384143829346,
19
+ 3.45128732919693,
20
+ 1.0633830726146698
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.2977081271169954,
41
+ -0.7980652576487726,
42
+ 0.5238909386336903,
43
+ 5.207026424970524
44
+ ],
45
+ [
46
+ 0.9546569389306773,
47
+ -0.24887528020053618,
48
+ 0.16337448961393478,
49
+ 4.0332326868581525
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.5487740331312176,
54
+ 0.8359707294881186,
55
+ 3.6536742371989726
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 5.207026424970524,
66
+ 4.0332326868581525,
67
+ 3.6536742371989726
68
+ ],
69
+ "gt": {
70
+ "clock": 12,
71
+ "dist": 1.4771061611233156,
72
+ "lr": "right",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ 0.18719026322889665,
76
+ 0.7144307275506692,
77
+ -3.567531841887941
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ -0.18719026322889665,
81
+ -0.7144307275506696,
82
+ -3.57359606181543
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 382,
87
+ 135,
88
+ 731,
89
+ 521
90
+ ],
91
+ "anchor_bbox": [
92
+ 254,
93
+ 568,
94
+ 670,
95
+ 848
96
+ ],
97
+ "target_pixels": 74265,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01086/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 90,
105
+ "cam2world": [
106
+ [
107
+ -0.9546569389306773,
108
+ 0.24887528020053618,
109
+ -0.16337448961393478,
110
+ 2.753101261515642
111
+ ],
112
+ [
113
+ -0.2977081271169954,
114
+ -0.7980652576487726,
115
+ 0.5238909386336903,
116
+ 5.320479723777668
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.5487740331312176,
121
+ 0.8359707294881186,
122
+ 3.6536742371989726
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 2.753101261515642,
133
+ 5.320479723777668,
134
+ 3.6536742371989726
135
+ ],
136
+ "gt": {
137
+ "clock": 3,
138
+ "dist": 1.4771061611233156,
139
+ "lr": "right",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ 0.5955792332655596,
143
+ 0.060058340545151134,
144
+ -3.137968268284587
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ -0.5955792332655587,
148
+ -0.0600583405451518,
149
+ -4.003159635418786
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 494,
154
+ 259,
155
+ 892,
156
+ 696
157
+ ],
158
+ "anchor_bbox": [
159
+ 233,
160
+ 384,
161
+ 501,
162
+ 725
163
+ ],
164
+ "target_pixels": 91266,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01086/view_01_right/rgb.png",
166
+ "ok": true
167
+ }
168
+ ],
169
+ "all_views_ok": true
170
+ }
data/batch_v5/pair_01090/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 1090,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "1cef5e59-b64f-4de6-a54d-a7b38832bfa4",
6
+ "target_category": "chair",
7
+ "anchor": {
8
+ "jid": "e4adc6e9-5286-44d3-9aff-951d46e5537e#246",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ -2.6551272869110107,
13
+ 6.066786766052246,
14
+ 0.3650589883327484
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -1.9799264073371887,
19
+ 4.98525857925415,
20
+ 1.2451179325580597
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ 0.5926955347949835,
41
+ -0.5113370129173594,
42
+ 0.6222913001600141,
43
+ -1.0825868248782244
44
+ ],
45
+ [
46
+ 0.8054265969249392,
47
+ 0.37628154507016826,
48
+ -0.4579303394682629,
49
+ 4.617257752647756
50
+ ],
51
+ [
52
+ -0.0,
53
+ 0.7726232316338665,
54
+ 0.6348648217846385,
55
+ 2.0649806956996084
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -1.0825868248782244,
66
+ 4.617257752647756,
67
+ 2.0649806956996084
68
+ ],
69
+ "gt": {
70
+ "clock": 9,
71
+ "dist": 1.5492266431762038,
72
+ "lr": "left",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ -0.2354515102790704,
76
+ -0.03613015626506355,
77
+ -1.2474273859156215
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.23545151027906996,
81
+ 0.036130156265063995,
82
+ -2.721582053645326
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 123,
87
+ 114,
88
+ 630,
89
+ 1000
90
+ ],
91
+ "anchor_bbox": [
92
+ 376,
93
+ 277,
94
+ 894,
95
+ 791
96
+ ],
97
+ "target_pixels": 113143,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01090/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 270,
105
+ "cam2world": [
106
+ [
107
+ 0.8054265969249392,
108
+ 0.37628154507016826,
109
+ -0.4579303394682629,
110
+ -3.226291767129542
111
+ ],
112
+ [
113
+ -0.5926955347949835,
114
+ 0.5113370129173594,
115
+ -0.6222913001600141,
116
+ 4.291082650407323
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.7726232316338665,
121
+ 0.6348648217846385,
122
+ 2.0649806956996084
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ -3.226291767129542,
133
+ 4.291082650407323,
134
+ 2.0649806956996084
135
+ ],
136
+ "gt": {
137
+ "clock": 2,
138
+ "dist": 1.5492266431762038,
139
+ "lr": "right",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ 0.592420836873008,
143
+ 0.1904971116455778,
144
+ -1.523230180622794
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ -0.5924208368730071,
148
+ -0.19049711164557914,
149
+ -2.445779258938153
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 590,
154
+ 81,
155
+ 1023,
156
+ 786
157
+ ],
158
+ "anchor_bbox": [
159
+ 0,
160
+ 342,
161
+ 581,
162
+ 879
163
+ ],
164
+ "target_pixels": 70832,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01090/view_01_right/rgb.png",
166
+ "ok": true
167
+ }
168
+ ],
169
+ "all_views_ok": true
170
+ }
data/batch_v5/pair_01103/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 1103,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "079431be-2e6d-4ff0-8c0e-7b80e764bf59",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "9dd6c801-a614-4418-ab03-d521a7e0cf33#418",
9
+ "category": "Sofa",
10
+ "raw_cat": "front3d_cat46",
11
+ "center": [
12
+ -1.6030000448226929,
13
+ -2.909146785736084,
14
+ 0.3876135051250458
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -2.565123200416565,
19
+ -1.3543433547019958,
20
+ 1.1426431238651276
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.3773653819412557,
41
+ 0.44119395455236654,
42
+ -0.8142132785571448,
43
+ -4.466156751616035
44
+ ],
45
+ [
46
+ -0.9260644515973661,
47
+ -0.17978373414792714,
48
+ 0.3317867393725934,
49
+ -1.1610564355094488
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.8792188029166983,
54
+ 0.4764181950741682,
55
+ 2.158956555496668
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -4.466156751616035,
66
+ -1.1610564355094488,
67
+ 2.158956555496668
68
+ ],
69
+ "gt": {
70
+ "clock": 9,
71
+ "dist": 1.9781719846515053,
72
+ "lr": "left",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ -0.5383881073085388,
76
+ -0.02008752446243728,
77
+ -2.0961670077790533
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.5383881073085393,
81
+ 0.020087524462436557,
82
+ -3.755113465606694
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 107,
87
+ 314,
88
+ 421,
89
+ 803
90
+ ],
91
+ "anchor_bbox": [
92
+ 452,
93
+ 343,
94
+ 771,
95
+ 636
96
+ ],
97
+ "target_pixels": 115098,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01103/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 90,
105
+ "cam2world": [
106
+ [
107
+ 0.9260644515973661,
108
+ 0.1797837341479272,
109
+ -0.3317867393725935,
110
+ -3.0547502573292205
111
+ ],
112
+ [
113
+ -0.37736538194125585,
114
+ 0.4411939545523665,
115
+ -0.8142132785571446,
116
+ -4.513840199215446
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.8792188029166983,
121
+ 0.47641819507416816,
122
+ 2.158956555496668
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ -3.0547502573292205,
133
+ -4.513840199215446,
134
+ 2.158956555496668
135
+ ],
136
+ "gt": {
137
+ "clock": 10,
138
+ "dist": 1.9781719846515053,
139
+ "lr": "left",
140
+ "fb": "behind",
141
+ "target_cam_xyz": [
142
+ -0.7388585215249599,
143
+ 0.5884160091109849,
144
+ -3.2191462598114313
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.7388585215249599,
148
+ -0.5884160091109845,
149
+ -2.632134213574317
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 140,
154
+ 231,
155
+ 451,
156
+ 463
157
+ ],
158
+ "anchor_bbox": [
159
+ 356,
160
+ 482,
161
+ 1023,
162
+ 1002
163
+ ],
164
+ "target_pixels": 62235,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01103/view_01_right/rgb.png",
166
+ "ok": true
167
+ }
168
+ ],
169
+ "all_views_ok": true
170
+ }
data/batch_v5/pair_01122/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 1122,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "00063df5-b7d7-42af-a11c-ac8a690272fd",
6
+ "target_category": "lighting",
7
+ "anchor": {
8
+ "jid": "03b0d05c-a430-4853-84f0-f8aeb802e6c5#366",
9
+ "category": "Sofa",
10
+ "raw_cat": "front3d_cat46",
11
+ "center": [
12
+ -3.7698731422424316,
13
+ 5.648894309997559,
14
+ 0.4612582325935364
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -4.417694926261902,
19
+ 6.526928663253784,
20
+ 1.4375150799751282
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.22043457962164728,
41
+ 0.6591684649382034,
42
+ -0.7189614252086408,
43
+ -7.212216424958974
44
+ ],
45
+ [
46
+ -0.9754017613819589,
47
+ -0.14896787069835912,
48
+ 0.16248069852314548,
49
+ 6.7926573260734635
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.737092604989773,
54
+ 0.6757917517026901,
55
+ 3.880574358420919
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -7.212216424958974,
66
+ 6.7926573260734635,
67
+ 3.880574358420919
68
+ ],
69
+ "gt": {
70
+ "clock": 9,
71
+ "dist": 1.4641362031613356,
72
+ "lr": "left",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ -0.3568169660449563,
76
+ 0.08088455192268329,
77
+ -3.7033282475263887
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.35681696604495716,
81
+ -0.08088455192268373,
82
+ -4.971497080694373
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 335,
87
+ 422,
88
+ 568,
89
+ 637
90
+ ],
91
+ "anchor_bbox": [
92
+ 373,
93
+ 427,
94
+ 808,
95
+ 687
96
+ ],
97
+ "target_pixels": 14796,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01122/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 180,
105
+ "cam2world": [
106
+ [
107
+ 0.22043457962164725,
108
+ -0.6591684649382034,
109
+ 0.7189614252086409,
110
+ -0.9753516435453586
111
+ ],
112
+ [
113
+ 0.9754017613819589,
114
+ 0.14896787069835912,
115
+ -0.16248069852314548,
116
+ 5.383165647177879
117
+ ],
118
+ [
119
+ -0.0,
120
+ 0.737092604989773,
121
+ 0.6757917517026901,
122
+ 3.880574358420919
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ -0.9753516435453586,
133
+ 5.383165647177879,
134
+ 3.880574358420919
135
+ ],
136
+ "gt": {
137
+ "clock": 1,
138
+ "dist": 1.4641362031613356,
139
+ "lr": "right",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ 0.3568169660449563,
143
+ 0.638707150852917,
144
+ -4.311750755690622
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ -0.35681696604495716,
148
+ -0.6387071508529165,
149
+ -4.363074572530142
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 466,
154
+ 263,
155
+ 651,
156
+ 440
157
+ ],
158
+ "anchor_bbox": [
159
+ 200,
160
+ 494,
161
+ 690,
162
+ 834
163
+ ],
164
+ "target_pixels": 9395,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01122/view_01_right/rgb.png",
166
+ "ok": true
167
+ }
168
+ ],
169
+ "all_views_ok": true
170
+ }
data/batch_v5/pair_01126/meta.json ADDED
@@ -0,0 +1,304 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 1126,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "4c1e3615-3f33-43e7-b619-0032a2550e74",
6
+ "target_category": "lighting",
7
+ "anchor": {
8
+ "jid": "3332e155-0105-4d97-937a-b7a64daedb40#810",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ 3.6003713607788086,
13
+ -3.3857831954956055,
14
+ 0.30711498856544495
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ 3.066452145576477,
19
+ -3.86235648393631,
20
+ 1.1107538044452667
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ 0.583837730657114,
41
+ -0.4768217569780652,
42
+ 0.6570955153807566,
43
+ 5.172728277866601
44
+ ],
45
+ [
46
+ 0.8118703740506554,
47
+ 0.3428952963674001,
48
+ -0.4725349843852427,
49
+ -4.946771615834135
50
+ ],
51
+ [
52
+ -0.0,
53
+ 0.809360134798758,
54
+ 0.587312669877414,
55
+ 2.352917460731203
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 5.172728277866601,
66
+ -4.946771615834135,
67
+ 2.352917460731203
68
+ ],
69
+ "gt": {
70
+ "clock": 11,
71
+ "dist": 1.0761167102160354,
72
+ "lr": "left",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ -0.3493189584534312,
76
+ 0.3708013898232352,
77
+ -2.6259871414978084
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.34931895845343097,
81
+ -0.3708013898232356,
82
+ -2.972336029595997
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 200,
87
+ 209,
88
+ 562,
89
+ 567
90
+ ],
91
+ "anchor_bbox": [
92
+ 479,
93
+ 472,
94
+ 769,
95
+ 734
96
+ ],
97
+ "target_pixels": 95040,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01126/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 90,
105
+ "cam2world": [
106
+ [
107
+ -0.8118703740506554,
108
+ -0.3428952963674001,
109
+ 0.4725349843852427,
110
+ 4.65611352929582
111
+ ],
112
+ [
113
+ 0.583837730657114,
114
+ -0.4768217569780652,
115
+ 0.6570955153807565,
116
+ -1.7847533150269996
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.8093601347987579,
121
+ 0.587312669877414,
122
+ 2.352917460731203
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 4.65611352929582,
133
+ -1.7847533150269996,
134
+ 2.352917460731203
135
+ ],
136
+ "gt": {
137
+ "clock": 12,
138
+ "dist": 1.0761167102160354,
139
+ "lr": "right",
140
+ "fb": "behind",
141
+ "target_cam_xyz": [
142
+ 0.07761586287206512,
143
+ 0.5303760603030854,
144
+ -2.8458927955627833
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ -0.07761586287206512,
148
+ -0.5303760603030854,
149
+ -2.7524303755310235
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 437,
154
+ 177,
155
+ 625,
156
+ 494
157
+ ],
158
+ "anchor_bbox": [
159
+ 327,
160
+ 517,
161
+ 641,
162
+ 803
163
+ ],
164
+ "target_pixels": 50379,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01126/view_01_right/rgb.png",
166
+ "ok": true
167
+ },
168
+ {
169
+ "view_idx": 2,
170
+ "view_label": "back",
171
+ "azimuth_offset_deg": 180,
172
+ "cam2world": [
173
+ [
174
+ -0.583837730657114,
175
+ 0.4768217569780652,
176
+ -0.6570955153807565,
177
+ 1.4940952284886848
178
+ ],
179
+ [
180
+ -0.8118703740506554,
181
+ -0.3428952963674001,
182
+ 0.4725349843852427,
183
+ -2.3013680635977805
184
+ ],
185
+ [
186
+ 0.0,
187
+ 0.8093601347987579,
188
+ 0.587312669877414,
189
+ 2.352917460731203
190
+ ],
191
+ [
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 1.0
196
+ ]
197
+ ],
198
+ "cam_pos_world": [
199
+ 1.4940952284886848,
200
+ -2.3013680635977805,
201
+ 2.352917460731203
202
+ ],
203
+ "gt": {
204
+ "clock": 2,
205
+ "dist": 1.0761167102160354,
206
+ "lr": "right",
207
+ "fb": "in front of",
208
+ "target_cam_xyz": [
209
+ 0.3493189584534314,
210
+ 0.279631830526772,
211
+ -2.5003487710244965
212
+ ],
213
+ "anchor_cam_xyz": [
214
+ -0.34931895845343075,
215
+ -0.2796318305267711,
216
+ -3.0979744000693112
217
+ ]
218
+ },
219
+ "target_bbox": [
220
+ 455,
221
+ 212,
222
+ 824,
223
+ 573
224
+ ],
225
+ "anchor_bbox": [
226
+ 265,
227
+ 449,
228
+ 540,
229
+ 699
230
+ ],
231
+ "target_pixels": 97538,
232
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01126/view_02_back/rgb.png",
233
+ "ok": true
234
+ },
235
+ {
236
+ "view_idx": 3,
237
+ "view_label": "left",
238
+ "azimuth_offset_deg": 270,
239
+ "cam2world": [
240
+ [
241
+ 0.8118703740506554,
242
+ 0.3428952963674001,
243
+ -0.4725349843852427,
244
+ 2.0107099770594656
245
+ ],
246
+ [
247
+ -0.583837730657114,
248
+ 0.4768217569780652,
249
+ -0.6570955153807566,
250
+ -5.463386364404916
251
+ ],
252
+ [
253
+ 0.0,
254
+ 0.809360134798758,
255
+ 0.587312669877414,
256
+ 2.352917460731203
257
+ ],
258
+ [
259
+ 0.0,
260
+ 0.0,
261
+ 0.0,
262
+ 1.0
263
+ ]
264
+ ],
265
+ "cam_pos_world": [
266
+ 2.0107099770594656,
267
+ -5.463386364404916,
268
+ 2.352917460731203
269
+ ],
270
+ "gt": {
271
+ "clock": 11,
272
+ "dist": 1.0761167102160354,
273
+ "lr": "left",
274
+ "fb": "in front of",
275
+ "target_cam_xyz": [
276
+ -0.07761586287206423,
277
+ 0.12005716004692095,
278
+ -2.280443116959521
279
+ ],
280
+ "anchor_cam_xyz": [
281
+ 0.07761586287206601,
282
+ -0.12005716004692187,
283
+ -3.3178800541342843
284
+ ]
285
+ },
286
+ "target_bbox": [
287
+ 349,
288
+ 259,
289
+ 590,
290
+ 660
291
+ ],
292
+ "anchor_bbox": [
293
+ 421,
294
+ 420,
295
+ 662,
296
+ 599
297
+ ],
298
+ "target_pixels": 84103,
299
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01126/view_03_left/rgb.png",
300
+ "ok": true
301
+ }
302
+ ],
303
+ "all_views_ok": true
304
+ }
data/batch_v5/pair_01142/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 1142,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "ea0be776-bedd-48cc-b929-e1f79e4e847e",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "5b9cfb19-f47f-4291-8531-45b9c6ebc865#239",
9
+ "category": "Sofa",
10
+ "raw_cat": "front3d_cat46",
11
+ "center": [
12
+ 3.735135793685913,
13
+ 3.710242748260498,
14
+ 0.4722078740596771
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ 3.6293579936027527,
19
+ 2.8916547298431396,
20
+ 1.4595320522785187
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ 0.07063283336503126,
41
+ 0.4687595418265995,
42
+ -0.8804972997104217,
43
+ 1.043169636627446
44
+ ],
45
+ [
46
+ -0.9975023823785223,
47
+ 0.03319271732179425,
48
+ -0.06234773986254621,
49
+ 3.1140764995210843
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.8827019516593989,
54
+ 0.4699332554062205,
55
+ 2.374381002403788
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 1.043169636627446,
66
+ 3.1140764995210843,
67
+ 2.374381002403788
68
+ ],
69
+ "gt": {
70
+ "clock": 2,
71
+ "dist": 1.2868893968723192,
72
+ "lr": "right",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ 0.40453605641541746,
76
+ 0.39737873261677015,
77
+ -2.6931823155609727
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ -0.40453605641541834,
81
+ -0.3973787326167706,
82
+ -3.3013329609420383
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 472,
87
+ 182,
88
+ 794,
89
+ 627
90
+ ],
91
+ "anchor_bbox": [
92
+ 33,
93
+ 459,
94
+ 756,
95
+ 825
96
+ ],
97
+ "target_pixels": 75536,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01142/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 270,
105
+ "cam2world": [
106
+ [
107
+ -0.9975023823785223,
108
+ 0.03319271732179418,
109
+ -0.06234773986254607,
110
+ 3.495374654113599
111
+ ],
112
+ [
113
+ -0.07063283336503111,
114
+ -0.46875954182659957,
115
+ 0.8804972997104217,
116
+ 5.940025996068705
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.8827019516593989,
121
+ 0.46993325540622055,
122
+ 2.374381002403788
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 3.495374654113599,
133
+ 5.940025996068705,
134
+ 2.374381002403788
135
+ ],
136
+ "gt": {
137
+ "clock": 12,
138
+ "dist": 1.2868893968723192,
139
+ "lr": "right",
140
+ "fb": "behind",
141
+ "target_cam_xyz": [
142
+ 0.08166639934259834,
143
+ 0.6258614354376338,
144
+ -3.1223541721601658
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ -0.0816663993425979,
148
+ -0.625861435437633,
149
+ -2.872161104342846
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 357,
154
+ 166,
155
+ 695,
156
+ 527
157
+ ],
158
+ "anchor_bbox": [
159
+ 198,
160
+ 442,
161
+ 655,
162
+ 1023
163
+ ],
164
+ "target_pixels": 63572,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01142/view_01_right/rgb.png",
166
+ "ok": true
167
+ }
168
+ ],
169
+ "all_views_ok": true
170
+ }
data/batch_v5/pair_01144/meta.json ADDED
@@ -0,0 +1,237 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 1144,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "685df4a4-cd69-4f0b-82f5-675bd0738881",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "bb9f0b8a-b050-4b1c-b8da-43576a577465#756",
9
+ "category": "Bed",
10
+ "raw_cat": "front3d_cat17",
11
+ "center": [
12
+ 4.287464141845703,
13
+ 2.831418514251709,
14
+ 0.3883081078529358
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ 4.6970906257629395,
19
+ 1.8849364817142487,
20
+ 1.2916121184825897
