diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..b7ec250405a332da3f66252f58457a1563b577ef --- /dev/null +++ b/.gitattributes @@ -0,0 +1,156 @@ +*.7z filter=lfs diff=lfs merge=lfs -text +*.arrow filter=lfs diff=lfs merge=lfs -text +*.avro filter=lfs diff=lfs merge=lfs -text +*.bin filter=lfs diff=lfs merge=lfs -text +*.bz2 filter=lfs diff=lfs merge=lfs -text +*.ckpt filter=lfs diff=lfs merge=lfs -text +*.ftz filter=lfs diff=lfs merge=lfs -text +*.gz filter=lfs diff=lfs merge=lfs -text +*.h5 filter=lfs diff=lfs merge=lfs -text +*.joblib filter=lfs diff=lfs merge=lfs -text +*.lfs.* filter=lfs diff=lfs merge=lfs -text +*.lz4 filter=lfs diff=lfs merge=lfs -text +*.mds filter=lfs diff=lfs merge=lfs -text +*.mlmodel filter=lfs diff=lfs merge=lfs -text +*.model filter=lfs diff=lfs merge=lfs -text +*.msgpack filter=lfs diff=lfs merge=lfs -text +*.npy filter=lfs diff=lfs merge=lfs -text +*.npz filter=lfs diff=lfs merge=lfs -text 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merge=lfs -text +*.raw filter=lfs diff=lfs merge=lfs -text +# Audio files - compressed +*.aac filter=lfs diff=lfs merge=lfs -text +*.flac filter=lfs diff=lfs merge=lfs -text +*.mp3 filter=lfs diff=lfs merge=lfs -text +*.ogg filter=lfs diff=lfs merge=lfs -text +*.wav filter=lfs diff=lfs merge=lfs -text +# Image files - uncompressed +*.bmp filter=lfs diff=lfs merge=lfs -text +*.gif filter=lfs diff=lfs merge=lfs -text +*.png filter=lfs diff=lfs merge=lfs -text +*.tiff filter=lfs diff=lfs merge=lfs -text +# Image files - compressed +*.jpg filter=lfs diff=lfs merge=lfs -text +*.jpeg filter=lfs diff=lfs merge=lfs -text +*.webp filter=lfs diff=lfs merge=lfs -text +# Video files - compressed +*.mp4 filter=lfs diff=lfs merge=lfs -text +*.webm filter=lfs diff=lfs merge=lfs -text +FIORD_Bridge_Out/gaussians/appearance.json filter=lfs diff=lfs merge=lfs -text +FIORD_Bridge_Out/gaussians/point_cloud.ply filter=lfs diff=lfs merge=lfs -text +FIORD_Bridge_Out/gaussians_geo/appearance.json filter=lfs 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filter=lfs diff=lfs merge=lfs -text +FullCircle_room1/gaussians_geo/appearance.json filter=lfs diff=lfs merge=lfs -text +FullCircle_room1/gaussians_geo/point_cloud.ply filter=lfs diff=lfs merge=lfs -text +FullCircle_room1/mesh/mesh.glb filter=lfs diff=lfs merge=lfs -text +FullCircle_room1/mesh/mesh.ply filter=lfs diff=lfs merge=lfs -text +FullCircle_room2/gaussians/appearance.json filter=lfs diff=lfs merge=lfs -text +FullCircle_room2/gaussians/point_cloud.ply filter=lfs diff=lfs merge=lfs -text +FullCircle_room2/gaussians_geo/appearance.json filter=lfs diff=lfs merge=lfs -text +FullCircle_room2/gaussians_geo/point_cloud.ply filter=lfs diff=lfs merge=lfs -text +FullCircle_room2/mesh/mesh.glb filter=lfs diff=lfs merge=lfs -text +FullCircle_room2/mesh/mesh.ply filter=lfs diff=lfs merge=lfs -text +FullCircle_room3/gaussians/appearance.json filter=lfs diff=lfs merge=lfs -text +FullCircle_room3/gaussians/point_cloud.ply filter=lfs diff=lfs merge=lfs -text +FullCircle_room3/gaussians_geo/appearance.json filter=lfs diff=lfs merge=lfs -text +FullCircle_room3/gaussians_geo/point_cloud.ply filter=lfs diff=lfs merge=lfs -text +FullCircle_room3/mesh/mesh.glb filter=lfs diff=lfs merge=lfs -text +FullCircle_room3/mesh/mesh.ply filter=lfs diff=lfs merge=lfs -text diff --git a/FIORD_Bridge_Out/MANIFEST.json b/FIORD_Bridge_Out/MANIFEST.json new file mode 100644 index 0000000000000000000000000000000000000000..52ad28a7b9b6a836ceb02fadab2cc816845a1449 --- /dev/null +++ b/FIORD_Bridge_Out/MANIFEST.json @@ -0,0 +1,65 @@ +{ + "scene": "FIORD_Bridge_Out", + "files": [ + { + "path": "PACKAGE_EXPORT.json", + "bytes": 2272, + "sha256": "f88f42bccfeb7c3e70eebd27ff4fa07d738d1c460140f82d381fe4f900f1ccef" + }, + { + "path": "README.md", + "bytes": 993, + "sha256": "09ba7532ccd530368daaab451d7b0491e47b0992c3b955a477d7cce7f34e3ade" + }, + { + "path": "cameras.json", + "bytes": 753741, + "sha256": "2d12b9eb03cef159fdc42dad9eb79c0c759db365ee1ad82ba0ec593f3b403f28" + }, + { + "path": "gaussians/EXPORT.json", + "bytes": 912, + "sha256": "814cc02734c659bfd560cc576cda42a36c33e63a16107cab05c742c9520786cb" + }, + { + "path": "gaussians/appearance.json", + "bytes": 11013350, + "sha256": "dd56a3876b90712d6dbb459bd4cde384b4b27fb04750434fafe977b24bf723e6" + }, + { + "path": "gaussians/point_cloud.ply", + "bytes": 174271627, + "sha256": "30131812f4c8666077665f301764e55fbc828e5f0758d2acc3133f91d9219151" + }, + { + "path": "gaussians_geo/EXPORT.json", + "bytes": 910, + "sha256": "d61d979df019a3a155cb617de02b92f333885a58c3cfb9a35762462c4e607286" + }, + { + "path": "gaussians_geo/appearance.json", + "bytes": 11015892, + "sha256": "afd1cf004d2f104c89141b64ab7505abc80eff5883766512f99b26cd095adf1f" + }, + { + "path": "gaussians_geo/point_cloud.ply", + "bytes": 173661051, + "sha256": "12b9fbf5b015f2f29cd0573d2405b3156f07905d1cc975c525e49cef544eed2c" + }, + { + "path": "lidar_alignment.json", + "bytes": 954, + "sha256": "98b42d454f055f5a3cddeb62bbc3c429236944f3626b812081ecbc2604c1266c" + }, + { + "path": "mesh/mesh.glb", + "bytes": 24670384, + "sha256": "6d77fda5a159ebf938d1f7c085c059667436b2fa59b237fc775e208e1a57dd8a" + }, + { + "path": "mesh/mesh.ply", + "bytes": 420156088, + "sha256": "9fc7319415400b646aa17899a4548526bf10cc7a445e7cdfbd26d823d4968d01" + } + ] +} \ No newline at end of file diff --git a/FIORD_Bridge_Out/PACKAGE_EXPORT.json b/FIORD_Bridge_Out/PACKAGE_EXPORT.json new file mode 100644 index 0000000000000000000000000000000000000000..331f0b19c4bc59d7ca616869fa7f713480a6edc8 --- /dev/null +++ b/FIORD_Bridge_Out/PACKAGE_EXPORT.json @@ -0,0 +1,60 @@ +{ + "dataset": "FIORD", + "scene": "Bridge_Out", + "gaussians": { + "source_checkpoint": "/opt/dlami/nvme/gpv/fest_k50_radial_ff_apo/train/checkpoints/c35.pt", + "source_sha256": "f0ddc5ac42b1257c4d34149bb2b158695a0e3ff254a91ce2e4ae3c8e79a078a7", + "global_step": 35000, + "num_gaussians": 702702, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 8.13790919096391e-08, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "30131812f4c8666077665f301764e55fbc828e5f0758d2acc3133f91d9219151", + "ply_bytes": 174271627 + }, + "gaussians_geo": { + "source_checkpoint": "/opt/dlami/nvme/gpv/fest_k50_radial_ff/train/checkpoints/c35.pt", + "source_sha256": "038f122e6ec8177c82faeb5b95358965c3034c2a8cd14420ed95506a08e0a30f", + "global_step": 35000, + "num_gaussians": 700240, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 4.5953239435903015e-08, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "12b9fbf5b015f2f29cd0573d2405b3156f07905d1cc975c525e49cef544eed2c", + "ply_bytes": 173661051 + }, + "mesh": { + "source": "/opt/dlami/nvme/gpv/e12/vig_fest_k50_radial_ff/mesh.ply", + "source_sha256": "9fc7319415400b646aa17899a4548526bf10cc7a445e7cdfbd26d823d4968d01", + "sha256": "9fc7319415400b646aa17899a4548526bf10cc7a445e7cdfbd26d823d4968d01", + "bytes": 420156088 + }, + "n_frames": { + "train": 840, + "test": 120 + } +} \ No newline at end of file diff --git a/FIORD_Bridge_Out/README.md b/FIORD_Bridge_Out/README.md new file mode 100644 index 0000000000000000000000000000000000000000..bbcc1a32b8561c4f297297dbd349871ba3c5b5ab --- /dev/null +++ b/FIORD_Bridge_Out/README.md @@ -0,0 +1,13 @@ +# FIORD Bridge_Out + +| Item | File | Size | +|---|---|---| +| GOFish (Ours) Gaussians | `gaussians/point_cloud.ply` | 702,702 Gaussians, 174 MB | +| + Geometry Objective Gaussians | `gaussians_geo/point_cloud.ply` | 700,240 Gaussians, 174 MB | +| + Geometry Objective mesh | `mesh/mesh.ply`, `mesh/mesh.glb` | 420 MB PLY | +| Cameras | `cameras.json` | 840 train and 120 test frames | + +Both Gaussian files carry the 3-D Mip filter baked into their scales. Reloading each PLY reproduces the checkpoint's stored positions, rotations, opacities and spherical harmonics exactly, and its filtered scales to float32 precision. `EXPORT.json` holds the checks and the source checkpoint sha256. +The mesh is byte-identical to the evaluated mesh, sha256 `9fc7319415400b646aa17899a4548526bf10cc7a445e7cdfbd26d823d4968d01`. +`lidar_alignment.json` maps the mesh, Gaussians and cameras into the FIORD LiDAR ground-truth frame used for the paper's geometry scores. +See the top-level README for formats and viewers. diff --git a/FIORD_Bridge_Out/cameras.json b/FIORD_Bridge_Out/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..a4a5747025ea29e8686905ddb1c1bf81134d76f9 --- /dev/null +++ b/FIORD_Bridge_Out/cameras.json @@ -0,0 +1,40362 @@ +{ + "schema": "gofish.package.cameras.v1", + "convention": "COLMAP: x_cam = R(q) x_world + t; camera_to_world is its inverse; OPENCV_FISHEYE params fx,fy,cx,cy,k1..k4 at the stored image resolution; GOFish trained on images downsampled by 4 (intrinsics scale by 1/4)", + "image_folder": "images_4", + "downsample_factor": 4, + "split_rule": "FIORD: images sorted by name; every 8th image starting at index 0 is held out for testing, the rest train", + "cameras": { + "1": { + "model": "OPENCV_FISHEYE", + "width": 3264, + "height": 3264, + "params": [ + 994.0360954583012, + 990.7605563971831, + 1612.0, + 1617.0, + 0.02894200637846875, + -0.009283470247086818, + -0.002997390115327487, + 0.0002813147395689931 + ] + }, + "2": { + "model": "OPENCV_FISHEYE", + "width": 3264, + "height": 3264, + "params": [ + 989.54650247982, + 989.2920515024551, + 1612.0, + 1617.0, + 0.030035796624715942, + -0.008977597129491496, + -0.003001123019422331, + 0.00030260929140523714 + ] + } + }, + "frames": [ + { + "name": "cam1/IMG_20241224_114749_00_829_fisheye1.jpg", + "camera_id": 1, + "split": "test", + "qvec_wxyz_world_to_camera": [ + 0.09667877471839394, + 0.04634537645040507, + 0.994235308198089, + 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The paper's method-independent SfM-to-LiDAR registration, applied identically to every method.", + "use": "x_gt = (transform_mesh_to_gt @ [x, 1])[:3]; the paper scores F-score at 10 cm in this frame.", + "source_sha256": "eaf5b7f68fb0a8d137414b44bb940ff2265b67bdfcd9de23070744e43f9bddf2" +} \ No newline at end of file diff --git a/FIORD_Bridge_Out/mesh/mesh.glb b/FIORD_Bridge_Out/mesh/mesh.glb new file mode 100644 index 0000000000000000000000000000000000000000..d7b21eb97a6b5ea33c3e63c9c836be6111cb474e --- /dev/null +++ b/FIORD_Bridge_Out/mesh/mesh.