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ 0.997350704845228,
41
+ -0.05744701910138426,
42
+ 0.04462523435335687,
43
+ 4.613511427819739
44
+ ],
45
+ [
46
+ 0.07274318899200688,
47
+ 0.787631471563867,
48
+ -0.6118374730738634,
49
+ 0.6959894508889752
50
+ ],
51
+ [
52
+ -0.0,
53
+ 0.6134627168773197,
54
+ 0.7897236826900264,
55
+ 2.985414296089228
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 4.613511427819739,
66
+ 0.6959894508889752,
67
+ 2.985414296089228
68
+ ],
69
+ "gt": {
70
+ "clock": 4,
71
+ "dist": 1.3709778371156325,
72
+ "lr": "right",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ 0.16984557054385796,
76
+ -0.10743376200761023,
77
+ -2.0613482991114274
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ -0.16984557054385796,
81
+ 0.1074337620076089,
82
+ -3.3720817219142307
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 405,
87
+ 283,
88
+ 771,
89
+ 721
90
+ ],
91
+ "anchor_bbox": [
92
+ 84,
93
+ 279,
94
+ 833,
95
+ 739
96
+ ],
97
+ "target_pixels": 98262,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01144/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 180,
105
+ "cam2world": [
106
+ [
107
+ -0.997350704845228,
108
+ 0.05744701910138425,
109
+ -0.04462523435335687,
110
+ 4.371043339788904
111
+ ],
112
+ [
113
+ -0.07274318899200687,
114
+ -0.787631471563867,
115
+ 0.6118374730738635,
116
+ 4.020365545076983
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.6134627168773198,
121
+ 0.7897236826900264,
122
+ 2.985414296089228
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 4.371043339788904,
133
+ 4.020365545076983,
134
+ 2.985414296089228
135
+ ],
136
+ "gt": {
137
+ "clock": 12,
138
+ "dist": 1.3709778371156325,
139
+ "lr": "left",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ -0.16984557054385796,
143
+ 0.6615770945346562,
144
+ -2.65872115205111
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.16984557054385796,
148
+ -0.6615770945346564,
149
+ -2.7747088689745487
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 294,
154
+ 64,
155
+ 580,
156
+ 490
157
+ ],
158
+ "anchor_bbox": [
159
+ 79,
160
+ 367,
161
+ 1004,
162
+ 1023
163
+ ],
164
+ "target_pixels": 83236,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01144/view_01_right/rgb.png",
166
+ "ok": true
167
+ },
168
+ {
169
+ "view_idx": 2,
170
+ "view_label": "back",
171
+ "azimuth_offset_deg": 270,
172
+ "cam2world": [
173
+ [
174
+ 0.0727431889920066,
175
+ 0.787631471563867,
176
+ -0.6118374730738635,
177
+ 2.8300893367103175
178
+ ],
179
+ [
180
+ -0.997350704845228,
181
+ 0.05744701910138404,
182
+ -0.04462523435335671,
183
+ 2.236943453967562
184
+ ],
185
+ [
186
+ 0.0,
187
+ 0.6134627168773198,
188
+ 0.7897236826900264,
189
+ 2.985414296089228
190
+ ],
191
+ [
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 1.0
196
+ ]
197
+ ],
198
+ "cam_pos_world": [
199
+ 2.8300893367103175,
200
+ 2.236943453967562,
201
+ 2.985414296089228
202
+ ],
203
+ "gt": {
204
+ "clock": 2,
205
+ "dist": 1.3709778371156325,
206
+ "lr": "right",
207
+ "fb": "in front of",
208
+ "target_cam_xyz": [
209
+ 0.4868860295051516,
210
+ 0.41120273572200805,
211
+ -2.464228650736683
212
+ ],
213
+ "anchor_cam_xyz": [
214
+ -0.4868860295051509,
215
+ -0.41120273572200716,
216
+ -2.969201370288976
217
+ ]
218
+ },
219
+ "target_bbox": [
220
+ 548,
221
+ 125,
222
+ 897,
223
+ 570
224
+ ],
225
+ "anchor_bbox": [
226
+ 0,
227
+ 319,
228
+ 726,
229
+ 1023
230
+ ],
231
+ "target_pixels": 100896,
232
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01144/view_02_back/rgb.png",
233
+ "ok": true
234
+ }
235
+ ],
236
+ "all_views_ok": true
237
+ }
data/batch_v5/pair_01148/meta.json ADDED
@@ -0,0 +1,237 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 1148,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "b011f582-89dc-4638-805a-e85cac78c755",
6
+ "target_category": "others",
7
+ "anchor": {
8
+ "jid": "f47e91bf-c4c3-4399-9917-ac2c0d393fee#420",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ 3.248800277709961,
13
+ 0.7421999573707581,
14
+ 0.2590014934539795
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ 2.878587245941162,
19
+ 0.06904452666640282,
20
+ 1.0330030620098114
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.9978245343137506,
41
+ -0.05154999124710026,
42
+ 0.04109497687030196,
43
+ 3.208136387266065
44
+ ],
45
+ [
46
+ 0.06592570607545108,
47
+ -0.7802395919908058,
48
+ 0.6219967687765541,
49
+ 2.591846767248132
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.6233528515154516,
54
+ 0.781940677102525,
55
+ 3.394405438923013
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 3.208136387266065,
66
+ 2.591846767248132,
67
+ 3.394405438923013
68
+ ],
69
+ "gt": {
70
+ "clock": 1,
71
+ "dist": 1.0905385600266961,
72
+ "lr": "right",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ 0.16251469947693753,
76
+ 0.5133915409915576,
77
+ -3.4291942297594824
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ -0.16251469947693709,
81
+ -0.5133915409915578,
82
+ -3.600503141594324
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 489,
87
+ 263,
88
+ 608,
89
+ 512
90
+ ],
91
+ "anchor_bbox": [
92
+ 230,
93
+ 449,
94
+ 719,
95
+ 835
96
+ ],
97
+ "target_pixels": 13835,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01148/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 180,
105
+ "cam2world": [
106
+ [
107
+ 0.9978245343137505,
108
+ 0.05154999124710041,
109
+ -0.041094976870302086,
110
+ 2.9192511363850575
111
+ ],
112
+ [
113
+ -0.06592570607545127,
114
+ 0.7802395919908058,
115
+ -0.6219967687765541,
116
+ -1.7806022832109711
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.6233528515154516,
121
+ 0.781940677102525,
122
+ 3.394405438923013
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 2.9192511363850575,
133
+ -1.7806022832109711,
134
+ 3.394405438923013
135
+ ],
136
+ "gt": {
137
+ "clock": 9,
138
+ "dist": 1.0905385600266961,
139
+ "lr": "left",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ -0.16251469947693753,
143
+ -0.030915456154847032,
144
+ -2.99527983099936
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.16251469947693709,
148
+ 0.030915456154848253,
149
+ -4.034417540354445
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 400,
154
+ 413,
155
+ 536,
156
+ 662
157
+ ],
158
+ "anchor_bbox": [
159
+ 353,
160
+ 344,
161
+ 777,
162
+ 692
163
+ ],
164
+ "target_pixels": 18270,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01148/view_01_right/rgb.png",
166
+ "ok": true
167
+ },
168
+ {
169
+ "view_idx": 2,
170
+ "view_label": "back",
171
+ "azimuth_offset_deg": 270,
172
+ "cam2world": [
173
+ [
174
+ 0.06592570607545134,
175
+ -0.7802395919908058,
176
+ 0.6219967687765541,
177
+ 5.249918287055113
178
+ ],
179
+ [
180
+ 0.9978245343137505,
181
+ 0.05154999124710047,
182
+ -0.041094976870302134,
183
+ 0.26117961657807626
184
+ ],
185
+ [
186
+ -0.0,
187
+ 0.6233528515154516,
188
+ 0.781940677102525,
189
+ 3.394405438923013
190
+ ],
191
+ [
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 1.0
196
+ ]
197
+ ],
198
+ "cam_pos_world": [
199
+ 5.249918287055113,
200
+ 0.26117961657807626,
201
+ 3.394405438923013
202
+ ],
203
+ "gt": {
204
+ "clock": 11,
205
+ "dist": 1.0905385600266961,
206
+ "lr": "left",
207
+ "fb": "in front of",
208
+ "target_cam_xyz": [
209
+ -0.34804877984051835,
210
+ 0.3683148965664651,
211
+ -3.313541031711546
212
+ ],
213
+ "anchor_cam_xyz": [
214
+ 0.34804877984051874,
215
+ -0.36831489656646377,
216
+ -3.7161563396422586
217
+ ]
218
+ },
219
+ "target_bbox": [
220
+ 365,
221
+ 301,
222
+ 491,
223
+ 548
224
+ ],
225
+ "anchor_bbox": [
226
+ 406,
227
+ 410,
228
+ 847,
229
+ 826
230
+ ],
231
+ "target_pixels": 14653,
232
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01148/view_02_back/rgb.png",
233
+ "ok": true
234
+ }
235
+ ],
236
+ "all_views_ok": true
237
+ }
data/batch_v5/pair_01151/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 1151,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "11eb5631-12be-45e6-9428-dd65e897d733",
6
+ "target_category": "chair",
7
+ "anchor": {
8
+ "jid": "f36889f8-d94b-4ab9-9da1-46e06a27ff90#347",
9
+ "category": "Bed",
10
+ "raw_cat": "front3d_cat17",
11
+ "center": [
12
+ -1.7544971704483032,
13
+ 1.8961994647979736,
14
+ 0.394632488489151
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -2.264543294906616,
19
+ 1.5186680555343628,
20
+ 1.3042650520801544
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.9825582726133322,
41
+ -0.056364232302200036,
42
+ 0.1772069813412786,
43
+ -1.32731489490055
44
+ ],
45
+ [
46
+ 0.18595494324998363,
47
+ -0.2978202233299927,
48
+ 0.9363353425224152,
49
+ 5.312105335648657
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.9529565508944554,
54
+ 0.303106931803519,
55
+ 2.0163394042112452
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -1.32731489490055,
66
+ 5.312105335648657,
67
+ 2.0163394042112452
68
+ ],
69
+ "gt": {
70
+ "clock": 1,
71
+ "dist": 1.109102526730804,
72
+ "lr": "right",
73
+ "fb": "behind",
74
+ "target_cam_xyz": [
75
+ 0.2154731036080917,
76
+ 0.504012578622872,
77
+ -3.9338474826959415
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ -0.2154731036080917,
81
+ -0.5040125786228726,
82
+ -3.7656836826486906
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 494,
87
+ 280,
88
+ 629,
89
+ 524
90
+ ],
91
+ "anchor_bbox": [
92
+ 160,
93
+ 491,
94
+ 796,
95
+ 848
96
+ ],
97
+ "target_pixels": 9681,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01151/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 225,
105
+ "cam2world": [
106
+ [
107
+ 0.8262636188430508,
108
+ -0.22124491359009746,
109
+ 0.5180145947624409,
110
+ 0.056975461792891036
111
+ ],
112
+ [
113
+ 0.5632836161086043,
114
+ 0.3245374403333006,
115
+ -0.7598598671107217,
116
+ -1.3238459753116083
117
+ ],
118
+ [
119
+ -0.0,
120
+ 0.9196336977473256,
121
+ 0.3927771148725195,
122
+ 2.416339404211245
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 0.056975461792891036,
133
+ -1.3238459753116083,
134
+ 2.416339404211245
135
+ ],
136
+ "gt": {
137
+ "clock": 11,
138
+ "dist": 1.109102526730804,
139
+ "lr": "left",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ -0.3170449069881913,
143
+ 0.41342539578574033,
144
+ -3.7992902872778584
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.31704490698819154,
148
+ -0.4134253957857408,
149
+ -4.1792327712009705
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 511,
154
+ 298,
155
+ 517,
156
+ 411
157
+ ],
158
+ "anchor_bbox": [
159
+ 511,
160
+ 576,
161
+ 824,
162
+ 844
163
+ ],
164
+ "target_pixels": 580,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01151/view_01_right/rgb.png",
166
+ "ok": true
167
+ }
168
+ ],
169
+ "all_views_ok": true
170
+ }
data/batch_v5/pair_01168/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 1168,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "6a335986-9e77-4217-a04e-65487aec0d7a",
6
+ "target_category": "chair",
7
+ "anchor": {
8
+ "jid": "6c6ad156-abcc-4e30-a452-b07eaa23e30a#454",
9
+ "category": "Sofa",
10
+ "raw_cat": "front3d_cat46",
11
+ "center": [
12
+ 0.043572016060352325,
13
+ 0.5718454718589783,
14
+ 0.2623625695705414
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -0.04852854087948799,
19
+ 0.0480700246989727,
20
+ 0.9935971200466156
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ 0.979036908860823,
41
+ 0.09483587666740893,
42
+ -0.18025783640377094,
43
+ -0.34424434858815794
44
+ ],
45
+ [
46
+ -0.2036829180079779,
47
+ 0.4558449203773171,
48
+ -0.866440233067436,
49
+ -1.332799611239228
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.8849924096075183,
54
+ 0.46560544985757907,
55
+ 1.510760618593111
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -0.34424434858815794,
66
+ -1.332799611239228,
67
+ 1.510760618593111
68
+ ],
69
+ "gt": {
70
+ "clock": 12,
71
+ "dist": 0.904172107204286,
72
+ "lr": "right",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ 0.008257133443870857,
76
+ 0.1998211063744494,
77
+ -1.490540244276659
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ -0.008257133443871023,
81
+ -0.19982110637444916,
82
+ -2.30142900374035
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 0,
87
+ 82,
88
+ 782,
89
+ 807
90
+ ],
91
+ "anchor_bbox": [
92
+ 0,
93
+ 0,
94
+ 0,
95
+ 0
96
+ ],
97
+ "target_pixels": 283762,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01168/view_00_front/rgb.png",
99
+ "ok": false
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 225,
105
+ "cam2world": [
106
+ [
107
+ -0.8363092098227086,
108
+ 0.2552719428769467,
109
+ -0.48520422581171485,
110
+ -0.9224180140525294
111
+ ],
112
+ [
113
+ -0.5482580647520989,
114
+ -0.38939012585953875,
115
+ 0.7401273027779586,
116
+ 1.7132277341548716
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.8849924096075183,
121
+ 0.46560544985757907,
122
+ 1.510760618593111
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ -0.9224180140525294,
133
+ 1.7132277341548716,
134
+ 1.510760618593111
135
+ ],
136
+ "gt": {
137
+ "clock": 1,
138
+ "dist": 0.904172107204286,
139
+ "lr": "right",
140
+ "fb": "behind",
141
+ "target_cam_xyz": [
142
+ 0.18209432851159965,
143
+ 0.4137896629978901,
144
+ -1.8972376928661117
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ -0.18209432851159946,
148
+ -0.4137896629978901,
149
+ -1.8947315551508974
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 344,
154
+ 80,
155
+ 995,
156
+ 631
157
+ ],
158
+ "anchor_bbox": [
159
+ 297,
160
+ 569,
161
+ 548,
162
+ 879
163
+ ],
164
+ "target_pixels": 193700,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01168/view_01_right/rgb.png",
166
+ "ok": true
167
+ }
168
+ ],
169
+ "all_views_ok": false
170
+ }
data/batch_v5/pair_01172/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 1172,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "5c2b4502-8d34-47cc-ac50-22589b794c7e",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "24caaf37-afd3-4cc9-84b5-f27e9cf84d8a#253",
9
+ "category": "Sofa",
10
+ "raw_cat": "front3d_cat46",
11
+ "center": [
12
+ -0.26089900732040405,
13
+ 1.9098999500274658,
14
+ 0.22242200374603271
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ 1.0963629633188248,
19
+ 1.29991914331913,
20
+ 0.9598440080881119
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.9356915680751974,
41
+ 0.24385486753600946,
42
+ -0.25498253471948545,
43
+ -0.19908913783939075
44
+ ],
45
+ [
46
+ -0.3528190604728978,
47
+ -0.6467137662055693,
48
+ 0.6762248259027689,
49
+ 3.2407461035966403
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.722700566057066,
54
+ 0.6911612632525035,
55
+ 2.2631018805415164
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -0.19908913783939075,
66
+ 3.2407461035966403,
67
+ 2.2631018805415164
68
+ ],
69
+ "gt": {
70
+ "clock": 11,
71
+ "dist": 1.6607311203153643,
72
+ "lr": "left",
73
+ "fb": "behind",
74
+ "target_cam_xyz": [
75
+ -0.5273828632334585,
76
+ 0.6291966114211544,
77
+ -2.5435143911507296
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.5273828632334586,
81
+ -0.6291966114211538,
82
+ -2.2946296528496646
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 178,
87
+ 58,
88
+ 470,
89
+ 509
90
+ ],
91
+ "anchor_bbox": [
92
+ 581,
93
+ 596,
94
+ 841,
95
+ 942
96
+ ],
97
+ "target_pixels": 86454,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01172/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 225,
105
+ "cam2world": [
106
+ [
107
+ 0.41215310269279315,
108
+ -0.6297271200307092,
109
+ 0.6584630393868229,
110
+ 2.0106014941010875
111
+ ],
112
+ [
113
+ 0.9111146030772989,
114
+ 0.2848642591105897,
115
+ -0.2978632806182577,
116
+ 0.8843568181484771
117
+ ],
118
+ [
119
+ -0.0,
120
+ 0.722700566057066,
121
+ 0.6911612632525035,
122
+ 2.2631018805415164
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 2.0106014941010875,
133
+ 0.8843568181484771,
134
+ 2.2631018805415164
135
+ ],
136
+ "gt": {
137
+ "clock": 6,
138
+ "dist": 1.6607311203153643,
139
+ "lr": "right",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ 0.0018186558885284754,
143
+ -0.24776555125577004,
144
+ -1.626534396648779
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ -0.0018186558885284754,
148
+ 0.24776555125576938,
149
+ -3.211609647351615
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 382,
154
+ 276,
155
+ 590,
156
+ 1008
157
+ ],
158
+ "anchor_bbox": [
159
+ 398,
160
+ 358,
161
+ 628,
162
+ 504
163
+ ],
164
+ "target_pixels": 120147,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01172/view_01_right/rgb.png",
166
+ "ok": true
167
+ }
168
+ ],
169
+ "all_views_ok": true
170
+ }
data/batch_v5/pair_01174/meta.json ADDED
@@ -0,0 +1,237 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 1174,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "6b39114f-2001-42fb-939a-46ddbb667a36",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "0693202e-7fe9-47bc-9ceb-bc3cf22f7f74#320",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ 0.9946100115776062,
13
+ 1.3978500366210938,
14
+ 0.21195000410079956
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ 1.8870035111904144,
19
+ 2.031347334384918,
20
+ 0.5543209910392761
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.997784126940618,
41
+ 0.033873065582813416,
42
+ -0.05726649503305782,
43
+ 1.1978468073281283
44
+ ],
45
+ [
46
+ -0.06653447245863467,
47
+ -0.5079773825570262,
48
+ 0.858796915915028,
49
+ 5.358147310464261
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.8607041270021512,
54
+ 0.5091054957093518,
55
+ 2.5430764504035963
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 1.1978468073281283,
66
+ 5.358147310464261,
67
+ 2.5430764504035963
68
+ ],
69
+ "gt": {
70
+ "clock": 9,
71
+ "dist": 1.146692145749019,
72
+ "lr": "left",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ -0.4662827387046675,
76
+ 0.0015529628933956263,
77
+ -3.9089974822662095
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.4662827387046675,
81
+ -0.0015529628933953488,
82
+ -4.5762417109349895
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 327,
87
+ 443,
88
+ 494,
89
+ 595
90
+ ],
91
+ "anchor_bbox": [
92
+ 538,
93
+ 424,
94
+ 669,
95
+ 621
96
+ ],
97
+ "target_pixels": 11890,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01174/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 90,
105
+ "cam2world": [
106
+ [
107
+ 0.06653447245863478,
108
+ 0.5079773825570261,
109
+ -0.8587969159150282,
110
+ -2.2027418635772453
111
+ ],
112
+ [
113
+ -0.9977841269406178,
114
+ 0.03387306558281348,
115
+ -0.057266495033057925,
116
+ 1.4716387314471235
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.860704127002151,
121
+ 0.5091054957093518,
122
+ 2.5430764504035963
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ -2.2027418635772453,
133
+ 1.4716387314471235,
134
+ 2.5430764504035963
135
+ ],
136
+ "gt": {
137
+ "clock": 11,
138
+ "dist": 1.146692145749019,
139
+ "lr": "left",
140
+ "fb": "behind",
141
+ "target_cam_xyz": [
142
+ -0.2863593087231324,
143
+ 0.38472716554082753,
144
+ -4.556799598642666
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.28635930872313264,
148
+ -0.384727165540827,
149
+ -3.928439594558533
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 360,
154
+ 388,
155
+ 546,
156
+ 463
157
+ ],
158
+ "anchor_bbox": [
159
+ 476,
160
+ 522,
161
+ 726,
162
+ 673
163
+ ],
164
+ "target_pixels": 5670,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01174/view_01_right/rgb.png",
166
+ "ok": true
167
+ },
168
+ {
169
+ "view_idx": 2,
170
+ "view_label": "back",
171
+ "azimuth_offset_deg": 225,
172
+ "cam2world": [
173
+ [
174
+ 0.6584929456618397,
175
+ -0.38314612626865024,
176
+ 0.6477546498782706,
177
+ 4.188983332746721
178
+ ],
179
+ [
180
+ 0.7525868989781801,
181
+ 0.33524237752228214,
182
+ -0.5667675959329487,
183
+ -0.6899806237203325
184
+ ],
185
+ [
186
+ -0.0,
187
+ 0.8607041270021512,
188
+ 0.5091054957093518,
189
+ 2.5430764504035963
190
+ ],
191
+ [
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 1.0
196
+ ]
197
+ ],
198
+ "cam_pos_world": [
199
+ 4.188983332746721,
200
+ -0.6899806237203325,
201
+ 2.5430764504035963
202
+ ],
203
+ "gt": {
204
+ "clock": 3,
205
+ "dist": 1.146692145749019,
206
+ "lr": "right",
207
+ "fb": "in front of",
208
+ "target_cam_xyz": [
209
+ 0.5321982955423246,
210
+ 0.08256907459803009,
211
+ -4.045964971883834
212
+ ],
213
+ "anchor_cam_xyz": [
214
+ -0.5321982955423246,
215
+ -0.08256907459803015,
216
+ -4.439274221317365
217
+ ]
218
+ },
219
+ "target_bbox": [
220
+ 593,
221
+ 425,
222
+ 657,
223
+ 575
224
+ ],
225
+ "anchor_bbox": [
226
+ 266,
227
+ 438,
228
+ 534,
229
+ 641
230
+ ],
231
+ "target_pixels": 7194,
232
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01174/view_02_back/rgb.png",
233
+ "ok": true
234
+ }
235
+ ],
236
+ "all_views_ok": true
237
+ }
data/batch_v5/pair_01179/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 1179,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "4a60daea-bd12-4fa5-8cdd-e6565f3055dd",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "82c830e5-5bf1-4f4a-be30-9c6d47c6af2b#367",
9
+ "category": "Sofa",
10
+ "raw_cat": "front3d_cat46",
11
+ "center": [
12
+ 3.7384512424468994,
13
+ 4.7975263595581055,
14
+ 0.4271659851074219
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ 3.1539876461029053,
19
+ 4.452614784240723,
20
+ 1.369331955909729
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.146930079170512,
41
+ 0.5723595160322422,
42
+ -0.8067317622619583,
43
+ 1.5774255780779232
44
+ ],
45
+ [
46
+ -0.9891468808195004,
47
+ -0.08501955638270801,
48
+ 0.11983373146798221,
49
+ 4.902665372063168
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.8155833859513233,
54
+ 0.5786395601410044,
55
+ 2.238667324309914
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 1.5774255780779232,
66
+ 4.902665372063168,
67
+ 2.238667324309914
68
+ ],
69
+ "gt": {
70
+ "clock": 1,
71
+ "dist": 1.1611366873788493,
72
+ "lr": "right",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ 0.2135217456834173,
76
+ 0.23160792028894672,
77
+ -1.8288257719273742
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ -0.21352174568341642,
81
+ -0.23160792028894672,
82
+ -2.8041735808120136
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 439,
87
+ 108,
88
+ 836,
89
+ 675
90
+ ],
91
+ "anchor_bbox": [
92
+ 281,
93
+ 435,
94
+ 615,
95
+ 754
96
+ ],
97
+ "target_pixels": 89192,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01179/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 270,
105
+ "cam2world": [
106
+ [
107
+ -0.9891468808195005,
108
+ -0.09955007185355605,
109
+ 0.10806586583655678,
110
+ 3.7238142444386555
111
+ ],
112
+ [
113
+ 0.1469300791705118,
114
+ -0.6701802899393288,
115
+ 0.7275094025590214,
116
+ 6.493864438096393
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.7354917825311096,
121
+ 0.6775336433190686,
122
+ 2.638667324309914
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 3.7238142444386555,
133
+ 6.493864438096393,
134
+ 2.638667324309914
135
+ ],
136
+ "gt": {
137
+ "clock": 1,
138
+ "dist": 1.1611366873788493,
139
+ "lr": "right",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ 0.26372122910400053,
143
+ 0.4911458309335046,
144
+ -2.40662453762213
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ -0.26372122910399964,
148
+ -0.49114583093350417,
149
+ -2.7308867017473624
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 480,
154
+ 100,
155
+ 771,
156
+ 521
157
+ ],
158
+ "anchor_bbox": [
159
+ 257,
160
+ 526,
161
+ 583,
162
+ 802
163
+ ],
164
+ "target_pixels": 57549,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01179/view_01_right/rgb.png",
166
+ "ok": true
167
+ }
168
+ ],
169
+ "all_views_ok": true
170
+ }
data/batch_v5/pair_01195/meta.json ADDED
@@ -0,0 +1,237 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 1195,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "0b4d5b33-7730-4198-8103-dc845192d495",
6
+ "target_category": "lighting",
7
+ "anchor": {
8
+ "jid": "71077ab4-63f1-4875-a2b2-4199ea4de5d6#438",
9
+ "category": "Bed",
10
+ "raw_cat": "front3d_cat17",
11
+ "center": [
12
+ 4.719888210296631,
13
+ 0.41356363892555237,
14
+ 0.3883081078529358
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ 4.799513578414917,
19
+ 1.144272342324257,
20
+ 1.291612148284912
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.984892097334665,
41
+ 0.13992857135737066,
42
+ -0.10201740795379004,
43
+ 4.4195456423601795
44
+ ],
45
+ [
46
+ -0.1731691560518928,
47
+ -0.7958377072641382,
48
+ 0.5802196024686128,
49
+ 2.713536297922942
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.5891199696279571,
54
+ 0.8080455812548911,
55
+ 3.5342154892734103
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 4.4195456423601795,
66
+ 2.713536297922942,
67
+ 3.5342154892734103
68
+ ],
69
+ "gt": {
70
+ "clock": 9,
71
+ "dist": 1.1645744278195886,
72
+ "lr": "left",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ -0.10247930264719507,
76
+ -0.019114613161041127,
77
+ -2.7614067726208598
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.10247930264719507,
81
+ 0.01911461316104146,
82
+ -3.9071659507651657
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 363,
87
+ 392,
88
+ 599,
89
+ 633
90
+ ],
91
+ "anchor_bbox": [
92
+ 207,
93
+ 249,
94
+ 807,
95
+ 668
96
+ ],
97
+ "target_pixels": 31111,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01195/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 90,
105
+ "cam2world": [
106
+ [
107
+ 0.17316915605189273,
108
+ 0.7958377072641382,
109
+ -0.5802196024686128,
110
+ 2.8250825870577367
111
+ ],
112
+ [
113
+ -0.984892097334665,
114
+ 0.1399285713573706,
115
+ -0.10201740795379001,
116
+ 0.43876273862931037
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.5891199696279571,
121
+ 0.8080455812548911,
122
+ 3.5342154892734103
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 2.8250825870577367,
133
+ 0.43876273862931037,
134
+ 3.5342154892734103
135
+ ],
136
+ "gt": {
137
+ "clock": 10,
138
+ "dist": 1.1645744278195886,
139
+ "lr": "left",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ -0.3529402848168394,
143
+ 0.34888517210619696,
144
+ -3.0297035461556483
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.3529402848168394,
148
+ -0.34888517210619696,
149
+ -3.6388691772303763
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 314,
154
+ 281,
155
+ 499,
156
+ 544
157
+ ],
158
+ "anchor_bbox": [
159
+ 323,
160
+ 328,
161
+ 897,
162
+ 985
163
+ ],
164
+ "target_pixels": 29924,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01195/view_01_right/rgb.png",
166
+ "ok": true
167
+ },
168
+ {
169
+ "view_idx": 2,
170
+ "view_label": "back",
171
+ "azimuth_offset_deg": 180,
172
+ "cam2world": [
173
+ [
174
+ 0.984892097334665,
175
+ -0.13992857135737102,
176
+ 0.1020174079537903,
177
+ 5.099856146351369
178
+ ],
179
+ [
180
+ 0.17316915605189323,
181
+ 0.7958377072641382,
182
+ -0.5802196024686128,
183
+ -1.1557003166731323
184
+ ],
185
+ [
186
+ -0.0,
187
+ 0.5891199696279572,
188
+ 0.8080455812548911,
189
+ 3.5342154892734103
190
+ ],
191
+ [
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 1.0
196
+ ]
197
+ ],
198
+ "cam_pos_world": [
199
+ 5.099856146351369,
200
+ -1.1557003166731323,
201
+ 3.5342154892734103
202
+ ],
203
+ "gt": {
204
+ "clock": 12,
205
+ "dist": 1.1645744278195886,
206
+ "lr": "right",
207
+ "fb": "in front of",
208
+ "target_cam_xyz": [
209
+ 0.10247930264719596,
210
+ 0.5512690620251377,
211
+ -3.1772551123644175
212
+ ],
213
+ "anchor_cam_xyz": [
214
+ -0.10247930264719418,
215
+ -0.5512690620251388,
216
+ -3.4913176110216075
217
+ ]
218
+ },
219
+ "target_bbox": [
220
+ 442,
221
+ 224,
222
+ 653,
223
+ 475
224
+ ],
225
+ "anchor_bbox": [
226
+ 81,
227
+ 463,
228
+ 801,
229
+ 1023
230
+ ],
231
+ "target_pixels": 29968,
232
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01195/view_02_back/rgb.png",
233
+ "ok": true
234
+ }
235
+ ],
236
+ "all_views_ok": true
237
+ }
data/batch_v5/pair_01199/meta.json ADDED
@@ -0,0 +1,237 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 1199,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "64184c4a-d0f6-4502-badc-6fcaf1ee71b0",
6
+ "target_category": "others",
7
+ "anchor": {
8
+ "jid": "bec925cf-884c-4061-9145-7fc7b1cba882#344",
9
+ "category": "Sofa",
10
+ "raw_cat": "front3d_cat46",
11
+ "center": [
12
+ 4.3730950355529785,
13
+ 1.3411165475845337,
14
+ 0.42766499519348145
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ 3.0897028531347,
19
+ 1.5814998235021318,
20
+ 1.3182348566395896
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.02558353610983263,
41
+ 0.6622621127780356,
42
+ -0.7488353468279189,
43
+ 1.1373635650850131
44
+ ],
45
+ [
46
+ -0.9996726877734117,
47
+ -0.016948554145425714,
48
+ 0.01916412878955584,
49
+ 1.5276945123952412
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.7490805300441017,
54
+ 0.6624789502383059,
55
+ 3.1678387051548373
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 1.1373635650850131,
66
+ 1.5276945123952412,
67
+ 3.1678387051548373
68
+ ],
69
+ "gt": {
70
+ "clock": 8,
71
+ "dist": 1.5805044420530325,
72
+ "lr": "left",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ -0.10373544264517398,
76
+ -0.09345381168266753,
77
+ -2.6862731519019567
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.10373544264517398,
81
+ 0.09345381168266709,
82
+ -4.241913104922618
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 312,
87
+ 345,
88
+ 664,
89
+ 720
90
+ ],
91
+ "anchor_bbox": [
92
+ 119,
93
+ 356,
94
+ 960,
95
+ 695
96
+ ],
97
+ "target_pixels": 62927,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01199/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 180,
105
+ "cam2world": [
106
+ [
107
+ 0.02558353610983323,
108
+ -0.6622621127780356,
109
+ 0.7488353468279189,
110
+ 6.325434323602665
111
+ ],
112
+ [
113
+ 0.9996726877734117,
114
+ 0.01694855414542611,
115
+ -0.019164128789556287,
116
+ 1.3949218586914227
117
+ ],
118
+ [
119
+ -0.0,
120
+ 0.7490805300441017,
121
+ 0.6624789502383059,
122
+ 3.1678387051548373
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 6.325434323602665,
133
+ 1.3949218586914227,
134
+ 3.1678387051548373
135
+ ],
136
+ "gt": {
137
+ "clock": 12,
138
+ "dist": 1.5805044420530325,
139
+ "lr": "right",
140
+ "fb": "behind",
141
+ "target_cam_xyz": [
142
+ 0.10373544264517354,
143
+ 0.7605623555360199,
144
+ -3.6519293179979293
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ -0.10373544264517376,
148
+ -0.7605623555360195,
149
+ -3.2762569388266485
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 383,
154
+ 177,
155
+ 588,
156
+ 310
157
+ ],
158
+ "anchor_bbox": [
159
+ 0,
160
+ 0,
161
+ 0,
162
+ 0
163
+ ],
164
+ "target_pixels": 19415,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01199/view_01_right/rgb.png",
166
+ "ok": false
167
+ },
168
+ {
169
+ "view_idx": 2,
170
+ "view_label": "back",
171
+ "azimuth_offset_deg": 270,
172
+ "cam2world": [
173
+ [
174
+ -0.9996726877734117,
175
+ -0.01694855414542611,
176
+ 0.019164128789556287,
177
+ 3.797785271195749
178
+ ],
179
+ [
180
+ 0.02558353610983323,
181
+ -0.6622621127780356,
182
+ 0.7488353468279189,
183
+ 4.0553435648021585
184
+ ],
185
+ [
186
+ 0.0,
187
+ 0.7490805300441017,
188
+ 0.6624789502383059,
189
+ 3.1678387051548373
190
+ ],
191
+ [
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 1.0
196
+ ]
197
+ ],
198
+ "cam_pos_world": [
199
+ 3.797785271195749,
200
+ 4.0553435648021585,
201
+ 3.1678387051548373
202
+ ],
203
+ "gt": {
204
+ "clock": 2,
205
+ "dist": 1.5805044420530325,
206
+ "lr": "right",
207
+ "fb": "in front of",
208
+ "target_cam_xyz": [
209
+ 0.6445609833425507,
210
+ 0.2648317247805952,
211
+ -3.091395034588936
212
+ ],
213
+ "anchor_cam_xyz": [
214
+ -0.6445609833425512,
215
+ -0.2648317247805962,
216
+ -3.8367912222356395
217
+ ]
218
+ },
219
+ "target_bbox": [
220
+ 475,
221
+ 233,
222
+ 841,
223
+ 581
224
+ ],
225
+ "anchor_bbox": [
226
+ 36,
227
+ 312,
228
+ 579,
229
+ 1023
230
+ ],
231
+ "target_pixels": 75138,
232
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_01199/view_02_back/rgb.png",
233
+ "ok": true
234
+ }
235
+ ],
236
+ "all_views_ok": false
237
+ }
data/batch_v5/pair_02009/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2009,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "44674565-5d1d-4773-b12a-27f4d366ebf0",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "f59de3b0-18c0-48a3-b804-d01778b0d671#419",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ -0.9740409851074219,
13
+ 0.3769999146461487,
14
+ 0.3500739336013794
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -1.0637686401605606,
19
+ 1.0913640856742859,
20
+ 0.8817272186279297
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.9351415397122269,
41
+ 0.25110279654139694,
42
+ -0.24991535821900812,
43
+ -1.6743125902340212
44
+ ],
45
+ [
46
+ -0.3542743297285951,
47
+ -0.6628102464089282,
48
+ 0.6596758875013474,
49
+ 2.4641945549896755
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.7054289211709607,
54
+ 0.7087806693015649,
55
+ 2.4746913546538036
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -1.6743125902340212,
66
+ 2.4641945549896755,
67
+ 2.4746913546538036
68
+ ],
69
+ "gt": {
70
+ "clock": 8,
71
+ "dist": 0.8949985678254324,
72
+ "lr": "left",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ -0.08458641518597865,
76
+ -0.060487577021268724,
77
+ -2.187269654731386
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.08458641518597843,
81
+ 0.060487577021268946,
82
+ -3.057768363505788
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 296,
87
+ 405,
88
+ 571,
89
+ 651
90
+ ],
91
+ "anchor_bbox": [
92
+ 150,
93
+ 218,
94
+ 783,
95
+ 818
96
+ ],
97
+ "target_pixels": 26316,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02009/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 90,
105
+ "cam2world": [
106
+ [
107
+ 0.3542743297285951,
108
+ 0.6628102464089282,
109
+ -0.6596758875013474,
110
+ -2.7489173674634495
111
+ ],
112
+ [
113
+ -0.9351415397122269,
114
+ 0.25110279654139694,
115
+ -0.2499153582190081,
116
+ 0.0787742225601874
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.7054289211709607,
121
+ 0.7087806693015649,
122
+ 2.4746913546538036
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ -2.7489173674634495,
133
+ 0.0787742225601874,
134
+ 2.4746913546538036
135
+ ],
136
+ "gt": {
137
+ "clock": 10,
138
+ "dist": 0.8949985678254324,
139
+ "lr": "left",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ -0.34990990783128484,
143
+ 0.2474750176159769,
144
+ -2.4937759271302036
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.3499099078312853,
148
+ -0.24747501761597568,
149
+ -2.75126209110697
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 291,
154
+ 325,
155
+ 548,
156
+ 511
157
+ ],
158
+ "anchor_bbox": [
159
+ 156,
160
+ 320,
161
+ 1023,
162
+ 830
163
+ ],
164
+ "target_pixels": 20119,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02009/view_01_right/rgb.png",
166
+ "ok": true
167
+ }
168
+ ],
169
+ "all_views_ok": true
170
+ }
data/batch_v5/pair_02013/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2013,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "a306b4cb-fab4-476b-b435-c86b7755427e",
6
+ "target_category": "lighting",
7
+ "anchor": {
8
+ "jid": "863e7831-9dbc-442a-842c-0fdd6b3d40b0#461",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ -1.4437777996063232,
13
+ -1.1930170059204102,
14
+ 0.183445006608963
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -0.5652251541614532,
19
+ -0.5048066414892673,
20
+ 0.8818558106819788
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ 0.01700351556332193,
41
+ 0.8051497605269425,
42
+ -0.5928277520341764,
43
+ -2.5109010593546
44
+ ],
45
+ [
46
+ -0.9998554297789695,
47
+ 0.01369235599085682,
48
+ -0.01008161340916118,
49
+ -0.8745296160198585
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.5929134696655378,
54
+ 0.8052661780362896,
55
+ 2.578864726732456
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -2.5109010593546,
66
+ -0.8745296160198585,
67
+ 2.578864726732456
68
+ ],
69
+ "gt": {
70
+ "clock": 11,
71
+ "dist": 1.31653557026559,
72
+ "lr": "left",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ -0.336586193063311,
76
+ 0.565443423245734,
77
+ -2.5237219610818906
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.33658619306331106,
81
+ -0.5654434232457335,
82
+ -2.5583598992958865
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 270,
87
+ 142,
88
+ 528,
89
+ 453
90
+ ],
91
+ "anchor_bbox": [
92
+ 391,
93
+ 545,
94
+ 870,
95
+ 881
96
+ ],
97
+ "target_pixels": 42187,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02013/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 90,
105
+ "cam2world": [
106
+ [
107
+ 0.9998554297789695,
108
+ -0.013692355990856761,
109
+ 0.010081613409161137,
110
+ -0.9788836845688687
111
+ ],
112
+ [
113
+ 0.017003515563321858,
114
+ 0.8051497605269425,
115
+ -0.5928277520341764,
116
+ -2.3553114061755505
117
+ ],
118
+ [
119
+ -0.0,
120
+ 0.5929134696655378,
121
+ 0.8052661780362896,
122
+ 2.578864726732456
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ -0.9788836845688687,
133
+ -2.3553114061755505,
134
+ 2.578864726732456
135
+ ],
136
+ "gt": {
137
+ "clock": 1,
138
+ "dist": 1.31653557026559,
139
+ "lr": "right",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ 0.44506381426858765,
143
+ 0.47809006381529207,
144
+ -2.4594041183120074
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ -0.44506381426858765,
148
+ -0.47809006381529234,
149
+ -2.622677742065772
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 565,
154
+ 160,
155
+ 774,
156
+ 494
157
+ ],
158
+ "anchor_bbox": [
159
+ 226,
160
+ 499,
161
+ 562,
162
+ 953
163
+ ],
164
+ "target_pixels": 31506,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02013/view_01_right/rgb.png",
166
+ "ok": true
167
+ }
168
+ ],
169
+ "all_views_ok": true
170
+ }
data/batch_v5/pair_02014/meta.json ADDED
@@ -0,0 +1,237 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2014,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "0f01a988-ab48-456d-b60b-ea35beb99dce",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "5738a0e6-b70a-46b1-bf0b-883209231ce8#413",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ -1.8631476163864136,
13
+ 2.375995397567749,
14
+ 0.35017600655555725
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -1.4133838415145874,
19
+ 0.7937455922365189,
20
+ 1.2152230739593506
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ 0.4718303718795196,
41
+ -0.6006020850301728,
42
+ 0.6454868206473648,
43
+ 0.3776065011476506
44
+ ],
45
+ [
46
+ 0.8816893444813962,
47
+ 0.3214083360597772,
48
+ -0.34542811312811683,
49
+ 0.5060894594476713
50
+ ],
51
+ [
52
+ -0.0,
53
+ 0.7321023268428358,
54
+ 0.6811946733726751,
55
+ 2.91008832871569
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 0.3776065011476506,
66
+ 0.5060894594476713,
67
+ 2.91008832871569
68
+ ],
69
+ "gt": {
70
+ "clock": 9,
71
+ "dist": 1.8585231579083359,
72
+ "lr": "left",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ -0.5914202922562994,
76
+ -0.07268718362329363,
77
+ -2.4099583608986057
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.5914202922562998,
81
+ 0.07268718362329452,
82
+ -3.836093969267993
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 69,
87
+ 294,
88
+ 451,
89
+ 772
90
+ ],
91
+ "anchor_bbox": [
92
+ 463,
93
+ 338,
94
+ 857,
95
+ 672
96
+ ],
97
+ "target_pixels": 112650,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02014/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 90,
105
+ "cam2world": [
106
+ [
107
+ -0.8816893444813962,
108
+ -0.32140833605977703,
109
+ 0.3454281131281168,
110
+ -0.5594846934960378
111
+ ],
112
+ [
113
+ 0.47183037187951943,
114
+ -0.6006020850301726,
115
+ 0.645486820647365,
116
+ 3.6007427250002855
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.7321023268428359,
121
+ 0.681194673372675,
122
+ 2.91008832871569
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ -0.5594846934960378,