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d77fda5a159ebf938d1f7c085c059667436b2fa59b237fc775e208e1a57dd8a +size 24670384 diff --git a/FIORD_Bridge_Out/mesh/mesh.ply b/FIORD_Bridge_Out/mesh/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..2d82abc594f7873d2c82c2fc98ecd6aaaf88230e --- /dev/null +++ b/FIORD_Bridge_Out/mesh/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fc7319415400b646aa17899a4548526bf10cc7a445e7cdfbd26d823d4968d01 +size 420156088 diff --git a/FIORD_Building_In/MANIFEST.json b/FIORD_Building_In/MANIFEST.json new file mode 100644 index 0000000000000000000000000000000000000000..72b74b93fd5e3ccd058c760314677845295b8312 --- /dev/null +++ b/FIORD_Building_In/MANIFEST.json @@ -0,0 +1,65 @@ +{ + "scene": "FIORD_Building_In", + "files": [ + { + "path": "PACKAGE_EXPORT.json", + "bytes": 2271, + "sha256": "d91fb3dbc6c74c4e44f7bcff4b23fe23d8392fd4dee5826ebaaf28a47e6cf96d" + }, + { + "path": "README.md", + "bytes": 993, + "sha256": "05bd01e13c94e82d78b7665e125a5307d484c3ef08a4c5dd3ac28aba8d734236" + }, + { + "path": "cameras.json", + "bytes": 363320, + "sha256": "25a917ea87c02fb58eb4a38fdf2061ad5571ece20aea8b8f9765290af762fc8a" + }, + { + "path": "gaussians/EXPORT.json", + "bytes": 914, + "sha256": "1cb8c3d0bd162ac1e202098d6b286c97549276c55005094d2694f095fdc8fb35" + }, + { + "path": "gaussians/appearance.json", + "bytes": 10927231, + "sha256": "5371c85c34820de765755aab4db1277ef95d717656c923cbd7182fb913286670" + }, + { + "path": "gaussians/point_cloud.ply", + "bytes": 121455563, + "sha256": "024f1be41d59fa0ad48b5a653e155470476f32e40594527bd931fa578ba1d811" + }, + { + "path": "gaussians_geo/EXPORT.json", + "bytes": 907, + "sha256": "ede55a8ec3784439809af6b8c37e383ace9400205e6edf17f0bc85567e864c75" + }, + { + "path": "gaussians_geo/appearance.json", + "bytes": 10931995, + "sha256": "e2e32db503cdfa00f16525f4dcb6313d630636e293777c6c5df640aa8e9e6480" + }, + { + "path": "gaussians_geo/point_cloud.ply", + "bytes": 122071595, + "sha256": "d5fe0c717624d914a8428182de2a5033a3510445c41e765356a376d0d3613f33" + }, + { + "path": "lidar_alignment.json", + "bytes": 954, + "sha256": "98b59222c095ec541c9f030c271596c80ea3f73169870264138ec49f9b779346" + }, + { + "path": "mesh/mesh.glb", + "bytes": 18300716, + "sha256": "bb8320086bc8d6cb6b138aff387bd52f476b9e9afdfab97fe510e3c50bf0941e" + }, + { + "path": "mesh/mesh.ply", + "bytes": 282301023, + "sha256": "c603b53a1a1d2b1468b1a07d272ca5931ec0e00d87eefe0b244a5d13264ba053" + } + ] +} \ No newline at end of file diff --git a/FIORD_Building_In/PACKAGE_EXPORT.json b/FIORD_Building_In/PACKAGE_EXPORT.json new file mode 100644 index 0000000000000000000000000000000000000000..2ff8ab4bb812ecaf3ab61d1ec2c0c0a4d35446e1 --- /dev/null +++ b/FIORD_Building_In/PACKAGE_EXPORT.json @@ -0,0 +1,60 @@ +{ + "dataset": "FIORD", + "scene": "Building_In", + "gaussians": { + "source_checkpoint": "/opt/dlami/nvme/gpv/para_k50_radial_ff_apo/train/checkpoints/c35.pt", + "source_sha256": "6c1329bb9e81be1125b0e36a01974c262c04839aba9f6d6ce54789dc8aba5fcd", + "global_step": 35000, + "num_gaussians": 489734, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 5.5790987829595906e-08, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "024f1be41d59fa0ad48b5a653e155470476f32e40594527bd931fa578ba1d811", + "ply_bytes": 121455563 + }, + "gaussians_geo": { + "source_checkpoint": "/opt/dlami/nvme/gpv/para_k50_radial_ff/train/checkpoints/c35.pt", + "source_sha256": "119b8188d624c94817c13a3192bf21e0c2079592c867756e74979391146741c9", + "global_step": 35000, + "num_gaussians": 492218, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 6.7102526202234e-08, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "d5fe0c717624d914a8428182de2a5033a3510445c41e765356a376d0d3613f33", + "ply_bytes": 122071595 + }, + "mesh": { + "source": "/opt/dlami/nvme/gpv/e12/vig_para_k50_radial_ff/mesh.ply", + "source_sha256": "c603b53a1a1d2b1468b1a07d272ca5931ec0e00d87eefe0b244a5d13264ba053", + "sha256": "c603b53a1a1d2b1468b1a07d272ca5931ec0e00d87eefe0b244a5d13264ba053", + "bytes": 282301023 + }, + "n_frames": { + "train": 402, + "test": 58 + } +} \ No newline at end of file diff --git a/FIORD_Building_In/README.md b/FIORD_Building_In/README.md new file mode 100644 index 0000000000000000000000000000000000000000..b53d3337f2c80af3cb87a7f2f4e62abcaab13047 --- /dev/null +++ b/FIORD_Building_In/README.md @@ -0,0 +1,13 @@ +# FIORD Building_In + +| Item | File | Size | +|---|---|---| +| GOFish (Ours) Gaussians | `gaussians/point_cloud.ply` | 489,734 Gaussians, 121 MB | +| + Geometry Objective Gaussians | `gaussians_geo/point_cloud.ply` | 492,218 Gaussians, 122 MB | +| + Geometry Objective mesh | `mesh/mesh.ply`, `mesh/mesh.glb` | 282 MB PLY | +| Cameras | `cameras.json` | 402 train and 58 test frames | + +Both Gaussian files carry the 3-D Mip filter baked into their scales. Reloading each PLY reproduces the checkpoint's stored positions, rotations, opacities and spherical harmonics exactly, and its filtered scales to float32 precision. `EXPORT.json` holds the checks and the source checkpoint sha256. +The mesh is byte-identical to the evaluated mesh, sha256 `c603b53a1a1d2b1468b1a07d272ca5931ec0e00d87eefe0b244a5d13264ba053`. +`lidar_alignment.json` maps the mesh, Gaussians and cameras into the FIORD LiDAR ground-truth frame used for the paper's geometry scores. +See the top-level README for formats and viewers. diff --git a/FIORD_Building_In/cameras.json b/FIORD_Building_In/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..c2dd4226e82eac84516bd0766028332dcccb641f --- /dev/null +++ b/FIORD_Building_In/cameras.json @@ -0,0 +1,19362 @@ +{ + "schema": "gofish.package.cameras.v1", + "convention": "COLMAP: x_cam = R(q) x_world + t; camera_to_world is its inverse; OPENCV_FISHEYE params fx,fy,cx,cy,k1..k4 at the stored image resolution; GOFish trained on images downsampled by 4 (intrinsics scale by 1/4)", + "image_folder": "images_4", + "downsample_factor": 4, + "split_rule": "FIORD: images sorted by name; every 8th image starting at index 0 is held out for testing, the rest train", + "cameras": { + "1": { + "model": "OPENCV_FISHEYE", + "width": 3264, + "height": 3264, + "params": [ + 991.0, + 991.0, + 1612.0, + 1617.0, + 0.035620087631248215, + -0.02587978911672547, + 0.0056424890052298995, + -0.001070431231569348 + ] + }, + "2": { + "model": "OPENCV_FISHEYE", + "width": 3264, + "height": 3264, + "params": [ + 991.0, + 991.0, + 1612.0, + 1617.0, + 0.024943212941115993, + 0.004998495635271209, + -0.01754164144240906, + 0.004552070895180851 + ] + } + }, + "frames": [ + { + "name": "cam1/IMG_20241201_141745_00_272_fisheye1.jpg", + "camera_id": 1, + "split": "test", + "qvec_wxyz_world_to_camera": [ + 0.008701460551533176, + 0.019729642066684122, + 0.9997661558754114, + 0.0016307588090904903 + ], + 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The paper's method-independent SfM-to-LiDAR registration, applied identically to every method.", + "use": "x_gt = (transform_mesh_to_gt @ [x, 1])[:3]; the paper scores F-score at 10 cm in this frame.", + "source_sha256": "3cd48adf002b2528bbc053a68357b5581ca78e22ff3fa586cd627ac09da6fbac" +} \ No newline at end of file diff --git a/FIORD_Building_In/mesh/mesh.glb b/FIORD_Building_In/mesh/mesh.glb new file mode 100644 index 0000000000000000000000000000000000000000..7c56e5d1bc524242111b33e104782e3c66664c27 --- /dev/null +++ b/FIORD_Building_In/mesh/mesh.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb8320086bc8d6cb6b138aff387bd52f476b9e9afdfab97fe510e3c50bf0941e +size 18300716 diff --git a/FIORD_Building_In/mesh/mesh.ply b/FIORD_Building_In/mesh/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..cc3f80453aac63b50ba57be155da9bd37862acf6 --- /dev/null +++ b/FIORD_Building_In/mesh/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c603b53a1a1d2b1468b1a07d272ca5931ec0e00d87eefe0b244a5d13264ba053 +size 282301023 diff --git a/FIORD_Corridor_Out/MANIFEST.json b/FIORD_Corridor_Out/MANIFEST.json new file mode 100644 index 0000000000000000000000000000000000000000..d46373d9a96cbcaca2d7883f7db9dff54cf46901 --- /dev/null +++ b/FIORD_Corridor_Out/MANIFEST.json @@ -0,0 +1,60 @@ +{ + "scene": "FIORD_Corridor_Out", + "files": [ + { + "path": "PACKAGE_EXPORT.json", + "bytes": 2271, + "sha256": "1ceccba5658130e8af59887344e8dd6620746cce01b81e2a1834f769afb2d3b6" + }, + { + "path": "README.md", + "bytes": 856, + "sha256": "e9dfdbf063c81886b00d74776b458ba0800a3eb337b96997819f27f1c6abe2ea" + }, + { + "path": "cameras.json", + "bytes": 384062, + "sha256": "2efedf0be29ece1b2a37ef38d1f67b9c041afb31f0ebe89b0b26fa2cc49c0307" + }, + { + "path": "mesh/mesh.glb", + "bytes": 17030472, + "sha256": "3460027bde30b4e8389c5ea5afc9d26b4a4a0a47e23e5fc4349114f73a4e185d" + }, + { + "path": "mesh/mesh.ply", + "bytes": 302793168, + "sha256": "60b04d499df86cfc8933175dcbc6d3a8152434d734fa0857ecc3382786e5d0ce" + }, + { + "path": "gaussians_geo/EXPORT.json", + "bytes": 908, + "sha256": "2f15040303b9dbd17f54bb1ce5c0d0794e768b18f4f6f53c103adc90aab5a090" + }, + { + "path": "gaussians_geo/appearance.json", + "bytes": 10951648, + "sha256": "3b2ec4e2a8733e301d1976b086a5b14d2e521749352824136e79fa509d1952e1" + }, + { + "path": "gaussians_geo/point_cloud.ply", + "bytes": 134110755, + "sha256": "95c2c04094cf67aa3c133a3c528d3e5b38685c393c884e8135421dac798dfcfb" + }, + { + "path": "gaussians/EXPORT.json", + "bytes": 913, + "sha256": "195e9ff2ddf443588f5964d563d0e1916a09ef3608a76da0ca2b6d358a40c72c" + }, + { + "path": "gaussians/appearance.json", + "bytes": 10952336, + "sha256": "5dab74c15d0ad8129856ecfe43b093d9eb3a9a0ee92d3faa8c646c2bfb26db86" + }, + { + "path": "gaussians/point_cloud.ply", + "bytes": 131528579, + "sha256": "707d0bdc51995fa60a89e55e93b8ca61b9234128f0f10e8ceef0ef1639a50c12" + } + ] +} \ No newline at end of file diff --git a/FIORD_Corridor_Out/PACKAGE_EXPORT.json b/FIORD_Corridor_Out/PACKAGE_EXPORT.json new file mode 100644 index 0000000000000000000000000000000000000000..72b69192efa70a212edd97307e17bd7638ac1bf2 --- /dev/null +++ b/FIORD_Corridor_Out/PACKAGE_EXPORT.json @@ -0,0 +1,60 @@ +{ + "dataset": "FIORD", + "scene": "Corridor_Out", + "gaussians": { + "source_checkpoint": "/opt/dlami/nvme/gpv/out_k50_radial_ff_apo/train/checkpoints/c35.pt", + "source_sha256": "c28a3d6602c2ca6349171d2e8681ee01eff3f319c0709d893df85370e53809c3", + "global_step": 35000, + "num_gaussians": 530351, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 1.3656733521827391e-08, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "707d0bdc51995fa60a89e55e93b8ca61b9234128f0f10e8ceef0ef1639a50c12", + "ply_bytes": 131528579 + }, + "gaussians_geo": { + "source_checkpoint": "/opt/dlami/nvme/gpv/out_k50_radial_ff/train/checkpoints/c35.pt", + "source_sha256": "76e7565cec41963af72688f8359474eed08859404c480201764f397380c341cb", + "global_step": 35000, + "num_gaussians": 540763, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 8.162431441860463e-08, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "95c2c04094cf67aa3c133a3c528d3e5b38685c393c884e8135421dac798dfcfb", + "ply_bytes": 134110755 + }, + "mesh": { + "source": "/opt/dlami/nvme/gpv/e12/vig_out_k50_radial_ff/mesh.ply", + "source_sha256": "60b04d499df86cfc8933175dcbc6d3a8152434d734fa0857ecc3382786e5d0ce", + "sha256": "60b04d499df86cfc8933175dcbc6d3a8152434d734fa0857ecc3382786e5d0ce", + "bytes": 302793168 + }, + "n_frames": { + "train": 426, + "test": 61 + } +} \ No newline at end of file diff --git a/FIORD_Corridor_Out/README.md b/FIORD_Corridor_Out/README.md new file mode 100644 index 0000000000000000000000000000000000000000..4aaa38eeeb81dfcaa8534bc06dfeed6344fefd05 --- /dev/null +++ b/FIORD_Corridor_Out/README.md @@ -0,0 +1,12 @@ +# FIORD Corridor_Out + +| Item | File | Size | +|---|---|---| +| GOFish (Ours) Gaussians | `gaussians/point_cloud.ply` | 