133
+ 3.6007427250002855,
134
+ 2.91008832871569
135
+ ],
136
+ "gt": {
137
+ "clock": 11,
138
+ "dist": 1.8585231579083359,
139
+ "lr": "left",
140
+ "fb": "behind",
141
+ "target_cam_xyz": [
142
+ -0.5715527209469751,
143
+ 0.7195238382469458,
144
+ -3.2613736099201485
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.5715527209469755,
148
+ -0.7195238382469469,
149
+ -2.9846787202464515
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 223,
154
+ 143,
155
+ 466,
156
+ 488
157
+ ],
158
+ "anchor_bbox": [
159
+ 474,
160
+ 492,
161
+ 968,
162
+ 1016
163
+ ],
164
+ "target_pixels": 57284,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02014/view_01_right/rgb.png",
166
+ "ok": true
167
+ },
168
+ {
169
+ "view_idx": 2,
170
+ "view_label": "back",
171
+ "azimuth_offset_deg": 225,
172
+ "cam2world": [
173
+ [
174
+ 0.28981405885693845,
175
+ 0.7097546269610621,
176
+ -0.6420717878837465,
177
+ -3.8265160384438475
178
+ ],
179
+ [
180
+ -0.957082969908496,
181
+ 0.21492062412493215,
182
+ -0.19442560026108346,
183
+ 0.9222469565793788
184
+ ],
185
+ [
186
+ 0.0,
187
+ 0.6708632459995952,
188
+ 0.741581084687903,
189
+ 3.3100883287156897
190
+ ],
191
+ [
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 1.0
196
+ ]
197
+ ],
198
+ "cam_pos_world": [
199
+ -3.8265160384438475,
200
+ 0.9222469565793788,
201
+ 3.3100883287156897
202
+ ],
203
+ "gt": {
204
+ "clock": 2,
205
+ "dist": 1.8585231579083359,
206
+ "lr": "right",
207
+ "fb": "in front of",
208
+ "target_cam_xyz": [
209
+ 0.822346103972988,
210
+ 0.27974604407617554,
211
+ -3.07793259708268
212
+ ],
213
+ "anchor_cam_xyz": [
214
+ -0.8223461039729876,
215
+ -0.2797460440761754,
216
+ -3.738284376741285
217
+ ]
218
+ },
219
+ "target_bbox": [
220
+ 606,
221
+ 282,
222
+ 929,
223
+ 550
224
+ ],
225
+ "anchor_bbox": [
226
+ 203,
227
+ 419,
228
+ 498,
229
+ 569
230
+ ],
231
+ "target_pixels": 68292,
232
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02014/view_02_back/rgb.png",
233
+ "ok": true
234
+ }
235
+ ],
236
+ "all_views_ok": true
237
+ }
data/batch_v5/pair_02020/meta.json ADDED
@@ -0,0 +1,237 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2020,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "35b38447-4597-4297-838d-8392f62e37c3",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "9f787e94-23c0-44ec-a98b-ca7d2503d030#840",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ -1.3917741775512695,
13
+ -3.077136993408203,
14
+ 0.18296650052070618
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -1.9222106039524078,
19
+ -4.013986647129059,
20
+ 0.8809330314397812
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ 0.2157449819407931,
41
+ -0.6851305343162825,
42
+ 0.6957372016177173,
43
+ -0.12440364389458836
44
+ ],
45
+ [
46
+ 0.9764497441073795,
47
+ 0.15137847661404819,
48
+ -0.15372200249360277,
49
+ -3.884184809837482
50
+ ],
51
+ [
52
+ -0.0,
53
+ 0.7125171631374893,
54
+ 0.7016546816166087,
55
+ 2.0775736980122503
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -0.12440364389458836,
66
+ -3.884184809837482,
67
+ 2.0775736980122503
68
+ ],
69
+ "gt": {
70
+ "clock": 10,
71
+ "dist": 1.283046123260308,
72
+ "lr": "left",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ -0.5146128009387345,
76
+ 0.35945622570987157,
77
+ -2.0704763109970648
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.5146128009387345,
81
+ -0.359456225709872,
82
+ -2.3351778448931153
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 145,
87
+ 97,
88
+ 380,
89
+ 576
90
+ ],
91
+ "anchor_bbox": [
92
+ 481,
93
+ 413,
94
+ 1023,
95
+ 978
96
+ ],
97
+ "target_pixels": 48513,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02020/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 90,
105
+ "cam2world": [
106
+ [
107
+ -0.9764497441073794,
108
+ -0.1513784766140483,
109
+ 0.15372200249360288,
110
+ -1.3183694011829876
111
+ ],
112
+ [
113
+ 0.21574498194079325,
114
+ -0.6851305343162823,
115
+ 0.6957372016177173,
116
+ -2.0129730734113807
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.7125171631374893,
121
+ 0.7016546816166087,
122
+ 2.0775736980122503
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ -1.3183694011829876,
133
+ -2.0129730734113807,
134
+ 2.0775736980122503
135
+ ],
136
+ "gt": {
137
+ "clock": 12,
138
+ "dist": 1.283046123260308,
139
+ "lr": "right",
140
+ "fb": "behind",
141
+ "target_cam_xyz": [
142
+ 0.15791195060069008,
143
+ 0.6097370472861852,
144
+ -2.3246317889686585
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ -0.15791195060068997,
148
+ -0.6097370472861865,
149
+ -2.0810223669215215
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 473,
154
+ 58,
155
+ 687,
156
+ 456
157
+ ],
158
+ "anchor_bbox": [
159
+ 95,
160
+ 533,
161
+ 822,
162
+ 1023
163
+ ],
164
+ "target_pixels": 33751,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02020/view_01_right/rgb.png",
166
+ "ok": true
167
+ },
168
+ {
169
+ "view_idx": 2,
170
+ "view_label": "back",
171
+ "azimuth_offset_deg": 180,
172
+ "cam2world": [
173
+ [
174
+ -0.2157449819407931,
175
+ 0.6851305343162825,
176
+ -0.6957372016177173,
177
+ -3.189581137609089
178
+ ],
179
+ [
180
+ -0.9764497441073795,
181
+ -0.15137847661404819,
182
+ 0.15372200249360277,
183
+ -3.20693883069978
184
+ ],
185
+ [
186
+ 0.0,
187
+ 0.7125171631374893,
188
+ 0.7016546816166087,
189
+ 2.0775736980122503
190
+ ],
191
+ [
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 1.0
196
+ ]
197
+ ],
198
+ "cam_pos_world": [
199
+ -3.189581137609089,
200
+ -3.20693883069978,
201
+ 2.0775736980122503
202
+ ],
203
+ "gt": {
204
+ "clock": 3,
205
+ "dist": 1.283046123260308,
206
+ "lr": "right",
207
+ "fb": "in front of",
208
+ "target_cam_xyz": [
209
+ 0.514612800938735,
210
+ 0.13785690686550195,
211
+ -1.8454463608620433
212
+ ],
213
+ "anchor_cam_xyz": [
214
+ -0.5146128009387341,
215
+ -0.1378569068655024,
216
+ -2.5602077950281377
217
+ ]
218
+ },
219
+ "target_bbox": [
220
+ 677,
221
+ 159,
222
+ 901,
223
+ 681
224
+ ],
225
+ "anchor_bbox": [
226
+ 122,
227
+ 355,
228
+ 551,
229
+ 842
230
+ ],
231
+ "target_pixels": 55682,
232
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02020/view_02_back/rgb.png",
233
+ "ok": true
234
+ }
235
+ ],
236
+ "all_views_ok": true
237
+ }
data/batch_v5/pair_02021/meta.json ADDED
@@ -0,0 +1,237 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2021,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "874d4496-7e8a-4cbd-9fed-35bb923ff0ae",
6
+ "target_category": "lighting",
7
+ "anchor": {
8
+ "jid": "df5f6372-1d1d-4884-a9f0-c8c33595daaf#543",
9
+ "category": "Sofa",
10
+ "raw_cat": "front3d_cat46",
11
+ "center": [
12
+ 4.828725337982178,
13
+ 1.2235809564590454,
14
+ 0.3682895600795746
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ 6.406731128692627,
19
+ 2.077170640230179,
20
+ 1.2518742084503174
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.009174869238707624,
41
+ -0.4914731532704786,
42
+ 0.8708443956234807,
43
+ 9.016626058786926
44
+ ],
45
+ [
46
+ 0.9999579100014423,
47
+ -0.004509391715882769,
48
+ 0.007990219765445209,
49
+ 1.6815615540572522
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.8708810510056614,
54
+ 0.49149384024550563,
55
+ 2.728377911922406
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 9.016626058786926,
66
+ 1.6815615540572522,
67
+ 2.728377911922406
68
+ ],
69
+ "gt": {
70
+ "clock": 3,
71
+ "dist": 1.9998598587382723,
72
+ "lr": "right",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ 0.4195378796974414,
76
+ -0.004949762431360583,
77
+ -2.9953438448552356
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ -0.4195378796974414,
81
+ 0.00494976243135925,
82
+ -4.8106381251293895
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 595,
87
+ 364,
88
+ 674,
89
+ 652
90
+ ],
91
+ "anchor_bbox": [
92
+ 327,
93
+ 427,
94
+ 538,
95
+ 626
96
+ ],
97
+ "target_pixels": 9250,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02021/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 90,
105
+ "cam2world": [
106
+ [
107
+ -0.9999579100014423,
108
+ 0.0037419248739195585,
109
+ -0.008377125031018957,
110
+ 5.5865424776247625
111
+ ],
112
+ [
113
+ -0.009174869238707561,
114
+ -0.4078278696900649,
115
+ 0.9130127329224473,
116
+ 5.049273623794136
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.9130511632445913,
121
+ 0.40784503588703713,
122
+ 2.328377911922406
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 5.5865424776247625,
133
+ 5.049273623794136,
134
+ 2.328377911922406
135
+ ],
136
+ "gt": {
137
+ "clock": 10,
138
+ "dist": 1.9998598587382723,
139
+ "lr": "left",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ -0.7928854730905508,
143
+ 0.23227255390881052,
144
+ -3.1594853820048088
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.7928854730905526,
148
+ -0.2322725539088103,
149
+ -4.285970092794646
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 0,
154
+ 0,
155
+ 0,
156
+ 0
157
+ ],
158
+ "anchor_bbox": [
159
+ 0,
160
+ 0,
161
+ 0,
162
+ 0
163
+ ],
164
+ "target_pixels": 0,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02021/view_01_right/rgb.png",
166
+ "ok": false
167
+ },
168
+ {
169
+ "view_idx": 2,
170
+ "view_label": "back",
171
+ "azimuth_offset_deg": 270,
172
+ "cam2world": [
173
+ [
174
+ 0.9999579100014423,
175
+ -0.0037419248739196656,
176
+ 0.008377125031019197,
177
+ 5.648913989050043
178
+ ],
179
+ [
180
+ 0.009174869238707823,
181
+ 0.40782786969006496,
182
+ -0.9130127329224473,
183
+ -1.7485220271049111
184
+ ],
185
+ [
186
+ -0.0,
187
+ 0.9130511632445913,
188
+ 0.4078450358870372,
189
+ 2.328377911922406
190
+ ],
191
+ [
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 1.0
196
+ ]
197
+ ],
198
+ "cam_pos_world": [
199
+ 5.648913989050043,
200
+ -1.7485220271049111,
201
+ 2.328377911922406
202
+ ],
203
+ "gt": {
204
+ "clock": 2,
205
+ "dist": 1.9998598587382723,
206
+ "lr": "right",
207
+ "fb": "behind",
208
+ "target_cam_xyz": [
209
+ 0.7928854730905517,
210
+ 0.5744854371111592,
211
+ -3.9256044801706436
212
+ ],
213
+ "anchor_cam_xyz": [
214
+ -0.7928854730905526,
215
+ -0.5744854371111595,
216
+ -3.5198509946288086
217
+ ]
218
+ },
219
+ "target_bbox": [
220
+ 658,
221
+ 263,
222
+ 690,
223
+ 490
224
+ ],
225
+ "anchor_bbox": [
226
+ 166,
227
+ 548,
228
+ 454,
229
+ 829
230
+ ],
231
+ "target_pixels": 2133,
232
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02021/view_02_back/rgb.png",
233
+ "ok": true
234
+ }
235
+ ],
236
+ "all_views_ok": false
237
+ }
data/batch_v5/pair_02032/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2032,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "9cee1f25-d93a-4bc8-9348-591c79520972",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "37301a61-1ddf-4bd9-b965-ecbebc50ba71#645",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ -6.660654067993164,
13
+ -0.9036864638328552,
14
+ 0.3447299897670746
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -5.629963040351868,
19
+ -0.19344061613082886,
20
+ 0.9466072022914886
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.2134277969969538,
41
+ 0.7843089466111681,
42
+ -0.5825015465513435,
43
+ -8.281632669807038
44
+ ],
45
+ [
46
+ -0.9769588402123331,
47
+ -0.17134123132950171,
48
+ 0.12725410397100403,
49
+ -0.08185918059220293
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.5962395984100436,
54
+ 0.8028065403868045,
55
+ 3.589961160695083
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -8.281632669807038,
66
+ -0.08185918059220293,
67
+ 3.589961160695083
68
+ ],
69
+ "gt": {
70
+ "clock": 11,
71
+ "dist": 1.3888950059649579,
72
+ "lr": "left",
73
+ "fb": "behind",
74
+ "target_cam_xyz": [
75
+ -0.45692953752530263,
76
+ 0.5227744117833537,
77
+ -3.6809027020638867
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.45692953752530285,
81
+ -0.5227744117833568,
82
+ -3.654096246119064
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 372,
87
+ 256,
88
+ 490,
89
+ 499
90
+ ],
91
+ "anchor_bbox": [
92
+ 392,
93
+ 513,
94
+ 884,
95
+ 767
96
+ ],
97
+ "target_pixels": 12665,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02032/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 90,
105
+ "cam2world": [
106
+ [
107
+ 0.9769588402123333,
108
+ 0.17134123132950135,
109
+ -0.12725410397100376,
110
+ -6.612012913562154
111
+ ],
112
+ [
113
+ -0.21342779699695336,
114
+ 0.7843089466111682,
115
+ -0.5825015465513435,
116
+ -2.6848876556163646
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.5962395984100436,
121
+ 0.8028065403868045,
122
+ 3.589961160695083
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ -6.612012913562154,
133
+ -2.6848876556163646,
134
+ 3.589961160695083
135
+ ],
136
+ "gt": {
137
+ "clock": 1,
138
+ "dist": 1.3888950059649579,
139
+ "lr": "right",
140
+ "fb": "behind",
141
+ "target_cam_xyz": [
142
+ 0.42767825219021116,
143
+ 0.5462575349650869,
144
+ -3.6983434766850585
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ -0.4276782521902103,
148
+ -0.5462575349650873,
149
+ -3.6366554714978907
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 509,
154
+ 306,
155
+ 695,
156
+ 490
157
+ ],
158
+ "anchor_bbox": [
159
+ 315,
160
+ 439,
161
+ 517,
162
+ 882
163
+ ],
164
+ "target_pixels": 20885,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02032/view_01_right/rgb.png",
166
+ "ok": true
167
+ }
168
+ ],
169
+ "all_views_ok": true
170
+ }
data/batch_v5/pair_02044/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2044,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "c4bcf25e-e3a7-4e06-8dfa-17e3636a2968",
6
+ "target_category": "chair",
7
+ "anchor": {
8
+ "jid": "133d45e4-e0c2-4d65-a627-10a56a7c2504#440",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ 1.6807035207748413,
13
+ -2.8092896938323975,
14
+ 0.46570301055908203
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ 1.885182648897171,
19
+ -4.588320255279541,
20
+ 1.4464060962200165
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ 0.8869310784402962,
41
+ 0.22295740173389622,
42
+ -0.40452844042020475,
43
+ 0.6897396517452281
44
+ ],
45
+ [
46
+ -0.4619017883671085,
47
+ 0.42811665541534055,
48
+ -0.7767643576138452,
49
+ -5.797944064910013
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.8757888594678814,
54
+ 0.48269438947635124,
55
+ 2.2604947632325763
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 0.6897396517452281,
66
+ -5.797944064910013,
67
+ 2.2604947632325763
68
+ ],
69
+ "gt": {
70
+ "clock": 3,
71
+ "dist": 2.0417002705160923,
72
+ "lr": "right",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ 0.501548145758123,
76
+ 0.07142317906708123,
77
+ -1.8161393847943996
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ -0.5015481457581235,
81
+ -0.07142317906708096,
82
+ -3.588689170425158
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 533,
87
+ 231,
88
+ 1023,
89
+ 790
90
+ ],
91
+ "anchor_bbox": [
92
+ 169,
93
+ 372,
94
+ 571,
95
+ 679
96
+ ],
97
+ "target_pixels": 99154,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02044/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 270,
105
+ "cam2world": [
106
+ [
107
+ -0.4619017883671086,
108
+ 0.42811665541534055,
109
+ -0.7767643576138451,
110
+ -0.31619600551803684
111
+ ],
112
+ [
113
+ -0.8869310784402962,
114
+ -0.22295740173389628,
115
+ 0.4045284404202048,
116
+ -2.605601541465191
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.8757888594678814,
121
+ 0.48269438947635124,
122
+ 2.2604947632325763
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ -0.31619600551803684,
133
+ -2.605601541465191,
134
+ 2.2604947632325763
135
+ ],
136
+ "gt": {
137
+ "clock": 2,
138
+ "dist": 2.0417002705160923,
139
+ "lr": "right",
140
+ "fb": "behind",
141
+ "target_cam_xyz": [
142
+ 0.7417141097395543,
143
+ 0.6715388944435241,
144
+ -2.9049746175561775
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ -0.7417141097395548,
148
+ -0.6715388944435241,
149
+ -2.499853937663381
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 596,
154
+ 130,
155
+ 869,
156
+ 496
157
+ ],
158
+ "anchor_bbox": [
159
+ 84,
160
+ 481,
161
+ 432,
162
+ 1023
163
+ ],
164
+ "target_pixels": 56841,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02044/view_01_right/rgb.png",
166
+ "ok": true
167
+ }
168
+ ],
169
+ "all_views_ok": true
170
+ }
data/batch_v5/pair_02046/meta.json ADDED
@@ -0,0 +1,237 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2046,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "65854cf3-25d9-4c26-b102-65b72a2464c2",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "cb5426b6-f114-4edb-bc5f-65b6227f2134#824",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ 11.701745986938477,
13
+ -0.5462238192558289,
14
+ 0.39045649766921997
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ 10.885342597961426,
19
+ 1.0861968845129013,
20
+ 1.1584131717681885
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.9932383845679444,
41
+ -0.05325876907520186,
42
+ 0.10315529524680056,
43
+ 11.696611334982107
44
+ ],
45
+ [
46
+ 0.11609268461389062,
47
+ -0.45565880344885495,
48
+ 0.8825517228008212,
49
+ 3.7184523815207577
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.8885598226096835,
54
+ 0.4587607673328746,
55
+ 2.5669879487032166
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 11.696611334982107,
66
+ 3.7184523815207577,
67
+ 2.5669879487032166
68
+ ],
69
+ "gt": {
70
+ "clock": 3,
71
+ "dist": 1.980169008170555,
72
+ "lr": "right",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ 0.5001976425715853,
76
+ -0.008985389464676988,
77
+ -3.0529871353405293
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ -0.5001976425715853,
81
+ 0.008985389464677404,
82
+ -4.76177490024498
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 503,
87
+ 391,
88
+ 822,
89
+ 623
90
+ ],
91
+ "anchor_bbox": [
92
+ 0,
93
+ 0,
94
+ 0,
95
+ 0
96
+ ],
97
+ "target_pixels": 52598,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02046/view_00_front/rgb.png",
99
+ "ok": false
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 135,
105
+ "cam2world": [
106
+ [
107
+ 0.6202356725261319,
108
+ 0.35985906659675715,
109
+ -0.6970001167246441,
110
+ 8.570099266960742
111
+ ],
112
+ [
113
+ -0.7844155215993986,
114
+ 0.28453979305530974,
115
+ -0.5511164991560176,
116
+ -1.8834356147660838
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.8885598226096835,
121
+ 0.4587607673328745,
122
+ 2.5669879487032166
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 8.570099266960742,
133
+ -1.8834356147660838,
134
+ 2.5669879487032166
135
+ ],
136
+ "gt": {
137
+ "clock": 10,
138
+ "dist": 1.980169008170555,
139
+ "lr": "left",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ -0.893429321415601,
143
+ 0.42653696690757403,
144
+ -3.8965371842484453
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.8934293214156002,
148
+ -0.4265369669075749,
149
+ -3.9182248513370643
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 235,
154
+ 348,
155
+ 326,
156
+ 537
157
+ ],
158
+ "anchor_bbox": [
159
+ 514,
160
+ 442,
161
+ 894,
162
+ 782
163
+ ],
164
+ "target_pixels": 11612,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02046/view_01_right/rgb.png",
166
+ "ok": true
167
+ },
168
+ {
169
+ "view_idx": 2,
170
+ "view_label": "back",
171
+ "azimuth_offset_deg": 270,
172
+ "cam2world": [
173
+ [
174
+ 0.11609268461389083,
175
+ -0.45565880344885495,
176
+ 0.8825517228008212,
177
+ 14.742010141342172
178
+ ],
179
+ [
180
+ 0.9932383845679444,
181
+ 0.05325876907520196,
182
+ -0.10315529524680075,
183
+ -0.13308050990362014
184
+ ],
185
+ [
186
+ -0.0,
187
+ 0.8885598226096835,
188
+ 0.4587607673328746,
189
+ 2.5669879487032166
190
+ ],
191
+ [
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 1.0
196
+ ]
197
+ ],
198
+ "cam_pos_world": [
199
+ 14.742010141342172,
200
+ -0.13308050990362014,
201
+ 2.5669879487032166
202
+ ],
203
+ "gt": {
204
+ "clock": 2,
205
+ "dist": 1.980169008170555,
206
+ "lr": "right",
207
+ "fb": "behind",
208
+ "target_cam_xyz": [
209
+ 0.7633022207961482,