530,351 Gaussians, 132 MB | +| + Geometry Objective Gaussians | `gaussians_geo/point_cloud.ply` | 540,763 Gaussians, 134 MB | +| + Geometry Objective mesh | `mesh/mesh.ply`, `mesh/mesh.glb` | 303 MB PLY | +| Cameras | `cameras.json` | 426 train and 61 test frames | + +Both Gaussian files carry the 3-D Mip filter baked into their scales. Reloading each PLY reproduces the checkpoint's stored positions, rotations, opacities and spherical harmonics exactly, and its filtered scales to float32 precision. `EXPORT.json` holds the checks and the source checkpoint sha256. +The mesh is byte-identical to the evaluated mesh, sha256 `60b04d499df86cfc8933175dcbc6d3a8152434d734fa0857ecc3382786e5d0ce`. +See the top-level README for formats and viewers. diff --git a/FIORD_Corridor_Out/cameras.json b/FIORD_Corridor_Out/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..9711d659a82046324efafd3e0817d3a25d18fb59 --- /dev/null +++ b/FIORD_Corridor_Out/cameras.json @@ -0,0 +1,20496 @@ +{ + "schema": "gofish.package.cameras.v1", + "convention": "COLMAP: x_cam = R(q) x_world + t; camera_to_world is its inverse; OPENCV_FISHEYE params fx,fy,cx,cy,k1..k4 at the stored image resolution; GOFish trained on images downsampled by 4 (intrinsics scale by 1/4)", + "image_folder": "images_4", + "downsample_factor": 4, + "split_rule": "FIORD: images sorted by name; every 8th image starting at index 0 is held out for testing, the rest train", + "cameras": { + "1": { + "model": "OPENCV_FISHEYE", + "width": 3264, + "height": 3264, + "params": [ + 993.4174623098975, + 993.0578616663202, + 1612.0, + 1617.0, + 0.027960116268579492, + -0.010004583946834837, + -0.0030205273840392343, + 0.0005833761752903297 + ] + }, + "2": { + "model": "OPENCV_FISHEYE", + "width": 3264, + "height": 3264, + "params": [ + 993.0128190218718, + 993.1168175998126, + 1612.0, + 1617.0, + 0.027943963839965554, + -0.009994641740192734, + -0.0030099378817258046, + 0.0005883894904993313 + ] + } + }, + "frames": [ + { + "name": "cam1/IMG_20241208_123004_00_645_fisheye1.jpg", + "camera_id": 1, + "split": "test", + "qvec_wxyz_world_to_camera": [ + 0.9808971111307466, + 0.021056895172029945, + -0.19329913912988564, + 0.00573649306763953 + ], + "tvec_world_to_camera": [ + 0.7336281200905179, + -0.0783138283347313, + 5.192890038885354 + ], + 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a/FIORD_Hall_In/PACKAGE_EXPORT.json b/FIORD_Hall_In/PACKAGE_EXPORT.json new file mode 100644 index 0000000000000000000000000000000000000000..31ab6cacad14629a56712a466da855deb748ab29 --- /dev/null +++ b/FIORD_Hall_In/PACKAGE_EXPORT.json @@ -0,0 +1,60 @@ +{ + "dataset": "FIORD", + "scene": "Hall_In", + "gaussians": { + "source_checkpoint": "/opt/dlami/nvme/gpv/sport_k50_radial_ff_apo/train/checkpoints/c35.pt", + "source_sha256": "00785b76ac546794f25868bea3fb75cdaa3f85e55a8ae1711d93a7b0a7e40dc6", + "global_step": 35000, + "num_gaussians": 1014691, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + 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"opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "c21c3258783002b1c5356d203f4bdc07c784c6702f89ae92c97f06ff90d0aae5", + "ply_bytes": 251014484 + }, + "mesh": { + "source": "/opt/dlami/nvme/gpv/e12/vig_sport_k50_radial_ff/mesh.ply", + "source_sha256": "57529e37e71d0de10cedd060198874b50a79e226c66da8169b4fe36e3a938a94", + "sha256": "57529e37e71d0de10cedd060198874b50a79e226c66da8169b4fe36e3a938a94", + "bytes": 612944927 + }, + "n_frames": { + "train": 980, + "test": 141 + } +} \ No newline at end of file diff --git a/FIORD_Hall_In/README.md b/FIORD_Hall_In/README.md new file mode 100644 index 0000000000000000000000000000000000000000..d67cb2018528accbb388cdb99fc2f77c7f7c4256 --- /dev/null +++ b/FIORD_Hall_In/README.md @@ -0,0 +1,13 @@ +# FIORD Hall_In + +| Item | File | Size | +|---|---|---| +| GOFish (Ours) Gaussians | `gaussians/point_cloud.ply` | 1,014,691 Gaussians, 252 MB | +| + Geometry Objective Gaussians | `gaussians_geo/point_cloud.ply` | 1,012,149 Gaussians, 251 MB | +| + Geometry Objective mesh | `mesh/mesh.ply`, `mesh/mesh.glb` | 613 MB PLY | +| Cameras | `cameras.json` | 980 train and 141 test frames | + +Both Gaussian files carry the 3-D Mip filter baked into their scales. Reloading each PLY reproduces the checkpoint's stored positions, rotations, opacities and spherical harmonics exactly, and its filtered scales to float32 precision. `EXPORT.json` holds the checks and the source checkpoint sha256. +The mesh is byte-identical to the evaluated mesh, sha256 `57529e37e71d0de10cedd060198874b50a79e226c66da8169b4fe36e3a938a94`. +`lidar_alignment.json` maps the mesh, Gaussians and cameras into the FIORD LiDAR ground-truth frame used for the paper's geometry scores. +See the top-level README for formats and viewers. diff --git a/FIORD_Hall_In/cameras.json b/FIORD_Hall_In/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..4ccdc22b7554409a4e6efca5b5e6d5072c17e36b --- /dev/null +++ b/FIORD_Hall_In/cameras.json @@ -0,0 +1,47124 @@ +{ + "schema": "gofish.package.cameras.v1", + "convention": "COLMAP: x_cam = R(q) x_world + t; camera_to_world is its inverse; OPENCV_FISHEYE params fx,fy,cx,cy,k1..k4 at the stored image resolution; GOFish trained on images downsampled by 4 (intrinsics scale by 1/4)", + "image_folder": "images_4", + "downsample_factor": 4, + "split_rule": "FIORD: images sorted by name; every 8th image starting at index 0 is held out for testing, the rest train", + "cameras": { + "1": { + "model": "OPENCV_FISHEYE", + "width": 