210
+ 0.5706587773788847,
211
+ -4.175682349801919
212
+ ],
213
+ "anchor_cam_xyz": [
214
+ -0.7633022207961475,
215
+ -0.5706587773788874,
216
+ -3.639079685783585
217
+ ]
218
+ },
219
+ "target_bbox": [
220
+ 0,
221
+ 0,
222
+ 0,
223
+ 0
224
+ ],
225
+ "anchor_bbox": [
226
+ 0,
227
+ 0,
228
+ 0,
229
+ 0
230
+ ],
231
+ "target_pixels": 0,
232
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02046/view_02_back/rgb.png",
233
+ "ok": false
234
+ }
235
+ ],
236
+ "all_views_ok": false
237
+ }
data/batch_v5/pair_02048/meta.json ADDED
@@ -0,0 +1,237 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2048,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "e2271d9f-eaff-4b6c-a785-73d6b2869ee2",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "a714271c-22a0-41f0-a5fc-531042f51bf7#259",
9
+ "category": "Sofa",
10
+ "raw_cat": "front3d_cat46",
11
+ "center": [
12
+ -1.6138099431991577,
13
+ -6.420754909515381,
14
+ 0.3363099992275238
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -2.6666805957044875,
19
+ -5.530651135104043,
20
+ 1.0122014922755105
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ 0.6476659794703036,
41
+ 0.5972768623894349,
42
+ -0.47306355671411043,
43
+ -3.3290459072744296
44
+ ],
45
+ [
46
+ -0.7619243919423845,
47
+ 0.5077090432926513,
48
+ -0.4021228025393343,
49
+ -6.986230756600338
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.6208799215734817,
54
+ 0.7839056850073912,
55
+ 2.644197342611281
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -3.3290459072744296,
66
+ -6.986230756600338,
67
+ 2.644197342611281
68
+ ],
69
+ "gt": {
70
+ "clock": 9,
71
+ "dist": 1.5354643110482722,
72
+ "lr": "left",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ -0.6800501397471925,
76
+ 0.12135295655153877,
77
+ -2.1779934718372402
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.6800501397471899,
81
+ -0.121352956551537,
82
+ -2.847972367002642
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 128,
87
+ 220,
88
+ 408,
89
+ 656
90
+ ],
91
+ "anchor_bbox": [
92
+ 504,
93
+ 369,
94
+ 938,
95
+ 791
96
+ ],
97
+ "target_pixels": 51360,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02048/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 135,
105
+ "cam2world": [
106
+ [
107
+ 0.08079289826661805,
108
+ -0.781343027023362,
109
+ 0.6188502094300766,
110
+ -0.585085263474586
111
+ ],
112
+ [
113
+ 0.9967309103211759,
114
+ 0.0633340122594257,
115
+ -0.05016268833947209,
116
+ -6.101761001298992
117
+ ],
118
+ [
119
+ -0.0,
120
+ 0.6208799215734817,
121
+ 0.7839056850073912,
122
+ 2.644197342611281
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ -0.585085263474586,
133
+ -6.101761001298992,
134
+ 2.644197342611281
135
+ ],
136
+ "gt": {
137
+ "clock": 1,
138
+ "dist": 1.5354643110482722,
139
+ "lr": "right",
140
+ "fb": "behind",
141
+ "target_cam_xyz": [
142
+ 0.401064736916779,
143
+ 0.649337221624561,
144
+ -2.5961749385113615
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ -0.40106473691677813,
148
+ -0.6493372216245616,
149
+ -2.4297909003285234
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 436,
154
+ 128,
155
+ 847,
156
+ 504
157
+ ],
158
+ "anchor_bbox": [
159
+ 169,
160
+ 509,
161
+ 539,
162
+ 1023
163
+ ],
164
+ "target_pixels": 98090,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02048/view_01_right/rgb.png",
166
+ "ok": true
167
+ },
168
+ {
169
+ "view_idx": 2,
170
+ "view_label": "back",
171
+ "azimuth_offset_deg": 225,
172
+ "cam2world": [
173
+ [
174
+ -0.9967309103211759,
175
+ -0.0674815323033315,
176
+ 0.04442673978939389,
177
+ -2.0141872904625435
178
+ ],
179
+ [
180
+ 0.08079289826661801,
181
+ -0.8325104132371285,
182
+ 0.5480865984873425,
183
+ -4.420543016332475
184
+ ],
185
+ [
186
+ 0.0,
187
+ 0.5498842193132478,
188
+ 0.8352408906119599,
189
+ 3.0441973426112807
190
+ ],
191
+ [
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 1.0
196
+ ]
197
+ ],
198
+ "cam_pos_world": [
199
+ -2.0141872904625435,
200
+ -4.420543016332475,
201
+ 3.0441973426112807
202
+ ],
203
+ "gt": {
204
+ "clock": 3,
205
+ "dist": 1.5354643110482722,
206
+ "lr": "right",
207
+ "fb": "in front of",
208
+ "target_cam_xyz": [
209
+ 0.5606713938074177,
210
+ -0.149154635057843,
211
+ -2.334629556811252
212
+ ],
213
+ "anchor_cam_xyz": [
214
+ -0.5606713938074179,
215
+ 0.149154635057843,
216
+ -3.340240108928811
217
+ ]
218
+ },
219
+ "target_bbox": [
220
+ 636,
221
+ 310,
222
+ 854,
223
+ 738
224
+ ],
225
+ "anchor_bbox": [
226
+ 0,
227
+ 0,
228
+ 0,
229
+ 0
230
+ ],
231
+ "target_pixels": 35910,
232
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02048/view_02_back/rgb.png",
233
+ "ok": false
234
+ }
235
+ ],
236
+ "all_views_ok": false
237
+ }
data/batch_v5/pair_02050/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2050,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "7388a66a-0ef2-4c30-9274-24f575fa4931",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "641eaf99-ec77-40a6-bef8-2ff72ef2b1d1#272",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ -0.7875987887382507,
13
+ 1.7726645469665527,
14
+ 0.24738143384456635
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -1.1099208444356918,
19
+ 2.833591401576996,
20
+ 1.0029426217079163
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ 0.288096090704282,
41
+ -0.7443346292731189,
42
+ 0.6024670963511277,
43
+ 1.0974778896739354
44
+ ],
45
+ [
46
+ 0.9576015050744805,
47
+ 0.223934377434722,
48
+ -0.18125328157584722,
49
+ 1.687513774939858
50
+ ],
51
+ [
52
+ -0.0,
53
+ 0.629141760073016,
54
+ 0.7772905799842346,
55
+ 3.265175570620692
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 1.0974778896739354,
66
+ 1.687513774939858,
67
+ 3.265175570620692
68
+ ],
69
+ "gt": {
70
+ "clock": 1,
71
+ "dist": 1.3417637672213798,
72
+ "lr": "right",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ 0.4615427142773474,
76
+ 0.4764242790501394,
77
+ -3.296027797516679
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ -0.4615427142773467,
81
+ -0.47642427905013895,
82
+ -3.4968334845485107
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 555,
87
+ 238,
88
+ 711,
89
+ 501
90
+ ],
91
+ "anchor_bbox": [
92
+ 233,
93
+ 480,
94
+ 546,
95
+ 725
96
+ ],
97
+ "target_pixels": 20926,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02050/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 90,
105
+ "cam2world": [
106
+ [
107
+ -0.9576015050744805,
108
+ -0.22393437743472183,
109
+ 0.18125328157584714,
110
+ -0.3331456172550553
111
+ ],
112
+ [
113
+ 0.2880960907042818,
114
+ -0.7443346292731188,
115
+ 0.6024670963511278,
116
+ 4.3493656805326815
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.629141760073016,
121
+ 0.7772905799842345,
122
+ 3.265175570620692
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ -0.3331456172550553,
133
+ 4.3493656805326815,
134
+ 3.265175570620692
135
+ ],
136
+ "gt": {
137
+ "clock": 4,
138
+ "dist": 1.3417637672213798,
139
+ "lr": "right",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ 0.3071524824955145,
143
+ -0.1210752562805335,
144
+ -2.812409548459327
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ -0.3071524824955145,
148
+ 0.12107525628053362,
149
+ -3.980451733605862
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 454,
154
+ 405,
155
+ 776,
156
+ 671
157
+ ],
158
+ "anchor_bbox": [
159
+ 338,
160
+ 356,
161
+ 564,
162
+ 563
163
+ ],
164
+ "target_pixels": 54971,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02050/view_01_right/rgb.png",
166
+ "ok": true
167
+ }
168
+ ],
169
+ "all_views_ok": true
170
+ }
data/batch_v5/pair_02051/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2051,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "7e0d1d3c-c380-41df-acba-b14b4a974f3e",
6
+ "target_category": "pier",
7
+ "anchor": {
8
+ "jid": "24caaf37-afd3-4cc9-84b5-f27e9cf84d8a#253",
9
+ "category": "Sofa",
10
+ "raw_cat": "front3d_cat46",
11
+ "center": [
12
+ -0.26089900732040405,
13
+ 1.9098999500274658,
14
+ 0.22242200374603271
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -0.0468105673789978,
19
+ 4.231601297855377,
20
+ 0.9596220552921295
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ 0.6907249985739087,
41
+ 0.5867447421318822,
42
+ -0.42264593210589985,
43
+ -1.5646623477801678
44
+ ],
45
+ [
46
+ -0.723117539785251,
47
+ 0.5604611129922962,
48
+ -0.4037132205890248,
49
+ 1.7231411461575035
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.5844775003402848,
54
+ 0.8114099158846731,
55
+ 3.2995379691721207
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -1.5646623477801678,
66
+ 1.7231411461575035,
67
+ 3.2995379691721207
68
+ ],
69
+ "gt": {
70
+ "clock": 11,
71
+ "dist": 2.4453210269046584,
72
+ "lr": "left",
73
+ "fb": "behind",
74
+ "target_cam_xyz": [
75
+ -0.7654933646921012,
76
+ 0.9288577156522877,
77
+ -3.5528433819460066
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.7654933646921009,
81
+ -0.9288577156522875,
82
+ -3.123229677131582
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 188,
87
+ 143,
88
+ 486,
89
+ 421
90
+ ],
91
+ "anchor_bbox": [
92
+ 608,
93
+ 653,
94
+ 859,
95
+ 909
96
+ ],
97
+ "target_pixels": 36849,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02051/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 90,
105
+ "cam2world": [
106
+ [
107
+ 0.723117539785251,
108
+ -0.5604611129922962,
109
+ 0.4037132205890248,
110
+ 1.1937546904342171
111
+ ],
112
+ [
113
+ 0.6907249985739087,
114
+ 0.5867447421318822,
115
+ -0.42264593210589985,
116
+ 1.6599430635109547
117
+ ],
118
+ [
119
+ -0.0,
120
+ 0.5844775003402848,
121
+ 0.8114099158846731,
122
+ 3.2995379691721207
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 1.1937546904342171,
133
+ 1.6599430635109547,
134
+ 3.2995379691721207
135
+ ],
136
+ "gt": {
137
+ "clock": 2,
138
+ "dist": 2.4453210269046584,
139
+ "lr": "right",
140
+ "fb": "behind",
141
+ "target_cam_xyz": [
142
+ 0.8792341330771838,
143
+ 0.8365673283442896,
144
+ -3.48636446195351
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ -0.8792341330771838,
148
+ -0.8365673283442894,
149
+ -3.189708597124079
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 566,
154
+ 160,
155
+ 874,
156
+ 443
157
+ ],
158
+ "anchor_bbox": [
159
+ 138,
160
+ 624,
161
+ 386,
162
+ 875
163
+ ],
164
+ "target_pixels": 41391,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02051/view_01_right/rgb.png",
166
+ "ok": true
167
+ }
168
+ ],
169
+ "all_views_ok": true
170
+ }
data/batch_v5/pair_02055/meta.json ADDED
@@ -0,0 +1,304 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2055,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "88360658-0fdc-4cc5-a058-13e3c48e665d",
6
+ "target_category": "others",
7
+ "anchor": {
8
+ "jid": "79c086e6-b5cb-4488-9361-1a70db853c7b#633",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ 4.4929423332214355,
13
+ 0.4710325598716736,
14
+ 0.36999261379241943
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ 2.9647436141967773,
19
+ 1.4716581106185913,
20
+ 1.2550000846385956
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.205121711630429,
41
+ -0.7434571203320376,
42
+ 0.6365505428835933,
43
+ 6.54004860827664
44
+ ],
45
+ [
46
+ 0.9787364729168945,
47
+ -0.15581231645720658,
48
+ 0.13340704112765633,
49
+ 1.5605124169510596
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.6503799137948784,
54
+ 0.7596090887635341,
55
+ 4.167166884452587
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 6.54004860827664,
66
+ 1.5605124169510596,
67
+ 4.167166884452587
68
+ ],
69
+ "gt": {
70
+ "clock": 1,
71
+ "dist": 2.0297490093826194,
72
+ "lr": "right",
73
+ "fb": "behind",
74
+ "target_cam_xyz": [
75
+ 0.6464077296031652,
76
+ 0.7779157582848963,
77
+ -4.4998244941893475
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ -0.6464077296031652,
81
+ -0.7779157582848986,
82
+ -4.332798982440451
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 552,
87
+ 257,
88
+ 707,
89
+ 485
90
+ ],
91
+ "anchor_bbox": [
92
+ 167,
93
+ 520,
94
+ 601,
95
+ 669
96
+ ],
97
+ "target_pixels": 12766,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02055/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 90,
105
+ "cam2world": [
106
+ [
107
+ -0.9787364729168945,
108
+ 0.15581231645720658,
109
+ -0.13340704112765633,
110
+ 3.1396758920031793
111
+ ],
112
+ [
113
+ -0.205121711630429,
114
+ -0.7434571203320376,
115
+ 0.6365505428835933,
116
+ 3.7825509698126663
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.6503799137948784,
121
+ 0.7596090887635341,
122
+ 4.167166884452587
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 3.1396758920031793,
133
+ 3.7825509698126663,
134
+ 4.167166884452587
135
+ ],
136
+ "gt": {
137
+ "clock": 4,
138
+ "dist": 2.0297490093826194,
139
+ "lr": "right",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ 0.645226899251981,
143
+ -0.2032216451551862,
144
+ -3.6597712756200567
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ -0.6452268992519814,
148
+ 0.20322164515518465,
149
+ -5.17285220100974
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 561,
154
+ 459,
155
+ 748,
156
+ 698
157
+ ],
158
+ "anchor_bbox": [
159
+ 290,
160
+ 312,
161
+ 513,
162
+ 498
163
+ ],
164
+ "target_pixels": 10340,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02055/view_01_right/rgb.png",
166
+ "ok": true
167
+ },
168
+ {
169
+ "view_idx": 2,
170
+ "view_label": "back",
171
+ "azimuth_offset_deg": 180,
172
+ "cam2world": [
173
+ [
174
+ 0.20512171163042878,
175
+ 0.7434571203320377,
176
+ -0.6365505428835933,
177
+ 0.9176373391415726
178
+ ],
179
+ [
180
+ -0.9787364729168947,
181
+ 0.15581231645720642,
182
+ -0.13340704112765617,
183
+ 0.3821782535392061
184
+ ],
185
+ [
186
+ 0.0,
187
+ 0.6503799137948784,
188
+ 0.7596090887635341,
189
+ 4.167166884452587
190
+ ],
191
+ [
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 1.0
196
+ ]
197
+ ],
198
+ "cam_pos_world": [
199
+ 0.9176373391415726,
200
+ 0.3821782535392061,
201
+ 4.167166884452587
202
+ ],
203
+ "gt": {
204
+ "clock": 8,
205
+ "dist": 2.0297490093826194,
206
+ "lr": "left",
207
+ "fb": "in front of",
208
+ "target_cam_xyz": [
209
+ -0.6464077296031651,
210
+ -0.20232467568813828,
211
+ -3.660539263962066
212
+ ],
213
+ "anchor_cam_xyz": [
214
+ 0.6464077296031648,
215
+ 0.20232467568813872,
216
+ -5.17208421266773
217
+ ]
218
+ },
219
+ "target_bbox": [
220
+ 280,
221
+ 453,
222
+ 462,
223
+ 710
224
+ ],
225
+ "anchor_bbox": [
226
+ 432,
227
+ 355,
228
+ 814,
229
+ 579
230
+ ],
231
+ "target_pixels": 20656,
232
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02055/view_02_back/rgb.png",
233
+ "ok": true
234
+ },
235
+ {
236
+ "view_idx": 3,
237
+ "view_label": "left",
238
+ "azimuth_offset_deg": 270,
239
+ "cam2world": [
240
+ [
241
+ 0.9787364729168945,
242
+ -0.15581231645720658,
243
+ 0.13340704112765633,
244
+ 4.318010055415034
245
+ ],
246
+ [
247
+ 0.205121711630429,
248
+ 0.7434571203320376,
249
+ -0.6365505428835933,
250
+ -1.8398602993224014
251
+ ],
252
+ [
253
+ -0.0,
254
+ 0.6503799137948784,
255
+ 0.7596090887635341,
256
+ 4.167166884452587
257
+ ],
258
+ [
259
+ 0.0,
260
+ 0.0,
261
+ 0.0,
262
+ 1.0
263
+ ]
264
+ ],
265
+ "cam_pos_world": [
266
+ 4.318010055415034,
267
+ -1.8398602993224014,
268
+ 4.167166884452587
269
+ ],
270
+ "gt": {
271
+ "clock": 11,
272
+ "dist": 2.0297490093826194,
273
+ "lr": "left",
274
+ "fb": "behind",
275
+ "target_cam_xyz": [
276
+ -0.6452268992519814,
277
+ 0.7788127277519443,
278
+ -4.500592482531356
279
+ ],
280
+ "anchor_cam_xyz": [
281
+ 0.645226899251981,
282
+ -0.7788127277519454,
283
+ -4.3320309940984405
284
+ ]
285
+ },
286
+ "target_bbox": [
287
+ 322,
288
+ 283,
289
+ 469,
290
+ 486
291
+ ],
292
+ "anchor_bbox": [
293
+ 541,
294
+ 460,
295
+ 761,
296
+ 720
297
+ ],
298
+ "target_pixels": 12407,
299
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02055/view_03_left/rgb.png",
300
+ "ok": true
301
+ }
302
+ ],
303
+ "all_views_ok": true
304
+ }
data/batch_v5/pair_02056/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2056,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "4f3e6181-1575-41e5-9a9c-50555c7084fd",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "f99aaaf1-15a8-4efb-9943-9a74c3d9c25e#357",
9
+ "category": "Bed",
10
+ "raw_cat": "front3d_cat17",
11
+ "center": [
12
+ -6.023183345794678,
13
+ -1.7872800827026367,
14
+ 0.24928052723407745
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -5.269869804382324,
19
+ -1.3200591802597046,
20
+ 0.9544757008552551
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.9273225600477126,
41
+ -0.2615998955815084,
42
+ 0.26765344058745116,
43
+ -5.063721198411418
44
+ ],
45
+ [
46
+ 0.3742631021441418,
47
+ -0.6481736604251994,
48
+ 0.6631727047341757,
49
+ -0.10963581993642935
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.7151478172816739,
54
+ 0.6989732465819116,
55
+ 2.123866269202623
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -5.063721198411418,
66
+ -0.10963581993642935,
67
+ 2.123866269202623
68
+ ],
69
+ "gt": {
70
+ "clock": 9,
71
+ "dist": 1.132729842572099,
72
+ "lr": "left",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ -0.2618505487031175,
76
+ 0.0022058814177743358,
77
+ -1.6752688394794621
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.2618505487031175,
81
+ -0.0022058814177734476,
82
+ -2.679656510240907
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 224,
87
+ 173,
88
+ 527,
89
+ 856
90
+ ],
91
+ "anchor_bbox": [
92
+ 420,
93
+ 291,
94
+ 973,
95
+ 889
96
+ ],
97
+ "target_pixels": 97524,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02056/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 90,
105
+ "cam2world": [
106
+ [
107
+ -0.3742631021441418,
108
+ 0.6481736604251993,
109
+ -0.6631727047341757,
110
+ -7.090560386633243
111
+ ],
112
+ [
113
+ -0.9273225600477126,
114
+ -0.26159989558150837,
115
+ 0.26765344058745116,
116
+ -0.9708642548040877
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.7151478172816739,
121
+ 0.6989732465819115,
122
+ 2.123866269202623
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ -7.090560386633243,
133
+ -0.9708642548040877,
134
+ 2.123866269202623
135
+ ],
136
+ "gt": {
137
+ "clock": 11,
138
+ "dist": 1.132729842572099,
139
+ "lr": "left",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ -0.35760097312868,
143
+ 0.4351859227326509,
144
+ -2.1182682432292834
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.3576009731286791,
148
+ -0.4351859227326509,
149
+ -2.2366571064910867
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 75,
154
+ 93,
155
+ 562,
156
+ 543
157
+ ],
158
+ "anchor_bbox": [
159
+ 262,
160
+ 445,
161
+ 1023,
162
+ 1023
163
+ ],
164
+ "target_pixels": 152354,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02056/view_01_right/rgb.png",
166
+ "ok": true
167
+ }
168
+ ],
169
+ "all_views_ok": true
170
+ }
data/batch_v5/pair_02062/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2062,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "61476ed6-15be-4931-b3d8-5ac274b2e0a3",
6
+ "target_category": "others",
7
+ "anchor": {
8
+ "jid": "154620a2-e63e-474b-b950-b7cc287b0e43#408",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ 1.9282920360565186,
13
+ -2.109870433807373,
14
+ 0.37505200505256653
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ 2.6583502292633057,
19
+ -0.7980530112981796,
20
+ 1.213623970746994
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.18615433942371087,
41
+ 0.7542039892871595,
42
+ -0.6297006467021103,
43
+ 0.23776304659035352
44
+ ],
45
+ [
46
+ -0.9825205147546395,
47
+ -0.14289609561133665,
48
+ 0.11930693167336878,
49
+ -1.0645031291564808
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.6409033065934127,
54
+ 0.7676216200691783,
55
+ 3.300117260064733
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 0.23776304659035352,
66
+ -1.0645031291564808,
67
+ 3.300117260064733
68
+ ],
69
+ "gt": {
70
+ "clock": 10,
71
+ "dist": 1.7196083441050285,
72
+ "lr": "left",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ -0.7123955149625569,
76
+ 0.45030137976347007,
77
+ -3.0940933273318683
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.7123955149625578,
81
+ -0.45030137976347007,
82
+ -3.4345900933855713
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 126,
87
+ 271,
88
+ 465,
89
+ 485
90
+ ],
91
+ "anchor_bbox": [
92
+ 516,
93
+ 355,
94
+ 1007,
95
+ 983
96
+ ],
97
+ "target_pixels": 34800,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02062/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 90,
105
+ "cam2world": [
106
+ [
107
+ 0.9825205147546393,
108
+ 0.142896095611337,
109
+ -0.11930693167336907,
110
+ 1.9038625392636157
111
+ ],
112
+ [
113
+ -0.18615433942371132,
114
+ 0.7542039892871594,
115
+ -0.6297006467021103,
116
+ -3.5095198086223345
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.6409033065934127,
121
+ 0.7676216200691784,
122
+ 3.300117260064733
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 1.9038625392636157,
133
+ -3.5095198086223345,
134
+ 3.300117260064733
135
+ ],
136
+ "gt": {
137
+ "clock": 1,
138
+ "dist": 1.7196083441050285,
139
+ "lr": "right",
140
+ "fb": "behind",
141
+ "target_cam_xyz": [
142
+ 0.23654832302932993,
143
+ 0.8155719721406236,
144
+ -3.3990653660750625
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ -0.23654832302932993,
148
+ -0.8155719721406225,
149
+ -3.1296180546423744
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 465,
154
+ 126,
155
+ 655,
156
+ 477
157
+ ],
158
+ "anchor_bbox": [
159
+ 59,
160
+ 523,
161
+ 823,
162
+ 971
163
+ ],
164
+ "target_pixels": 37914,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02062/view_01_right/rgb.png",
166
+ "ok": true
167
+ }
168
+ ],
169
+ "all_views_ok": true
170
+ }
data/batch_v5/pair_02073/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2073,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "8225d304-2d16-419c-b9e7-9634a68e2f42",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "b4605349-5ca9-44ec-bb78-1edf5fac49b5#389",
9
+ "category": "Sofa",
10
+ "raw_cat": "front3d_cat46",
11
+ "center": [
12
+ -1.7198407649993896,
13
+ 2.7517738342285156,
14
+ 0.5399245023727417
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -2.3517284393310547,
19
+ 2.0654506385326385,
20
+ 1.0944465696811676
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 45,
38
+ "cam2world": [
39
+ [
40
+ -0.04249261010567001,
41
+ -0.46741590852776443,
42
+ 0.8830157113786663,
43
+ 0.3741377006723705
44
+ ],
45
+ [
46
+ 0.9990967811410502,
47
+ -0.019879677658028387,
48
+ 0.03755556323376573,
49
+ 2.511108701920665
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.8838139888411913,
54
+ 0.467838469055958,
55
+ 2.0940080729023585
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 0.3741377006723705,
66
+ 2.511108701920665,
67
+ 2.0940080729023585
68
+ ],
69
+ "gt": {
70
+ "clock": 11,
71
+ "dist": 1.0852724473856747,
72
+ "lr": "left",
73
+ "fb": "behind",
74
+ "target_cam_xyz": [
75
+ -0.32942636953311766,
76
+ 0.39954629774660844,
77
+ -2.891352891712624
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.3294263695331181,
81
+ -0.3995462977466082,
82
+ -2.5670376483038
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 238,
87
+ 291,
88
+ 573,
89
+ 501
90
+ ],
91
+ "anchor_bbox": [
92
+ 491,
93
+ 496,
94
+ 764,
95
+ 833
96
+ ],
97
+ "target_pixels": 46310,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02073/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 135,
105
+ "cam2world": [
106
+ [
107
+ -0.9990967811410502,
108
+ 0.02425470502677607,
109
+ -0.034890273682741044,
110
+ -2.13828106770531
111
+ ],
112
+ [
113
+ -0.04249261010567,
114
+ -0.5702826364282131,
115
+ 0.8203487628288922,
116
+ 4.81853453921817
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.8210903871514699,
121
+ 0.5707981921199904,
122
+ 2.4940080729023584
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ -2.13828106770531,
133
+ 4.81853453921817,
134
+ 2.4940080729023584
135
+ ],
136
+ "gt": {
137
+ "clock": 1,
138
+ "dist": 1.0852724473856747,
139
+ "lr": "right",
140
+ "fb": "behind",
141
+ "target_cam_xyz": [
142
+ 0.3302403027143268,
143
+ 0.41569234563130975,
144
+ -3.049908910478024
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ -0.33024030271432636,
148
+ -0.41569234563130997,
149
+ -2.8254514533926107
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 505,
154
+ 271,
155
+ 734,
156
+ 534
157
+ ],
158
+ "anchor_bbox": [
159
+ 295,
160
+ 501,
161
+ 538,
162
+ 809
163
+ ],
164
+ "target_pixels": 34994,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02073/view_01_right/rgb.png",
166
+ "ok": true
167
+ }
168
+ ],
169
+ "all_views_ok": true
170
+ }
data/batch_v5/pair_02077/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2077,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "7f985ce5-b4a3-4e90-815a-a6b69952d9f9",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "70e4c0ab-9ca2-4542-96fd-9355e048db91#327",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ -0.30586767196655273,
13
+ -1.144088625907898,
14
+ 0.17934571206569672
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -0.4828607439994812,
19
+ 0.49431440234184265,
20
+ 0.8737020194530487
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.9660493796160179,
41
+ 0.16066327590439375,
42
+ -0.202326241301458,
43
+ -1.162002993728756
44
+ ],
45
+ [
46
+ -0.2583574967820891,
47
+ -0.6007515165910863,
48
+ 0.7565375200014886,
49
+ 2.5454649468001436
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.7831251030896523,
54
+ 0.6218641916936699,
55
+ 2.8859166461512467
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -1.162002993728756,
66
+ 2.5454649468001436,
67
+ 2.8859166461512467
68
+ ],
69
+ "gt": {
70
+ "clock": 7,
71
+ "dist": 1.788245428383412,
72
+ "lr": "left",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ -0.12615482883252643,
76
+ -0.23447076798499,
77
+ -2.9405048670967817
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.12615482883252732,
81
+ 0.23447076798499233,
82
+ -4.647623897693427
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 372,
87
+ 395,
88
+ 554,
89
+ 770
90
+ ],
91
+ "anchor_bbox": [
92
+ 553,
93
+ 412,
94
+ 588,
95
+ 488
96
+ ],
97
+ "target_pixels": 45153,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02077/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 135,
105
+ "cam2world": [
106
+ [
107
+ 0.8657864052325404,
108
+ 0.3111893793100178,
109
+ -0.39188655337885925,
110
+ -1.8812070220973245
111
+ ],
112
+ [
113
+ -0.5004137293425468,
114
+ 0.5384015630693019,
115
+ -0.6780190678513526,
116
+ -2.8973351077025735
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.7831251030896524,
121
+ 0.6218641916936699,
122
+ 2.8859166461512467
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ -1.8812070220973245,
133
+ -2.8973351077025735,
134
+ 2.8859166461512467
135
+ ],
136
+ "gt": {
137
+ "clock": 11,
138
+ "dist": 1.788245428383412,
139
+ "lr": "left",
140
+ "fb": "behind",
141
+ "target_cam_xyz": [
142
+ -0.48655878255951335,
143
+ 0.6854041209613533,
144
+ -4.098920364978586
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.48655878255951435,
148
+ -0.6854041209613543,
149
+ -3.489208399811621
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 353,
154
+ 227,
155
+ 454,
156
+ 499
157
+ ],
158
+ "anchor_bbox": [
159
+ 571,
160
+ 607,
161
+ 690,
162
+ 770
163
+ ],
164
+ "target_pixels": 18234,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02077/view_01_right/rgb.png",
166
+ "ok": true
167
+ }
168
+ ],
169
+ "all_views_ok": true
170
+ }
data/batch_v5/pair_02088/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2088,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "7e259fdb-ecdc-4498-bdd3-b95c1218fb89",
6
+ "target_category": "lighting",
7
+ "anchor": {
8
+ "jid": "ce61bf54-e4cd-4304-9b2a-98478a4a4171#301",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ 1.0095813274383545,
13
+ -0.37155681848526,
14
+ 0.36833590269088745
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ 2.46305513381958,
19
+ -0.5530126830562949,
20
+ 1.112774670124054
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ 0.05067656870527588,
41
+ 0.8695540392525369,
42
+ -0.4912307586092881,
43
+ 0.40599299974082426
44
+ ],
45
+ [
46
+ -0.9987151172302637,
47
+ 0.04412270751977762,
48
+ -0.024925916169013837,
49
+ -0.5297878022419824
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.4918627445748675,
54
+ 0.8706727516692356,
55
+ 3.0984653095329855
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 0.40599299974082426,
66
+ -0.5297878022419824,
67
+ 3.0984653095329855
68
+ ],
69
+ "gt": {
70
+ "clock": 12,
71
+ "dist": 1.6430768135059792,
72
+ "lr": "right",
73
+ "fb": "behind",
74
+ "target_cam_xyz": [
75
+ 0.12743989013378865,
76
+ 0.8110146952819739,
77
+ -2.738800024175754
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ -0.12743989013378842,
81
+ -0.8110146952819739,
82
+ -2.6774944874073383
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 458,
87
+ 137,
88
+ 700,
89
+ 395
90
+ ],
91
+ "anchor_bbox": [
92
+ 0,
93
+ 559,
94
+ 976,
95
+ 988
96
+ ],
97
+ "target_pixels": 17029,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02088/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 270,
105
+ "cam2world": [
106
+ [
107
+ -0.9987151172302638,
108
+ 0.04412270751977748,
109
+ -0.024925916169013754,
110
+ 1.6688151791577626
111
+ ],
112
+ [
113
+ -0.05067656870527572,
114
+ -0.869554039252537,
115
+ 0.4912307586092881,
116
+ 0.8680404801173656
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.49186274457486756,
121
+ 0.8706727516692356,
122
+ 3.0984653095329855
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 1.6688151791577626,
133
+ 0.8680404801173656,
134
+ 3.0984653095329855
135
+ ],
136
+ "gt": {
137
+ "clock": 10,
138
+ "dist": 1.6430768135059792,
139
+ "lr": "left",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ -0.7212053511716174,
143
+ 0.29403928747401487,
144
+ -2.446748914875926
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.7212053511716169,
148
+ -0.2940392874740151,
149
+ -2.969545596707166
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 195,
154
+ 298,
155
+ 380,
156
+ 554
157
+ ],
158
+ "anchor_bbox": [
159
+ 580,
160
+ 242,
161
+ 1014,
162
+ 1023
163
+ ],
164
+ "target_pixels": 13468,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02088/view_01_right/rgb.png",
166
+ "ok": true
167
+ }
168
+ ],
169
+ "all_views_ok": true
170
+ }
data/batch_v5/pair_02089/meta.json ADDED
@@ -0,0 +1,237 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2089,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "9ae7ae8d-8b27-4cbc-b57b-3c0b3cffb9e5",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "c2091907-53cb-4a8a-b017-343255e04b0a#187",
9
+ "category": "Sofa",
10
+ "raw_cat": "front3d_cat46",
11
+ "center": [
12
+ -2.4793758392333984,
13
+ 2.340989351272583,
14
+ 0.5814054608345032
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -1.8570603132247925,
19
+ 2.7993061542510986,
20
+ 1.531758189201355
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ 0.09307407335403778,
41
+ -0.6709927737313283,
42
+ 0.7355990174474308,
43
+ -0.708108240987416
44
+ ],
45
+ [
46
+ 0.9956591871063548,
47
+ 0.06272430511468569,
48
+ -0.06876368720911219,
49
+ 2.4336569016050387
50
+ ],
51
+ [
52
+ -0.0,
53
+ 0.7388060362153374,
54
+ 0.6739181262228978,
55
+ 2.3942596371229694
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -0.708108240987416,
66
+ 2.4336569016050387,
67
+ 2.3942596371229694
68
+ ],
69
+ "gt": {
70
+ "clock": 2,
71
+ "dist": 1.224949474108273,
72
+ "lr": "right",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ 0.2571243882039269,
76
+ 0.1566523571538858,
77
+ -1.4515667659170735
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ -0.2571243882039269,
81
+ -0.1566523571538858,
82
+ -2.5182858320603976
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 554,
87
+ 0,
88
+ 881,
89
+ 854
90
+ ],
91
+ "anchor_bbox": [
92
+ 156,
93
+ 312,
94
+ 680,
95
+ 999
96
+ ],
97
+ "target_pixels": 172846,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02089/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 135,
105
+ "cam2world": [
106
+ [
107
+ -0.7698506713748833,
108
+ 0.43011075894078454,
109
+ -0.4715237839462859,
110
+ -3.104158035582761
111
+ ],
112
+ [
113
+ -0.6382240545322946,
114
+ -0.5188163219244012,
115
+ 0.5687703229961938,
116
+ 3.699114924961304
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.7388060362153372,
121
+ 0.6739181262228978,
122
+ 2.3942596371229694
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ -3.104158035582761,
133
+ 3.699114924961304,
134
+ 2.3942596371229694
135
+ ],
136
+ "gt": {
137
+ "clock": 10,
138
+ "dist": 1.224949474108273,
139
+ "lr": "left",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ -0.3857994168809831,
143
+ 0.3660043487229383,
144
+ -1.6810761217965462
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.38579941688098296,
148
+ -0.36600434872293786,
149
+ -2.2887764761809257
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 87,
154
+ 16,
155
+ 556,
156
+ 633
157
+ ],
158
+ "anchor_bbox": [
159
+ 264,
160
+ 347,
161
+ 1023,
162
+ 1023
163
+ ],
164
+ "target_pixels": 196664,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02089/view_01_right/rgb.png",
166
+ "ok": true
167
+ },
168
+ {
169
+ "view_idx": 2,
170
+ "view_label": "back",
171
+ "azimuth_offset_deg": 225,
172
+ "cam2world": [
173
+ [
174
+ 0.6382240545322946,
175
+ 0.5883385979225615,
176
+ -0.4965156094332514,
177
+ -3.2971852484285584
178
+ ],
179
+ [
180
+ -0.7698506713748833,
181
+ 0.48774633752463753,
182
+ -0.4116229512733027,
183
+ 1.6342077934081751
184
+ ],
185
+ [
186
+ 0.0,
187
+ 0.6449505441704944,
188
+ 0.7642243097246928,
189
+ 2.7942596371229693
190
+ ],
191
+ [
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 1.0
196
+ ]
197
+ ],
198
+ "cam_pos_world": [
199
+ -3.2971852484285584,
200
+ 1.6342077934081751,
201
+ 2.7942596371229693
202
+ ],
203
+ "gt": {
204
+ "clock": 12,
205
+ "dist": 1.224949474108273,
206
+ "lr": "right",
207
+ "fb": "in front of",
208
+ "target_cam_xyz": [
209
+ 0.022170619866105135,
210
+ 0.6013025477151154,
211
+ -2.1594600332408924
212
+ ],
213
+ "anchor_cam_xyz": [
214
+ -0.022170619866105135,
215
+ -0.6013025477151164,
216
+ -2.388099603355929
217
+ ]
218
+ },
219
+ "target_bbox": [
220
+ 323,
221
+ 42,
222
+ 659,
223
+ 535
224
+ ],
225
+ "anchor_bbox": [
226
+ 77,
227
+ 437,
228
+ 851,
229
+ 1023
230
+ ],
231
+ "target_pixels": 107029,
232
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02089/view_02_back/rgb.png",
233
+ "ok": true
234
+ }
235
+ ],
236
+ "all_views_ok": true
237
+ }
data/batch_v5/pair_02092/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2092,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "e735842a-ced4-40b9-be96-64dcca49afa6",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "e89afe87-760f-4291-bc6f-8554c65dd30c#425",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ -1.0962004661560059,
13
+ 3.9618465900421143,
14
+ 0.22537900507450104
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -0.08293131366372108,
19
+ 4.518355846405029,
20
+ 0.5970358848571777
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.866156340351322,
41
+ -0.21208270118577646,
42
+ 0.4525418454982362,
43
+ 0.24364931544810142
44
+ ],
45
+ [
46
+ 0.4997731426049271,
47
+ -0.3675603201753245,
48
+ 0.7842998259361073,
49
+ 5.68414566854417
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.9054945272558844,
54
+ 0.42435793984517645,
55
+ 1.1925307447020175
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 0.24364931544810142,
66
+ 5.68414566854417,
67
+ 1.1925307447020175
68
+ ],
69
+ "gt": {
70
+ "clock": 9,
71
+ "dist": 1.2143087597888078,
72
+ "lr": "left",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ -0.2997605604861886,
76
+ -0.04145715433893016,
77
+ -1.3148231270962007
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.29976056048618904,
81
+ 0.04145715433892927,
82
+ -2.3675554800826233
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 119,
87
+ 362,
88
+ 399,
89
+ 873
90
+ ],
91
+ "anchor_bbox": [
92
+ 332,
93
+ 333,
94
+ 1023,
95
+ 795
96
+ ],
97
+ "target_pixels": 90683,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02092/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 90,
105
+ "cam2world": [
106
+ [
107
+ -0.4997731426049269,
108
+ 0.36756032017532453,
109
+ -0.7842998259361073,
110
+ -2.033610340230462
111
+ ],
112
+ [
113
+ -0.866156340351322,
114
+ -0.21208270118577638,
115
+ 0.452541845498236,
116
+ 5.073316423581536
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.9054945272558842,
121
+ 0.4243579398451765,
122
+ 1.1925307447020175
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ -2.033610340230462,
133
+ 5.073316423581536,
134
+ 1.1925307447020175
135
+ ],
136
+ "gt": {
137
+ "clock": 10,
138
+ "dist": 1.2143087597888078,
139
+ "lr": "left",
140
+ "fb": "behind",
141
+ "target_cam_xyz": [
142
+ -0.4942143647543187,
143
+ 0.2954724092248604,
144
+ -2.0337630766798815
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.49421436475432,
148
+ -0.29547240922486073,
149
+ -1.648615530498943
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 45,
154
+ 312,
155
+ 515,
156
+ 459
157
+ ],
158
+ "anchor_bbox": [
159
+ 314,
160
+ 405,
161
+ 1023,
162
+ 1023
163
+ ],
164
+ "target_pixels": 43793,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02092/view_01_right/rgb.png",
166
+ "ok": true
167
+ }
168
+ ],
169
+ "all_views_ok": true
170
+ }
data/batch_v5/pair_02104/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2104,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "4e9dccf1-ff60-4f7f-96bf-0af893fb1cc0",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "df76627b-4746-482a-abe3-b9a6f5388e7a#270",
9
+ "category": "Sofa",
10
+ "raw_cat": "front3d_cat46",
11
+ "center": [
12
+ -2.2418999671936035,
13
+ -1.7975000143051147,
14
+ 0.4073590040206909
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -3.448662042617798,
19
+ -2.03945329785347,
20
+ 1.3297180831432343
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ 0.794211495864236,
41
+ -0.4109000574203276,
42
+ 0.44764857047584106,
43
+ -1.809026729508648
44
+ ],
45
+ [
46
+ 0.6076414237336791,
47
+ 0.5370627092031992,
48
+ -0.5850944765986321,
49
+ -3.2729021873437887
50
+ ],
51
+ [
52
+ -0.0,
53
+ 0.7366985741775881,
54
+ 0.6762212735523104,
55
+ 2.4339119906325197
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -1.809026729508648,
66
+ -3.2729021873437887,
67
+ 2.4339119906325197
68
+ ],
69
+ "gt": {
70
+ "clock": 10,
71
+ "dist": 1.5380384809690966,
72
+ "lr": "left",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ -0.5527225753836196,
76
+ 0.5227075692953582,
77
+ -2.2023439467936283
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.5527225753836205,
81
+ -0.5227075692953584,
82
+ -2.4274229897813564
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 105,
87
+ 44,
88
+ 401,
89
+ 536
90
+ ],
91
+ "anchor_bbox": [
92
+ 530,
93
+ 474,
94
+ 912,
95
+ 949
96
+ ],
97
+ "target_pixels": 99452,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02104/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 90,
105
+ "cam2world": [
106
+ [
107
+ -0.6076414237336791,
108
+ -0.5370627092031992,
109
+ 0.5850944765986321,
110
+ -1.4908554736412043
111
+ ],
112
+ [
113
+ 0.794211495864236,
114
+ -0.4109000574203276,
115
+ 0.44764857047584106,
116
+ -0.8822223806822396
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.7366985741775881,
121
+ 0.6762212735523104,
122
+ 2.4339119906325197
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ -1.4908554736412043,
133
+ -0.8822223806822396,
134
+ 2.4339119906325197
135
+ ],
136
+ "gt": {
137
+ "clock": 1,
138
+ "dist": 1.5380384809690966,
139
+ "lr": "right",
140
+ "fb": "behind",
141
+ "target_cam_xyz": [
142
+ 0.27055827318118264,
143
+ 0.7135130730816908,
144
+ -2.4102139859099774
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ -0.27055827318118164,
148