3264, + "height": 3264, + "params": [ + 995.3539548285538, + 998.8412296530948, + 1612.0, + 1617.0, + 0.037912020477107684, + -0.023545169998035916, + 0.0028405144828644122, + -0.00045670077724780116 + ] + }, + "2": { + "model": "OPENCV_FISHEYE", + "width": 3264, + "height": 3264, + "params": [ + 996.7209364675064, + 993.2434938648001, + 1612.0, + 1617.0, + 0.06926585896493545, + -0.08409520221228549, + 0.042722585150379765, + -0.009421487126218186 + ] + } + }, + "frames": [ + { + "name": "cam1/IMG_20241219_184147_00_001_fisheye1.jpg", + "camera_id": 1, + "split": "test", + "qvec_wxyz_world_to_camera": [ + 0.9949446882125349, + -0.002613631609235383, + -0.10037056142637171, + 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The paper's method-independent alignment: the FIORD SfM-to-LiDAR registration refined by a rigid ICP correction that fixes a 3.4 degree tilt, applied identically to every method.", + "use": "x_gt = (transform_mesh_to_gt @ [x, 1])[:3]; the paper scores F-score at 10 cm in this frame.", + "source_sha256": "77736a601da2c3a741f0265568b9170d14e4db8cc158f7685395d20e43333101" +} \ No newline at end of file diff --git a/FIORD_Hall_In/mesh/mesh.glb b/FIORD_Hall_In/mesh/mesh.glb new file mode 100644 index 0000000000000000000000000000000000000000..da0ab09a48f6c249047d5a93af3b033a7711ce52 --- /dev/null +++ b/FIORD_Hall_In/mesh/mesh.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9cdce05a506ecbebfc7ceb2389b801af8600a6a4278cf7b11ad507030ebbb71 +size 37917380 diff --git a/FIORD_Hall_In/mesh/mesh.ply b/FIORD_Hall_In/mesh/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..127ffc87385dd9a2de6236ca823bfaf86be6dd5f --- /dev/null +++ b/FIORD_Hall_In/mesh/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57529e37e71d0de10cedd060198874b50a79e226c66da8169b4fe36e3a938a94 +size 612944927 diff --git a/FIORD_Kitchen_In/MANIFEST.json b/FIORD_Kitchen_In/MANIFEST.json new file mode 100644 index 0000000000000000000000000000000000000000..1d94da3a7da1aba5fc8c3f17db526b52874499ad --- /dev/null +++ b/FIORD_Kitchen_In/MANIFEST.json @@ -0,0 +1,65 @@ +{ + "scene": "FIORD_Kitchen_In", + "files": [ + { + "path": "PACKAGE_EXPORT.json", + "bytes": 2268, + "sha256": "644acc15f21166bf347814c92a12ad3adaf64cd37db834cf249042e3fa7f190d" + }, + { + "path": "README.md", + "bytes": 992, + "sha256": "c8cf77829bdd2beb203503cd8203148bb8f04a0531a29945230050d65b79ecf8" + }, + { + "path": "cameras.json", + "bytes": 369337, + "sha256": "ddf731f1d92843fdca00762d016334ecb40d56613cb0535367ab4c0d97a937e8" + }, + { + "path": "gaussians/EXPORT.json", + "bytes": 912, + "sha256": "6b62fda5be82d0de08867cd91d09cf41377fe3f0a17490262ee621fe17808856" + }, + { + "path": "gaussians/appearance.json", + "bytes": 10921409, + "sha256": "8007a50052c482481cb5da4f6c5b1310f105a3fd938b85365df55c4815692fa7" + }, + { + "path": "gaussians/point_cloud.ply", + "bytes": 121011891, + "sha256": "9fa974a79b54a1b7d7ecca960f20f1f24c17168c616d619401ce1b9d79cfcf4f" + }, + { + "path": "gaussians_geo/EXPORT.json", + "bytes": 908, + "sha256": "10032d1235095bfb956de4942c0b6e32ee278e2462c4e83aaaf3c3c4241a3ea8" + }, + { + "path": "gaussians_geo/appearance.json", + "bytes": 10917997, + "sha256": "22020f09675a7523cb09005372e2a4f931a71949a2d6ce82fc0eae033d47c9c1" + }, + { + "path": "gaussians_geo/point_cloud.ply", + "bytes": 120723715, + "sha256": "3d55af1525c39bdc27d26a3c29e9675009cc7ce0989affebfa071d12d8f1d909" + }, + { + "path": "lidar_alignment.json", + "bytes": 958, + "sha256": "efba3d51c2a91d7c248d94838f2d1ece4b789e515555e01ed48db34362fd7de1" + }, + { + "path": "mesh/mesh.glb", + "bytes": 21240016, + "sha256": "441027393fd02ef9db927b68a275719da9ddec92caba4e1bc2ba69a4d2257e17" + }, + { + "path": "mesh/mesh.ply", + "bytes": 290686117, + "sha256": "7bba0d0f538c36b03a9c670b42e99047e902394b36c53599b35a5ae009313000" + } + ] +} \ No newline at end of file diff --git a/FIORD_Kitchen_In/PACKAGE_EXPORT.json b/FIORD_Kitchen_In/PACKAGE_EXPORT.json new file mode 100644 index 0000000000000000000000000000000000000000..1b489d92290e529a863493279f3e8e3e00d2990b --- /dev/null +++ b/FIORD_Kitchen_In/PACKAGE_EXPORT.json @@ -0,0 +1,60 @@ +{ + "dataset": "FIORD", + "scene": "Kitchen_In", + "gaussians": { + "source_checkpoint": "/opt/dlami/nvme/gpv/kit_k50_radial_ff_apo/train/checkpoints/c35.pt", + "source_sha256": "3c6def049eeaed2481ec6783698761d08da15339974b5d325655c1467c0b7bc6", + "global_step": 35000, + "num_gaussians": 487945, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 4.584580182154241e-08, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "9fa974a79b54a1b7d7ecca960f20f1f24c17168c616d619401ce1b9d79cfcf4f", + "ply_bytes": 121011891 + }, + "gaussians_geo": { + "source_checkpoint": "/opt/dlami/nvme/gpv/kit_k50_radial_ff/train/checkpoints/c35.pt", + "source_sha256": "0b75b65f480c6de1b59d18d64ae5acdae9cc36795a3a69ffdb2aaf1ed4fe1544", + "global_step": 35000, + "num_gaussians": 486783, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 7.296263504485978e-08, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "3d55af1525c39bdc27d26a3c29e9675009cc7ce0989affebfa071d12d8f1d909", + "ply_bytes": 120723715 + }, + "mesh": { + "source": "/opt/dlami/nvme/gpv/e12/vig_kit_k50_radial_ff/mesh.ply", + "source_sha256": "7bba0d0f538c36b03a9c670b42e99047e902394b36c53599b35a5ae009313000", + "sha256": "7bba0d0f538c36b03a9c670b42e99047e902394b36c53599b35a5ae009313000", + "bytes": 290686117 + }, + "n_frames": { + "train": 408, + "test": 59 + } +} \ No newline at end of file diff --git a/FIORD_Kitchen_In/README.md