+ -0.7135130730816899,
149
+ -2.2195529506650056
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 488,
154
+ 24,
155
+ 767,
156
+ 441
157
+ ],
158
+ "anchor_bbox": [
159
+ 186,
160
+ 541,
161
+ 610,
162
+ 1023
163
+ ],
164
+ "target_pixels": 94057,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02104/view_01_right/rgb.png",
166
+ "ok": true
167
+ }
168
+ ],
169
+ "all_views_ok": true
170
+ }
data/batch_v5/pair_02116/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2116,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "0cc3d697-b060-4620-bd4f-f85cea2674e6",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "d2a39d7a-6114-48dc-9141-4a7a5fa8dc51#992",
9
+ "category": "Bed",
10
+ "raw_cat": "front3d_cat17",
11
+ "center": [
12
+ 2.9535701274871826,
13
+ 3.0686841011047363,
14
+ 0.3883081078529358
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ 2.0110107362270355,
19
+ 3.4825337529182434,
20
+ 1.2065698206424713
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 45,
38
+ "cam2world": [
39
+ [
40
+ -0.8516998745288611,
41
+ -0.4228367354685429,
42
+ 0.30954227314831745,
43
+ 3.7163274543063745
44
+ ],
45
+ [
46
+ 0.5240298882005893,
47
+ -0.687231783250691,
48
+ 0.5030955698101037,
49
+ 5.281275399191209
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.5906958364745603,
54
+ 0.8068943107815418,
55
+ 4.014245000400955
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 3.7163274543063745,
66
+ 5.281275399191209,
67
+ 4.014245000400955
68
+ ],
69
+ "gt": {
70
+ "clock": 2,
71
+ "dist": 1.3150064528268006,
72
+ "lr": "right",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ 0.5098236510219762,
76
+ 0.2987409443317537,
77
+ -3.698303695894631
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ -0.5098236510219758,
81
+ -0.298740944331751,
82
+ -4.274998366521736
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 506,
87
+ 302,
88
+ 786,
89
+ 529
90
+ ],
91
+ "anchor_bbox": [
92
+ 81,
93
+ 356,
94
+ 620,
95
+ 819
96
+ ],
97
+ "target_pixels": 42674,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02116/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 180,
105
+ "cam2world": [
106
+ [
107
+ 0.23169766932402414,
108
+ 0.7849369771680764,
109
+ -0.5746217294047082,
110
+ 0.19147412177119882
111
+ ],
112
+ [
113
+ -0.9727878443061545,
114
+ 0.18695553119889807,
115
+ -0.1368628485905605,
116
+ 2.7299845105438423
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.5906958364745603,
121
+ 0.806894310781542,
122
+ 4.014245000400955
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 0.19147412177119882,
133
+ 2.7299845105438423,
134
+ 4.014245000400955
135
+ ],
136
+ "gt": {
137
+ "clock": 8,
138
+ "dist": 1.3150064528268006,
139
+ "lr": "left",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ -0.3104883624044805,
143
+ -0.0895672254972637,
144
+ -3.414038438199493
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.3104883624044805,
148
+ 0.08956722549726459,
149
+ -4.559263624216875
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 0,
154
+ 0,
155
+ 0,
156
+ 0
157
+ ],
158
+ "anchor_bbox": [
159
+ 0,
160
+ 0,
161
+ 0,
162
+ 0
163
+ ],
164
+ "target_pixels": 0,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02116/view_01_right/rgb.png",
166
+ "ok": false
167
+ }
168
+ ],
169
+ "all_views_ok": false
170
+ }
data/batch_v5/pair_02131/meta.json ADDED
@@ -0,0 +1,304 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2131,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "a8c34fc0-a9b7-46a7-9f77-a3e5ed3bba12",
6
+ "target_category": "chair",
7
+ "anchor": {
8
+ "jid": "1167a82b-ace6-4cec-a2af-7c6f227a371a#369",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ -8.480385780334473,
13
+ 6.260348320007324,
14
+ 0.17679500579833984
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -9.51092529296875,
19
+ 6.05394172668457,
20
+ 0.8594286739826202
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.5907683287379032,
41
+ 0.5448338250116395,
42
+ -0.595104095838208,
43
+ -10.56285314355557
44
+ ],
45
+ [
46
+ -0.8068412370226404,
47
+ -0.39892676957086853,
48
+ 0.4357346104678012,
49
+ 7.304645508632513
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.7375727324426639,
54
+ 0.6752676982923607,
55
+ 2.296419077538946
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -10.56285314355557,
66
+ 7.304645508632513,
67
+ 2.296419077538946
68
+ ],
69
+ "gt": {
70
+ "clock": 3,
71
+ "dist": 1.253237445102214,
72
+ "lr": "right",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ 0.3876737283317438,
76
+ 0.012180155449120988,
77
+ -2.141334699925883
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ -0.3876737283317419,
81
+ -0.012180155449128094,
82
+ -3.125634954169846
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 491,
87
+ 261,
88
+ 964,
89
+ 782
90
+ ],
91
+ "anchor_bbox": [
92
+ 216,
93
+ 378,
94
+ 503,
95
+ 667
96
+ ],
97
+ "target_pixels": 179910,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02131/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 90,
105
+ "cam2world": [
106
+ [
107
+ 0.806841237022641,
108
+ 0.39892676957086826,
109
+ -0.4357346104678006,
110
+ -10.143156021938175
111
+ ],
112
+ [
113
+ -0.5907683287379026,
114
+ 0.5448338250116399,
115
+ -0.5951040958382081,
116
+ 4.589947416441989
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.7375727324426637,
121
+ 0.6752676982923608,
122
+ 2.296419077538946
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ -10.143156021938175,
133
+ 4.589947416441989,
134
+ 2.296419077538946
135
+ ],
136
+ "gt": {
137
+ "clock": 9,
138
+ "dist": 1.253237445102214,
139
+ "lr": "left",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ -0.3547716484983905,
143
+ -0.010037556268974651,
144
+ -2.1170670230001507
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.35477164849839227,
148
+ 0.010037556268974096,
149
+ -3.149902631095577
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 51,
154
+ 308,
155
+ 596,
156
+ 794
157
+ ],
158
+ "anchor_bbox": [
159
+ 572,
160
+ 373,
161
+ 795,
162
+ 659
163
+ ],
164
+ "target_pixels": 170044,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02131/view_01_right/rgb.png",
166
+ "ok": true
167
+ },
168
+ {
169
+ "view_idx": 2,
170
+ "view_label": "back",
171
+ "azimuth_offset_deg": 180,
172
+ "cam2world": [
173
+ [
174
+ 0.5907683287379029,
175
+ -0.5448338250116396,
176
+ 0.595104095838208,
177
+ -7.428457929747653
178
+ ],
179
+ [
180
+ 0.8068412370226407,
181
+ 0.3989267695708683,
182
+ -0.4357346104678009,
183
+ 5.009644538059383
184
+ ],
185
+ [
186
+ -0.0,
187
+ 0.7375727324426637,
188
+ 0.6752676982923607,
189
+ 2.296419077538946
190
+ ],
191
+ [
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 1.0
196
+ ]
197
+ ],
198
+ "cam_pos_world": [
199
+ -7.428457929747653,
200
+ 5.009644538059383,
201
+ 2.296419077538946
202
+ ],
203
+ "gt": {
204
+ "clock": 11,
205
+ "dist": 1.253237445102214,
206
+ "lr": "left",
207
+ "fb": "behind",
208
+ "target_cam_xyz": [
209
+ -0.3876737283317424,
210
+ 0.49131182445091426,
211
+ -2.664674488278175
212
+ ],
213
+ "anchor_cam_xyz": [
214
+ 0.3876737283317424,
215
+ -0.49131182445091515,
216
+ -2.6022951658175506
217
+ ]
218
+ },
219
+ "target_bbox": [
220
+ 182,
221
+ 150,
222
+ 533,
223
+ 569
224
+ ],
225
+ "anchor_bbox": [
226
+ 436,
227
+ 499,
228
+ 873,
229
+ 895
230
+ ],
231
+ "target_pixels": 104513,
232
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02131/view_02_back/rgb.png",
233
+ "ok": true
234
+ },
235
+ {
236
+ "view_idx": 3,
237
+ "view_label": "left",
238
+ "azimuth_offset_deg": 270,
239
+ "cam2world": [
240
+ [
241
+ -0.8068412370226407,
242
+ -0.3989267695708683,
243
+ 0.4357346104678009,
244
+ -7.848155051365047
245
+ ],
246
+ [
247
+ 0.5907683287379029,
248
+ -0.5448338250116396,
249
+ 0.595104095838208,
250
+ 7.724342630249906
251
+ ],
252
+ [
253
+ 0.0,
254
+ 0.7375727324426637,
255
+ 0.6752676982923607,
256
+ 2.296419077538946
257
+ ],
258
+ [
259
+ 0.0,
260
+ 0.0,
261
+ 0.0,
262
+ 1.0
263
+ ]
264
+ ],
265
+ "cam_pos_world": [
266
+ -7.848155051365047,
267
+ 7.724342630249906,
268
+ 2.296419077538946
269
+ ],
270
+ "gt": {
271
+ "clock": 1,
272
+ "dist": 1.253237445102214,
273
+ "lr": "right",
274
+ "fb": "behind",
275
+ "target_cam_xyz": [
276
+ 0.35477164849839227,
277
+ 0.513529536169014,
278
+ -2.688942165203907
279
+ ],
280
+ "anchor_cam_xyz": [
281
+ -0.3547716484983905,
282
+ -0.5135295361690123,
283
+ -2.5780274888918204
284
+ ]
285
+ },
286
+ "target_bbox": [
287
+ 459,
288
+ 145,
289
+ 856,
290
+ 561
291
+ ],
292
+ "anchor_bbox": [
293
+ 159,
294
+ 506,
295
+ 599,
296
+ 908
297
+ ],
298
+ "target_pixels": 118754,
299
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02131/view_03_left/rgb.png",
300
+ "ok": true
301
+ }
302
+ ],
303
+ "all_views_ok": true
304
+ }
data/batch_v5/pair_02139/meta.json ADDED
@@ -0,0 +1,170 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2139,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "65a778d8-41c9-4b61-b12c-c55d152a66fd",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "5894e989-ba18-4007-a1ca-6dc2c517c212#471",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ -0.21615782380104065,
13
+ -7.1241455078125,
14
+ 0.4698309898376465
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -2.0361440181732178,
19
+ -6.956974029541016,
20
+ 1.3976400792598724
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ 0.45061593295091373,
41
+ 0.42020688532987127,
42
+ -0.7876366259209547,
43
+ -3.333275438701779
44
+ ],
45
+ [
46
+ -0.8927179179174,
47
+ 0.21210722207419347,
48
+ -0.3975742010910556,
49
+ -8.154646820955287
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.8822905983095009,
54
+ 0.47070510952682765,
55
+ 2.2527508693619005
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -3.333275438701779,
66
+ -8.154646820955287,
67
+ 2.2527508693619005
68
+ ],
69
+ "gt": {
70
+ "clock": 9,
71
+ "dist": 2.0496647914396378,
72
+ "lr": "left",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ -0.48467587547624635,
76
+ 0.04464239220451671,
77
+ -1.900337036768743
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.484675875476249,
81
+ -0.04464239220451516,
82
+ -3.704086234264243
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 0,
87
+ 262,
88
+ 493,
89
+ 803
90
+ ],
91
+ "anchor_bbox": [
92
+ 359,
93
+ 353,
94
+ 917,
95
+ 685
96
+ ],
97
+ "target_pixels": 109267,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02139/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 270,
105
+ "cam2world": [
106
+ [
107
+ -0.8927179179174001,
108
+ 0.21210722207419347,
109
+ -0.3975742010910556,
110
+ -2.2402379732656588
111
+ ],
112
+ [
113
+ -0.45061593295091373,
114
+ -0.4202068853298713,
115
+ 0.7876366259209548,
116
+ -4.833435250962108
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.8822905983095011,
121
+ 0.47070510952682765,
122
+ 2.2527508693619005
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ -2.2402379732656588,
133
+ -4.833435250962108,
134
+ 2.2527508693619005
135
+ ],
136
+ "gt": {
137
+ "clock": 3,
138
+ "dist": 2.0496647914396378,
139
+ "lr": "right",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ 0.7747020772171274,
143
+ 0.18115920726060608,
144
+ -2.1562244278281346
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ -0.7747020772171265,
148
+ -0.18115920726060697,
149
+ -3.4481988432048487
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 0,
154
+ 0,
155
+ 0,
156
+ 0
157
+ ],
158
+ "anchor_bbox": [
159
+ 0,
160
+ 359,
161
+ 366,
162
+ 756
163
+ ],
164
+ "target_pixels": 0,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02139/view_01_right/rgb.png",
166
+ "ok": false
167
+ }
168
+ ],
169
+ "all_views_ok": false
170
+ }
data/batch_v5/pair_02141/meta.json ADDED
@@ -0,0 +1,304 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2141,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "76f93ffd-7dcc-411e-9075-29c738a97646",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "1f870eb0-9894-42b3-9576-e33a111bc265#408",
9
+ "category": "Sofa",
10
+ "raw_cat": "front3d_cat46",
11
+ "center": [
12
+ -1.0929793119430542,
13
+ -1.3421283960342407,
14
+ 0.42999351024627686
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -1.1045764535665512,
19
+ -0.7033045440912247,
20
+ 1.3749870955944061
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.992340261053309,
41
+ -0.10102434829391022,
42
+ 0.07109773093736062,
43
+ -0.9674060837453722
44
+ ],
45
+ [
46
+ 0.1235346360040398,
47
+ -0.8115175743541342,
48
+ 0.5711203202668695,
49
+ 0.03257886686445888
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.5755287200185347,
54
+ 0.8177815676779632,
55
+ 2.413557313445033
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -0.9674060837453722,
66
+ 0.03257886686445888,
67
+ 2.413557313445033
68
+ ],
69
+ "gt": {
70
+ "clock": 2,
71
+ "dist": 1.140720510841398,
72
+ "lr": "right",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ 0.045212591283306014,
76
+ 0.013312879753680118,
77
+ -1.27935405228774
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ -0.045212591283306236,
81
+ -0.013312879753679674,
82
+ -2.4161731404203732
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 353,
87
+ 20,
88
+ 696,
89
+ 894
90
+ ],
91
+ "anchor_bbox": [
92
+ 324,
93
+ 172,
94
+ 779,
95
+ 980
96
+ ],
97
+ "target_pixels": 116901,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02141/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 90,
105
+ "cam2world": [
106
+ [
107
+ -0.12353463600403958,
108
+ 0.8115175743541342,
109
+ -0.5711203202668695,
110
+ -2.1540732196819943
111
+ ],
112
+ [
113
+ -0.992340261053309,
114
+ -0.10102434829391004,
115
+ 0.07109773093736049,
116
+ -0.8913446710533024
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.5755287200185347,
121
+ 0.8177815676779632,
122
+ 2.413557313445033
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ -2.1540732196819943,
133
+ -0.8913446710533024,
134
+ 2.413557313445033
135
+ ],
136
+ "gt": {
137
+ "clock": 10,
138
+ "dist": 1.140720510841398,
139
+ "lr": "left",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ -0.31624898966753356,
143
+ 0.2349614505221223,
144
+ -1.435343283728248
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.31624898966753356,
148
+ -0.2349614505221223,
149
+ -2.260183908979865
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 0,
154
+ 0,
155
+ 0,
156
+ 0
157
+ ],
158
+ "anchor_bbox": [
159
+ 253,
160
+ 703,
161
+ 1023,
162
+ 875
163
+ ],
164
+ "target_pixels": 0,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02141/view_01_right/rgb.png",
166
+ "ok": false
167
+ },
168
+ {
169
+ "view_idx": 2,
170
+ "view_label": "back",
171
+ "azimuth_offset_deg": 180,
172
+ "cam2world": [
173
+ [
174
+ 0.992340261053309,
175
+ 0.10794701942877333,
176
+ -0.06006868809200497,
177
+ -1.230149681764233
178
+ ],
179
+ [
180
+ -0.12353463600403956,
181
+ 0.867126636746416,
182
+ -0.48252522167467926,
183
+ -2.0780118069899243
184
+ ],
185
+ [
186
+ 0.0,
187
+ 0.486249767960143,
188
+ 0.8738198688280708,
189
+ 2.813557313445033
190
+ ],
191
+ [
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 1.0
196
+ ]
197
+ ],
198
+ "cam_pos_world": [
199
+ -1.230149681764233,
200
+ -2.0780118069899243,
201
+ 2.813557313445033
202
+ ],
203
+ "gt": {
204
+ "clock": 12,
205
+ "dist": 1.140720510841398,
206
+ "lr": "left",
207
+ "fb": "in front of",
208
+ "target_cam_xyz": [
209
+ -0.045212591283306236,
210
+ 0.5060961064679702,
211
+ -1.9279251849075036
212
+ ],
213
+ "anchor_cam_xyz": [
214
+ 0.045212591283306125,
215
+ -0.5060961064679697,
216
+ -2.446127360012839
217
+ ]
218
+ },
219
+ "target_bbox": [
220
+ 417,
221
+ 0,
222
+ 641,
223
+ 534
224
+ ],
225
+ "anchor_bbox": [
226
+ 331,
227
+ 358,
228
+ 763,
229
+ 1023
230
+ ],
231
+ "target_pixels": 72686,
232
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02141/view_02_back/rgb.png",
233
+ "ok": true
234
+ },
235
+ {
236
+ "view_idx": 3,
237
+ "view_label": "left",
238
+ "azimuth_offset_deg": 270,
239
+ "cam2world": [
240
+ [
241
+ 0.12353463600403979,
242
+ -0.867126636746416,
243
+ 0.48252522167467926,
244
+ -0.04348254582761113
245
+ ],
246
+ [
247
+ 0.992340261053309,
248
+ 0.10794701942877352,
249
+ -0.06006868809200507,
250
+ -1.1540882690721632
251
+ ],
252
+ [
253
+ -0.0,
254
+ 0.486249767960143,
255
+ 0.8738198688280708,
256
+ 2.813557313445033
257
+ ],
258
+ [
259
+ 0.0,
260
+ 0.0,
261
+ 0.0,
262
+ 1.0
263
+ ]
264
+ ],
265
+ "cam_pos_world": [
266
+ -0.04348254582761113,
267
+ -1.1540882690721632,
268
+ 2.813557313445033
269
+ ],
270
+ "gt": {
271
+ "clock": 2,
272
+ "dist": 1.140720510841398,
273
+ "lr": "right",
274
+ "fb": "in front of",
275
+ "target_cam_xyz": [
276
+ 0.31624898966753334,
277
+ 0.26925911638423194,
278
+ -1.79613379908442
279
+ ],
280
+ "anchor_cam_xyz": [
281
+ -0.31624898966753356,
282
+ -0.2692591163842315,
283
+ -2.577918745835922
284
+ ]
285
+ },
286
+ "target_bbox": [
287
+ 476,
288
+ 140,
289
+ 986,
290
+ 587
291
+ ],
292
+ "anchor_bbox": [
293
+ 0,
294
+ 399,
295
+ 797,
296
+ 815
297
+ ],
298
+ "target_pixels": 117958,
299
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02141/view_03_left/rgb.png",
300
+ "ok": true
301
+ }
302
+ ],
303
+ "all_views_ok": false
304
+ }
data/batch_v5/pair_02144/meta.json ADDED
@@ -0,0 +1,237 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2144,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "5a7ad2f9-1461-4954-8cb1-2c99aeaa4fb4",
6
+ "target_category": "others",
7
+ "anchor": {
8
+ "jid": "06beed0e-c97a-4110-943c-d5ef6eb988e8#398",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ -1.8382377624511719,
13
+ 3.4047553539276123,
14
+ 0.39500001072883606
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -0.9345728904008865,
19
+ 1.7356888055801392,
20
+ 1.3050000667572021
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ 0.3401840135858986,
41
+ 0.741205806333939,
42
+ -0.5786957659750455,
43
+ -3.5792413487758847
44
+ ],
45
+ [
46
+ -0.9403588872875022,
47
+ 0.2681384410787849,
48
+ -0.2093488464626683,
49
+ 1.7769422274514415
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.615398837399531,
54
+ 0.7882158783780656,
55
+ 3.8367648867341275
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -3.5792413487758847,
66
+ 1.7769422274514415,
67
+ 3.8367648867341275
68
+ ],
69
+ "gt": {
70
+ "clock": 2,
71
+ "dist": 2.1048737362991243,
72
+ "lr": "right",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ 0.9384669526617375,
76
+ 0.391136862163206,
77
+ -3.5173993144127653
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ -0.938466952661738,
81
+ -0.3911368621632063,
82
+ -4.061145929149342
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 698,
87
+ 309,
88
+ 798,
89
+ 512
90
+ ],
91
+ "anchor_bbox": [
92
+ 53,
93
+ 430,
94
+ 521,
95
+ 773
96
+ ],
97
+ "target_pixels": 6931,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02144/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 135,
105
+ "cam2world": [
106
+ [
107
+ 0.4243877230921837,
108
+ -0.7137141618971694,
109
+ 0.5572316893322322,
110
+ 0.7250974579494036
111
+ ],
112
+ [
113
+ 0.9054805688078746,
114
+ 0.33450914192997283,
115
+ -0.261167711397564,
116
+ 1.580586421261871
117
+ ],
118
+ [
119
+ -0.0,
120
+ 0.6153988373995313,
121
+ 0.7882158783780656,
122
+ 3.8367648867341275
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 0.7250974579494036,
133
+ 1.580586421261871,
134
+ 3.8367648867341275
135
+ ],
136
+ "gt": {
137
+ "clock": 8,
138
+ "dist": 2.1048737362991243,
139
+ "lr": "left",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ -0.5639015250440278,
143
+ -0.3216317295948259,
144
+ -2.9609058781153506
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.5639015250440274,
148
+ 0.32163172959482633,
149
+ -4.617639365446754
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 292,
154
+ 523,
155
+ 393,
156
+ 703
157
+ ],
158
+ "anchor_bbox": [
159
+ 426,
160
+ 298,
161
+ 828,
162
+ 611
163
+ ],
164
+ "target_pixels": 7528,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02144/view_01_right/rgb.png",
166