b/FIORD_Kitchen_In/README.md new file mode 100644 index 0000000000000000000000000000000000000000..121d72262caacca3255ee552320d54ca6b078ebf --- /dev/null +++ b/FIORD_Kitchen_In/README.md @@ -0,0 +1,13 @@ +# FIORD Kitchen_In + +| Item | File | Size | +|---|---|---| +| GOFish (Ours) Gaussians | `gaussians/point_cloud.ply` | 487,945 Gaussians, 121 MB | +| + Geometry Objective Gaussians | `gaussians_geo/point_cloud.ply` | 486,783 Gaussians, 121 MB | +| + Geometry Objective mesh | `mesh/mesh.ply`, `mesh/mesh.glb` | 291 MB PLY | +| Cameras | `cameras.json` | 408 train and 59 test frames | + +Both Gaussian files carry the 3-D Mip filter baked into their scales. Reloading each PLY reproduces the checkpoint's stored positions, rotations, opacities and spherical harmonics exactly, and its filtered scales to float32 precision. `EXPORT.json` holds the checks and the source checkpoint sha256. +The mesh is byte-identical to the evaluated mesh, sha256 `7bba0d0f538c36b03a9c670b42e99047e902394b36c53599b35a5ae009313000`. +`lidar_alignment.json` maps the mesh, Gaussians and cameras into the FIORD LiDAR ground-truth frame used for the paper's geometry scores. +See the top-level README for formats and viewers. diff --git a/FIORD_Kitchen_In/cameras.json b/FIORD_Kitchen_In/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..b25023b2e6e96103a5d0a7292a1fad95c1331719 --- /dev/null +++ b/FIORD_Kitchen_In/cameras.json @@ -0,0 +1,19656 @@ +{ + "schema": "gofish.package.cameras.v1", + "convention": "COLMAP: x_cam = R(q) x_world + t; camera_to_world is its inverse; OPENCV_FISHEYE params fx,fy,cx,cy,k1..k4 at the stored image resolution; GOFish trained on images downsampled by 4 (intrinsics scale by 1/4)", + "image_folder": "images_4", + "downsample_factor": 4, + "split_rule": "FIORD: images sorted by name; every 8th image starting at index 0 is held out for testing, the rest train", + "cameras": { + "1": { + "model": "OPENCV_FISHEYE", + "width": 3264, + "height": 3264, + "params": [ + 998.0630959029055, + 1002.4205756146422, + 1612.0, + 1617.0, + 0.03153587491414544, + -0.006358392493593005, + -0.014432325181594149, + 0.00525161905440143 + ] + }, + "2": { + "model": "OPENCV_FISHEYE", + "width": 3264, + "height": 3264, + "params": [ + 994.6648177693638, + 997.8694697780885, + 1612.0, + 1617.0, + 0.04700767558222378, + -0.04136995649411313, + 0.013860426383003716, + -0.002564642606552365 + ] + } + }, + "frames": [ + { + "name": "cam1/IMG_20241125_213637_00_002_fisheye1.jpg", + "camera_id": 1, + "split": "test", + "qvec_wxyz_world_to_camera": [ + 0.595087033202719, + -0.01096246211825661, + -0.8035742558909121, + 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The paper's method-independent SfM-to-LiDAR registration, applied identically to every method.", + "use": "x_gt = (transform_mesh_to_gt @ [x, 1])[:3]; the paper scores F-score at 10 cm in this frame.", + "source_sha256": "9c0e734a4cb0a212196be3bc1e9d269c7449edaea01c8e6f2cc5a56ab715c79f" +} \ No newline at end of file diff --git a/FIORD_Kitchen_In/mesh/mesh.glb b/FIORD_Kitchen_In/mesh/mesh.glb new file mode 100644 index 0000000000000000000000000000000000000000..e5f0bc6ef27ad31d6eb0d86c9ebff058522026ea --- /dev/null +++ b/FIORD_Kitchen_In/mesh/mesh.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:441027393fd02ef9db927b68a275719da9ddec92caba4e1bc2ba69a4d2257e17 +size 21240016 diff --git a/FIORD_Kitchen_In/mesh/mesh.ply b/FIORD_Kitchen_In/mesh/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..9b90dee49ff1b7a87b92fab4b5c39eeacc373d2f --- /dev/null +++ b/FIORD_Kitchen_In/mesh/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7bba0d0f538c36b03a9c670b42e99047e902394b36c53599b35a5ae009313000 +size 290686117 diff --git a/FIORD_MeetingRoom_In/MANIFEST.json b/FIORD_MeetingRoom_In/MANIFEST.json new file mode 100644 index 0000000000000000000000000000000000000000..7a4ce9af98f1747c63c22fd760fca8eb4f083aff --- /dev/null +++ b/FIORD_MeetingRoom_In/MANIFEST.json @@ -0,0 +1,65 @@ +{ + "scene": "FIORD_MeetingRoom_In", + "files": [ + { + "path": "PACKAGE_EXPORT.json", + "bytes": 2276, + "sha256": "d76e2ce3f5116d405e6ee83cc57be00f3c6613995dccc3bec78e0063b55d0bcd" + }, + { + "path": "README.md", + "bytes": 996, + "sha256": "cefd290b92d4622c3f414f7661a070e382889a729fe5b6fa7a01fbd82603f23e" + }, + { + "path": "cameras.json", + "bytes": 161353, + "sha256": "bb4529f5ab7d1f746dacf32a0bb627adec072e928516289617594f415a62110e" + }, + { + "path": "gaussians/EXPORT.json", + "bytes": 913, + "sha256": "c0039754e86d88e702bd031d044da54699046fff38dac2d074a95a2f4fc6c637" + }, + { + "path": "gaussians/appearance.json", + "bytes": 10867972, + "sha256": "318fe5248c409af4bb292cddfaffd7d668d0551442c28ad18411c592cb16cc95" + }, + { + "path": "gaussians/point_cloud.ply", + "bytes": 106055259, + "sha256": "788118d6724f3974c3fd8e9147e448dfb239ee04d608460ce4a9c7e39501b0f1" + }, + { + "path": "gaussians_geo/EXPORT.json", + "bytes": 910, + "sha256": "2db37962c165fc9b72cc666e23b51e4e80292e03f632fe9a8cbcc3ebe9d7a900" + }, + { + "path": "gaussians_geo/appearance.json", + "bytes": 10872823, + "sha256": "0084cab39601f141c976a9af9a0fbd857af6484a959653eb207e320d27f26fa7" + }, + { + "path": "gaussians_geo/point_cloud.ply", + "bytes": 105307043, + "sha256": "6e025c631b63ac4544452cc48b0947120a970a103605b75bfd8df4a95dda41b2" + }, + { + "path": "lidar_alignment.json", + "bytes": 958, + "sha256": "424e149741770c8443d7f650a64479775eef7513a6af6af068979ea780757f4d" + }, + { + "path": "mesh/mesh.glb", + "bytes": 