+ "ok": true
167
+ },
168
+ {
169
+ "view_idx": 2,
170
+ "view_label": "back",
171
+ "azimuth_offset_deg": 225,
172
+ "cam2world": [
173
+ [
174
+ -0.9054805688078744,
175
+ -0.33450914192997283,
176
+ 0.26116771139756406,
177
+ -0.39676966793402424
178
+ ],
179
+ [
180
+ 0.4243877230921837,
181
+ -0.7137141618971692,
182
+ 0.5572316893322322,
183
+ 4.6817248641293085
184
+ ],
185
+ [
186
+ 0.0,
187
+ 0.6153988373995312,
188
+ 0.7882158783780656,
189
+ 3.8367648867341275
190
+ ],
191
+ [
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 1.0
196
+ ]
197
+ ],
198
+ "cam_pos_world": [
199
+ -0.39676966793402424,
200
+ 4.6817248641293085,
201
+ 3.8367648867341275
202
+ ],
203
+ "gt": {
204
+ "clock": 10,
205
+ "dist": 2.1048737362991243,
206
+ "lr": "left",
207
+ "fb": "in front of",
208
+ "target_cam_xyz": [
209
+ -0.7632911672491507,
210
+ 0.7244826241379912,
211
+ -3.7776587179577263
212
+ ],
213
+ "anchor_cam_xyz": [
214
+ 0.7632911672491516,
215
+ -0.7244826241379921,
216
+ -3.800886525604379
217
+ ]
218
+ },
219
+ "target_bbox": [
220
+ 300,
221
+ 239,
222
+ 372,
223
+ 440
224
+ ],
225
+ "anchor_bbox": [
226
+ 516,
227
+ 449,
228
+ 813,
229
+ 951
230
+ ],
231
+ "target_pixels": 6186,
232
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02144/view_02_back/rgb.png",
233
+ "ok": true
234
+ }
235
+ ],
236
+ "all_views_ok": true
237
+ }
data/batch_v5/pair_02149/meta.json ADDED
@@ -0,0 +1,304 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2149,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "6b76631e-d399-44dc-9f75-f24ed24ba555",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "737532dc-06aa-4b1e-8446-8027a05434b4#254",
9
+ "category": "Sofa",
10
+ "raw_cat": "front3d_cat46",
11
+ "center": [
12
+ 1.34904944896698,
13
+ -4.516462802886963,
14
+ 0.20917999744415283
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ 1.2177926301956177,
19
+ -3.718207597732544,
20
+ 0.8696082383394241
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ 0.41632964149594864,
41
+ 0.6765821228009199,
42
+ -0.6073765394860556,
43
+ -0.0559055883188424
44
+ ],
45
+ [
46
+ -0.9092137425335447,
47
+ 0.30980745170367074,
48
+ -0.2781181641982826,
49
+ -4.7306138483929585
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.6680239321873723,
54
+ 0.7441397893036773,
55
+ 2.1802975277234373
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -0.0559055883188424,
66
+ -4.7306138483929585,
67
+ 2.1802975277234373
68
+ ],
69
+ "gt": {
70
+ "clock": 10,
71
+ "dist": 1.0443204423940595,
72
+ "lr": "left",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ -0.39021535343915525,
76
+ 0.29984063212605244,
77
+ -2.0305190358122136
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ 0.3902153534391557,
81
+ -0.299840632126053,
82
+ -2.379683007992247
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 28,
87
+ 124,
88
+ 576,
89
+ 615
90
+ ],
91
+ "anchor_bbox": [
92
+ 542,
93
+ 494,
94
+ 794,
95
+ 762
96
+ ],
97
+ "target_pixels": 180234,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02149/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 90,
105
+ "cam2world": [
106
+ [
107
+ 0.9092137425335447,
108
+ -0.3098074517036706,
109
+ 0.27811816419828256,
110
+ 1.896699687664504
111
+ ],
112
+ [
113
+ 0.41632964149594853,
114
+ 0.6765821228009198,
115
+ -0.6073765394860556,
116
+ -5.456661828209895
117
+ ],
118
+ [
119
+ -0.0,
120
+ 0.6680239321873722,
121
+ 0.7441397893036772,
122
+ 2.1802975277234373
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 1.896699687664504,
133
+ -5.456661828209895,
134
+ 2.1802975277234373
135
+ ],
136
+ "gt": {
137
+ "clock": 12,
138
+ "dist": 1.0443204423940595,
139
+ "lr": "right",
140
+ "fb": "behind",
141
+ "target_cam_xyz": [
142
+ 0.10649839997802824,
143
+ 0.5109657060964987,
144
+ -2.2200487506915367
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ -0.10649839997802824,
148
+ -0.5109657060964969,
149
+ -2.190153293112921
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 413,
154
+ 42,
155
+ 756,
156
+ 578
157
+ ],
158
+ "anchor_bbox": [
159
+ 347,
160
+ 575,
161
+ 595,
162
+ 872
163
+ ],
164
+ "target_pixels": 115665,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02149/view_01_right/rgb.png",
166
+ "ok": true
167
+ },
168
+ {
169
+ "view_idx": 2,
170
+ "view_label": "back",
171
+ "azimuth_offset_deg": 180,
172
+ "cam2world": [
173
+ [
174
+ -0.4163296414959486,
175
+ -0.7372393528074387,
176
+ 0.5321163089813391,
177
+ 2.6227476674814403
178
+ ],
179
+ [
180
+ 0.9092137425335447,
181
+ -0.33758244194126,
182
+ 0.24365644929104768,
183
+ -3.5040565522265483
184
+ ],
185
+ [
186
+ 0.0,
187
+ 0.585248862933577,
188
+ 0.8108537281377913,
189
+ 2.5802975277234372
190
+ ],
191
+ [
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 1.0
196
+ ]
197
+ ],
198
+ "cam_pos_world": [
199
+ 2.6227476674814403,
200
+ -3.5040565522265483,
201
+ 2.5802975277234372
202
+ ],
203
+ "gt": {
204
+ "clock": 2,
205
+ "dist": 1.0443204423940595,
206
+ "lr": "right",
207
+ "fb": "in front of",
208
+ "target_cam_xyz": [
209
+ 0.3902153534391548,
210
+ 0.10690281385369604,
211
+ -2.186897560067644
212
+ ],
213
+ "anchor_cam_xyz": [
214
+ -0.3902153534391566,
215
+ -0.10690281385369615,
216
+ -2.84706439634783
217
+ ]
218
+ },
219
+ "target_bbox": [
220
+ 448,
221
+ 232,
222
+ 942,
223
+ 674
224
+ ],
225
+ "anchor_bbox": [
226
+ 291,
227
+ 436,
228
+ 484,
229
+ 658
230
+ ],
231
+ "target_pixels": 130054,
232
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02149/view_02_back/rgb.png",
233
+ "ok": true
234
+ },
235
+ {
236
+ "view_idx": 3,
237
+ "view_label": "left",
238
+ "azimuth_offset_deg": 270,
239
+ "cam2world": [
240
+ [
241
+ -0.9092137425335448,
242
+ 0.30980745170367063,
243
+ -0.2781181641982825,
244
+ 0.670142391498094
245
+ ],
246
+ [
247
+ -0.4163296414959485,
248
+ -0.6765821228009199,
249
+ 0.6073765394860557,
250
+ -2.778008572409612
251
+ ],
252
+ [
253
+ 0.0,
254
+ 0.6680239321873724,
255
+ 0.7441397893036773,
256
+ 2.1802975277234373
257
+ ],
258
+ [
259
+ 0.0,
260
+ 0.0,
261
+ 0.0,
262
+ 1.0
263
+ ]
264
+ ],
265
+ "cam_pos_world": [
266
+ 0.670142391498094,
267
+ -2.778008572409612,
268
+ 2.1802975277234373
269
+ ],
270
+ "gt": {
271
+ "clock": 8,
272
+ "dist": 1.0443204423940595,
273
+ "lr": "left",
274
+ "fb": "in front of",
275
+ "target_cam_xyz": [
276
+ -0.10649839997802835,
277
+ -0.06978383568604896,
278
+ -1.6987023610829164
279
+ ],
280
+ "anchor_cam_xyz": [
281
+ 0.10649839997802812,
282
+ 0.06978383568604896,
283
+ -2.7114996827215423
284
+ ]
285
+ },
286
+ "target_bbox": [
287
+ 267,
288
+ 199,
289
+ 702,
290
+ 907
291
+ ],
292
+ "anchor_bbox": [
293
+ 565,
294
+ 376,
295
+ 653,
296
+ 493
297
+ ],
298
+ "target_pixels": 168661,
299
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02149/view_03_left/rgb.png",
300
+ "ok": true
301
+ }
302
+ ],
303
+ "all_views_ok": true
304
+ }
data/batch_v5/pair_02152/meta.json ADDED
@@ -0,0 +1,237 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2152,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "102c7436-d583-4de3-bfd6-1409f3ab9f52",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "3f4bdfd2-1c63-435d-9482-6dce589f6a5f#576",
9
+ "category": "Sofa",
10
+ "raw_cat": "front3d_cat46",
11
+ "center": [
12
+ -9.227668762207031,
13
+ -0.6186809539794922,
14
+ 0.4602329730987549
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ -8.026622891426086,
19
+ 0.6062679477035999,
20
+ 1.4137542843818665
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.5219004039975415,
41
+ -0.6725182351801645,
42
+ 0.5247277309780376,
43
+ -6.462057567015862
44
+ ],
45
+ [
46
+ 0.8530064292296998,
47
+ -0.41147115263034745,
48
+ 0.3210475389188497,
49
+ 1.3184733571307723
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.6151509683835424,
54
+ 0.7884093391740041,
55
+ 4.190063179650527
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ -6.462057567015862,
66
+ 1.3184733571307723,
67
+ 4.190063179650527
68
+ ],
69
+ "gt": {
70
+ "clock": 5,
71
+ "dist": 1.962705756481505,
72
+ "lr": "right",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ 0.20903148171669095,
76
+ -0.36259841393334735,
77
+ -3.2384904680076536
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ -0.20903148171669184,
81
+ 0.36259841393334735,
82
+ -5.0137444796868325
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 423,
87
+ 508,
88
+ 726,
89
+ 722
90
+ ],
91
+ "anchor_bbox": [
92
+ 99,
93
+ 213,
94
+ 881,
95
+ 649
96
+ ],
97
+ "target_pixels": 28059,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02152/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 135,
105
+ "cam2world": [
106
+ [
107
+ -0.23412731573338316,
108
+ 0.7664962468550673,
109
+ -0.5980534287039716,
110
+ -11.094784529286272
111
+ ],
112
+ [
113
+ -0.9722059452747039,
114
+ -0.18458816227994004,
115
+ 0.1440236449984301,
116
+ 0.5880519751372484
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.6151509683835426,
121
+ 0.7884093391740041,
122
+ 4.190063179650527
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ -11.094784529286272,
133
+ 0.5880519751372484,
134
+ 4.190063179650527
135
+ ],
136
+ "gt": {
137
+ "clock": 10,
138
+ "dist": 1.962705756481505,
139
+ "lr": "left",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ -0.7360501253363136,
143
+ 0.6405228218080046,
144
+ -4.021168918035752
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.7360501253363139,
148
+ -0.6405228218080046,
149
+ -4.231066029658732
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 209,
154
+ 238,
155
+ 438,
156
+ 454
157
+ ],
158
+ "anchor_bbox": [
159
+ 751,
160
+ 432,
161
+ 980,
162
+ 543
163
+ ],
164
+ "target_pixels": 24287,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02152/view_01_right/rgb.png",
166
+ "ok": true
167
+ },
168
+ {
169
+ "view_idx": 2,
170
+ "view_label": "back",
171
+ "azimuth_offset_deg": 225,
172
+ "cam2world": [
173
+ [
174
+ 0.9722059452747039,
175
+ 0.18458816227994035,
176
+ -0.14402364499843032,
177
+ -9.221404305091754
178
+ ],
179
+ [
180
+ -0.23412731573338355,
181
+ 0.7664962468550673,
182
+ -0.5980534287039715,
183
+ -2.473845205607659
184
+ ],
185
+ [
186
+ 0.0,
187
+ 0.6151509683835426,
188
+ 0.7884093391740041,
189
+ 4.190063179650527
190
+ ],
191
+ [
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 1.0
196
+ ]
197
+ ],
198
+ "cam_pos_world": [
199
+ -9.221404305091754,
200
+ -2.473845205607659,
201
+ 4.190063179650527
202
+ ],
203
+ "gt": {
204
+ "clock": 1,
205
+ "dist": 1.962705756481505,
206
+ "lr": "right",
207
+ "fb": "behind",
208
+ "target_cam_xyz": [
209
+ 0.4404349689296261,
210
+ 0.8735885719204217,
211
+ -4.20301686776818
212
+ ],
213
+ "anchor_cam_xyz": [
214
+ -0.4404349689296243,
215
+ -0.8735885719204219,
216
+ -4.049218079926305
217
+ ]
218
+ },
219
+ "target_bbox": [
220
+ 517,
221
+ 191,
222
+ 728,
223
+ 400
224
+ ],
225
+ "anchor_bbox": [
226
+ 172,
227
+ 381,
228
+ 751,
229
+ 1023
230
+ ],
231
+ "target_pixels": 21025,
232
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02152/view_02_back/rgb.png",
233
+ "ok": true
234
+ }
235
+ ],
236
+ "all_views_ok": true
237
+ }
data/batch_v5/pair_02153/meta.json ADDED
@@ -0,0 +1,237 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2153,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "fceb092a-aed7-44e1-a711-7273689cf0b7",
6
+ "target_category": "cabinet",
7
+ "anchor": {
8
+ "jid": "fb13fb08-cd1a-46d5-b044-9b13bf160622#819",
9
+ "category": "Table",
10
+ "raw_cat": "front3d_cat36",
11
+ "center": [
12
+ 1.6831876039505005,
13
+ 1.2928894758224487,
14
+ 0.3408685028553009
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ 2.117588311433792,
19
+ 2.3335652351379395,
20
+ 1.1967270374298096
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.18336618195129553,
41
+ -0.7899891821193437,
42
+ 0.5850589162221314,
43
+ 3.4679189809549786
44
+ ],
45
+ [
46
+ 0.9830446802239482,
47
+ -0.1473557642110943,
48
+ 0.1091303598324499,
49
+ 2.105617095853371
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.5951498726272022,
54
+ 0.8036147267887921,
55
+ 2.9218989024634676
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 3.4679189809549786,
66
+ 2.105617095853371,
67
+ 2.9218989024634676
68
+ ],
69
+ "gt": {
70
+ "clock": 3,
71
+ "dist": 1.4156990647354695,
72
+ "lr": "right",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ 0.47168818493247944,
76
+ 0.006421333206118929,
77
+ -2.1515204525710425
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ -0.47168818493247877,
81
+ -0.006421333206118929,
82
+ -3.2070203022123014
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 515,
87
+ 386,
88
+ 1010,
89
+ 673
90
+ ],
91
+ "anchor_bbox": [
92
+ 261,
93
+ 436,
94
+ 478,
95
+ 632
96
+ ],
97
+ "target_pixels": 120921,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02153/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 90,
105
+ "cam2world": [
106
+ [
107
+ -0.9830446802239482,
108
+ 0.1473557642110943,
109
+ -0.1091303598324499,
110
+ 1.6079982173189693
111
+ ],
112
+ [
113
+ -0.18336618195129553,
114
+ -0.7899891821193437,
115
+ 0.5850589162221314,
116
+ 3.3807583787430264
117
+ ],
118
+ [
119
+ 0.0,
120
+ 0.5951498726272022,
121
+ 0.8036147267887921,
122
+ 2.9218989024634676
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 1.6079982173189693,
133
+ 3.3807583787430264,
134
+ 2.9218989024634676
135
+ ],
136
+ "gt": {
137
+ "clock": 8,
138
+ "dist": 1.4156990647354695,
139
+ "lr": "left",
140
+ "fb": "in front of",
141
+ "target_cam_xyz": [
142
+ -0.30893002260595814,
143
+ -0.1243735229445545,
144
+ -2.0546549529933764
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.3089300226059577,
148
+ 0.12437352294455395,
149
+ -3.303885801789969
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 195,
154
+ 264,
155
+ 466,
156
+ 835
157
+ ],
158
+ "anchor_bbox": [
159
+ 511,
160
+ 373,
161
+ 691,
162
+ 582
163
+ ],
164
+ "target_pixels": 103332,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02153/view_01_right/rgb.png",
166
+ "ok": true
167
+ },
168
+ {
169
+ "view_idx": 2,
170
+ "view_label": "back",
171
+ "azimuth_offset_deg": 180,
172
+ "cam2world": [
173
+ [
174
+ 0.18336618195129525,
175
+ 0.7899891821193437,
176
+ -0.5850589162221314,
177
+ 0.33285693442931374
178
+ ],
179
+ [
180
+ -0.9830446802239482,
181
+ 0.1473557642110941,
182
+ -0.10913035983244973,
183
+ 1.5208376151070175
184
+ ],
185
+ [
186
+ 0.0,
187
+ 0.5951498726272021,
188
+ 0.8036147267887921,
189
+ 2.9218989024634676
190
+ ],
191
+ [
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 1.0
196
+ ]
197
+ ],
198
+ "cam_pos_world": [
199
+ 0.33285693442931374,
200
+ 1.5208376151070175,
201
+ 2.9218989024634676
202
+ ],
203
+ "gt": {
204
+ "clock": 11,
205
+ "dist": 1.4156990647354695,
206
+ "lr": "left",
207
+ "fb": "in front of",
208
+ "target_cam_xyz": [
209
+ -0.471688184932479,
210
+ 0.5029427646328037,
211
+ -2.5192397797803516
212
+ ],
213
+ "anchor_cam_xyz": [
214
+ 0.4716881849324792,
215
+ -0.5029427646328037,
216
+ -2.8393009750029923
217
+ ]
218
+ },
219
+ "target_bbox": [
220
+ 134,
221
+ 133,
222
+ 508,
223
+ 490
224
+ ],
225
+ "anchor_bbox": [
226
+ 551,
227
+ 554,
228
+ 775,
229
+ 792
230
+ ],
231
+ "target_pixels": 107627,
232
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02153/view_02_back/rgb.png",
233
+ "ok": true
234
+ }
235
+ ],
236
+ "all_views_ok": true
237
+ }
data/batch_v5/pair_02177/meta.json ADDED
@@ -0,0 +1,237 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "pair_idx": 2177,
3
+ "scene": "front3d:random",
4
+ "target_source": "3dfuture",
5
+ "target_id": "d8732fb3-49f9-4258-8530-e21c97cae7ef",
6
+ "target_category": "others",
7
+ "anchor": {
8
+ "jid": "c914d995-3ce6-4992-9b2c-1d846958b74d#342",
9
+ "category": "Sofa",
10
+ "raw_cat": "front3d_cat46",
11
+ "center": [
12
+ 3.993185043334961,
13
+ -0.841065526008606,
14
+ 0.41411659121513367
15
+ ]
16
+ },
17
+ "pos_A": [
18
+ 3.386929512023926,
19
+ 0.03064262866973877,
20
+ 1.3432331085205078
21
+ ],
22
+ "target_color_rgb": [
23
+ 0.5,
24
+ 0.5,
25
+ 0.5
26
+ ],
27
+ "anchor_color_rgb": [
28
+ 0.5,
29
+ 0.5,
30
+ 0.5
31
+ ],
32
+ "n_views": 4,
33
+ "views": [
34
+ {
35
+ "view_idx": 0,
36
+ "view_label": "front",
37
+ "azimuth_offset_deg": 0,
38
+ "cam2world": [
39
+ [
40
+ -0.9930697290441526,
41
+ 0.08039839939610115,
42
+ -0.08572403764825018,
43
+ 3.482492525663722
44
+ ],
45
+ [
46
+ -0.11752664913190375,
47
+ -0.6793456402748409,
48
+ 0.7243459034076144,
49
+ 1.348656917066301
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.7294008489260976,
54
+ 0.6840865453916547,
55
+ 2.5350626968115733
56
+ ],
57
+ [
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 1.0
62
+ ]
63
+ ],
64
+ "cam_pos_world": [
65
+ 3.482492525663722,
66
+ 1.348656917066301,
67
+ 2.5350626968115733
68
+ ],
69
+ "gt": {
70
+ "clock": 3,
71
+ "dist": 1.4109140225072605,
72
+ "lr": "right",
73
+ "fb": "in front of",
74
+ "target_cam_xyz": [
75
+ 0.24980253888513326,
76
+ 0.01838263382929961,
77
+ -1.7618207888033066
78
+ ],
79
+ "anchor_cam_xyz": [
80
+ -0.2498025388851337,
81
+ -0.01838263382929939,
82
+ -3.0808058001919028
83
+ ]
84
+ },
85
+ "target_bbox": [
86
+ 527,
87
+ 174,
88
+ 840,
89
+ 804
90
+ ],
91
+ "anchor_bbox": [
92
+ 20,
93
+ 338,
94
+ 825,
95
+ 716
96
+ ],
97
+ "target_pixels": 147679,
98
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02177/view_00_front/rgb.png",
99
+ "ok": true
100
+ },
101
+ {
102
+ "view_idx": 1,
103
+ "view_label": "right",
104
+ "azimuth_offset_deg": 180,
105
+ "cam2world": [
106
+ [
107
+ 0.9930697290441525,
108
+ -0.08039839939610062,
109
+ 0.08572403764824964,
110
+ 3.8976220296951634
111
+ ],
112
+ [
113
+ 0.11752664913190297,
114
+ 0.6793456402748408,
115
+ -0.7243459034076145,
116
+ -2.1590798144051684
117
+ ],
118
+ [
119
+ -0.0,
120
+ 0.7294008489260975,
121
+ 0.6840865453916547,
122
+ 2.5350626968115733
123
+ ],
124
+ [
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 1.0
129
+ ]
130
+ ],
131
+ "cam_pos_world": [
132
+ 3.8976220296951634,
133
+ -2.1590798144051684,
134
+ 2.5350626968115733
135
+ ],
136
+ "gt": {
137
+ "clock": 11,
138
+ "dist": 1.4109140225072605,
139
+ "lr": "left",
140
+ "fb": "behind",
141
+ "target_cam_xyz": [
142
+ -0.2498025388851337,
143
+ 0.6593157426444993,
144
+ -2.4452096916021433
145
+ ],
146
+ "anchor_cam_xyz": [
147
+ 0.24980253888513415,
148
+ -0.6593157426444999,
149
+ -2.3974168973930654
150
+ ]
151
+ },
152
+ "target_bbox": [
153
+ 326,
154
+ 33,
155
+ 497,
156
+ 497
157
+ ],
158
+ "anchor_bbox": [
159
+ 64,
160
+ 525,
161
+ 1023,
162
+ 1023
163
+ ],
164
+ "target_pixels": 64004,
165
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02177/view_01_right/rgb.png",
166
+ "ok": true
167
+ },
168
+ {
169
+ "view_idx": 2,
170
+ "view_label": "back",
171
+ "azimuth_offset_deg": 270,
172
+ "cam2world": [
173
+ [
174
+ -0.11752664913190301,
175
+ -0.6793456402748408,
176
+ 0.7243459034076145,
177
+ 5.443925643415178
178
+ ],
179
+ [
180
+ 0.9930697290441525,
181
+ -0.08039839939610065,
182
+ 0.08572403764824967,
183
+ -0.1976466966537135
184
+ ],
185
+ [
186
+ 0.0,
187
+ 0.7294008489260975,
188
+ 0.6840865453916547,
189
+ 2.5350626968115733
190
+ ],
191
+ [
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 1.0
196
+ ]
197
+ ],
198
+ "cam_pos_world": [
199
+ 5.443925643415178,
200
+ -0.1976466966537135,
201
+ 2.5350626968115733
202
+ ],
203
+ "gt": {
204
+ "clock": 1,
205
+ "dist": 1.4109140225072605,
206
+ "lr": "right",
207
+ "fb": "in front of",
208
+ "target_cam_xyz": [
209
+ 0.46845908104233475,
210
+ 0.5097357440928949,
211
+ -2.285721424129436
212
+ ],
213
+ "anchor_cam_xyz": [
214
+ -0.4684590810423348,
215
+ -0.5097357440928958,
216
+ -2.556905164865773
217
+ ]
218
+ },
219
+ "target_bbox": [
220
+ 539,
221
+ 86,
222
+ 928,
223
+ 509
224
+ ],
225
+ "anchor_bbox": [
226
+ 0,
227
+ 360,
228
+ 548,
229
+ 1023
230
+ ],
231
+ "target_pixels": 132472,
232
+ "rgb": "/data222/hongbo.wang/Spatial_MLLM/mgeo_dpo/render_out/batch_v5/pair_02177/view_02_back/rgb.png",
233
+ "ok": true
234
+ }
235
+ ],
236
+ "all_views_ok": true
237
+ }