19812448, + "sha256": "9217ec6c004b89094060d21ef18c72cdd61b55a3039b49544ea75d63df9fd4ac" + }, + { + "path": "mesh/mesh.ply", + "bytes": 263338534, + "sha256": "d2d435a0c3c704b1bbca0c3160b5d381299aa6007af63223f99d201e33b856a3" + } + ] +} \ No newline at end of file diff --git a/FIORD_MeetingRoom_In/PACKAGE_EXPORT.json b/FIORD_MeetingRoom_In/PACKAGE_EXPORT.json new file mode 100644 index 0000000000000000000000000000000000000000..92ea047ba9583f9a148189eaa07a9d85cd4f1837 --- /dev/null +++ b/FIORD_MeetingRoom_In/PACKAGE_EXPORT.json @@ -0,0 +1,60 @@ +{ + "dataset": "FIORD", + "scene": "MeetingRoom_In", + "gaussians": { + "source_checkpoint": "/opt/dlami/nvme/gpv/meet_k50_radial_ff_apo/train/checkpoints/c35.pt", + "source_sha256": "fc33f8226d358c83a717cc46f4f6ac6223c9fb0622d94397a0dc628892e51be2", + "global_step": 35000, + "num_gaussians": 427636, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 8.848184762655364e-08, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "788118d6724f3974c3fd8e9147e448dfb239ee04d608460ce4a9c7e39501b0f1", + "ply_bytes": 106055259 + }, + "gaussians_geo": { + "source_checkpoint": "/opt/dlami/nvme/gpv/meet_k50_radial_ff/train/checkpoints/c35.pt", + "source_sha256": "8fd3932644f856e577e399c68ed49bca8938a277abd1f52f19b3071906cdfb8b", + "global_step": 35000, + "num_gaussians": 424619, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 1.5658406482543796e-07, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "6e025c631b63ac4544452cc48b0947120a970a103605b75bfd8df4a95dda41b2", + "ply_bytes": 105307043 + }, + "mesh": { + "source": "/opt/dlami/nvme/gpv/e12/vig_meet_k50_radial_ff/mesh.ply", + "source_sha256": "d2d435a0c3c704b1bbca0c3160b5d381299aa6007af63223f99d201e33b856a3", + "sha256": "d2d435a0c3c704b1bbca0c3160b5d381299aa6007af63223f99d201e33b856a3", + "bytes": 263338534 + }, + "n_frames": { + "train": 177, + "test": 26 + } +} \ No newline at end of file diff --git a/FIORD_MeetingRoom_In/README.md b/FIORD_MeetingRoom_In/README.md new file mode 100644 index 0000000000000000000000000000000000000000..a6df30a989f066315aa2df5b198a8acea7904e67 --- /dev/null +++ b/FIORD_MeetingRoom_In/README.md @@ -0,0 +1,13 @@ +# FIORD MeetingRoom_In + +| Item | File | Size | +|---|---|---| +| GOFish (Ours) Gaussians | `gaussians/point_cloud.ply` | 427,636 Gaussians, 106 MB | +| + Geometry Objective Gaussians | `gaussians_geo/point_cloud.ply` | 424,619 Gaussians, 105 MB | +| + Geometry Objective mesh | `mesh/mesh.ply`, `mesh/mesh.glb` | 263 MB PLY | +| Cameras | `cameras.json` | 177 train and 26 test frames | + +Both Gaussian files carry the 3-D Mip filter baked into their scales. Reloading each PLY reproduces the checkpoint's stored positions, rotations, opacities and spherical harmonics exactly, and its filtered scales to float32 precision. `EXPORT.json` holds the checks and the source checkpoint sha256. +The mesh is byte-identical to the evaluated mesh, sha256 `d2d435a0c3c704b1bbca0c3160b5d381299aa6007af63223f99d201e33b856a3`. +`lidar_alignment.json` maps the mesh, Gaussians and cameras into the FIORD LiDAR ground-truth frame used for the paper's geometry scores. +See the top-level README for formats and viewers. diff --git a/FIORD_MeetingRoom_In/cameras.json b/FIORD_MeetingRoom_In/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..b44de340b9b696b6b71271a272545b4ce112d0b0 --- /dev/null +++ b/FIORD_MeetingRoom_In/cameras.json @@ -0,0 +1,8568 @@ +{ + "schema": "gofish.package.cameras.v1", + "convention": "COLMAP: x_cam = R(q) x_world + t; camera_to_world is its inverse; OPENCV_FISHEYE params fx,fy,cx,cy,k1..k4 at the stored image resolution; GOFish trained on images downsampled by 4 (intrinsics scale by 1/4)", + "image_folder": "images_4", + "downsample_factor": 4, + "split_rule": "FIORD: images sorted by name; every 8th image starting at index 0 is held out for testing, the rest train", + "cameras": { + "1": { + "model": "OPENCV_FISHEYE", + "width": 3264, + "height": 3264, + "params": [ + 998.7144282574678, + 1006.4807034467711, + 1612.0, + 1617.0, + 0.034358190499964164, + -0.01780110435914365, + -0.0007983751325808601, + 0.00036177684527421565 + ] + }, + "2": { + "model": "OPENCV_FISHEYE", + "width": 3264, + "height": 3264, + "params": [ + 997.5113293346133, + 1005.2394553958525, + 1612.0, + 1617.0, + 0.036087615485948625, + -0.02348048096992612, + 0.004204692520455132, + -0.0009094882726894559 + ] + } + }, + "frames": [ + { + "name": "cam1/IMG_20241120_000613_00_729_fisheye1.png", + "camera_id": 1, + "split": "test", + "qvec_wxyz_world_to_camera": [ + 0.9807518035123161, + -0.0075014467611851775, + 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transform (row-major) mapping this folder's world frame, shared by mesh/, gaussians*/ and cameras.json, into the frame of the FIORD LiDAR ground truth in metres. The paper's method-independent SfM-to-LiDAR registration, applied identically to every method.", + "use": "x_gt = (transform_mesh_to_gt @ [x, 1])[:3]; the paper scores F-score at 10 cm in this frame.", + "source_sha256": "b987dad90c25e73428b84804736d25b1fd1f1f98b6f21bccbdb9d6e0362f5dcb" +} \ No newline at end of file diff --git a/FIORD_MeetingRoom_In/mesh/mesh.glb b/FIORD_MeetingRoom_In/mesh/mesh.glb new file mode 100644 index 0000000000000000000000000000000000000000..9b88ac36269f684b87385d09367d5dcefc10550e --- /dev/null +++ b/FIORD_MeetingRoom_In/mesh/mesh.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9217ec6c004b89094060d21ef18c72cdd61b55a3039b49544ea75d63df9fd4ac +size 19812448 diff --git a/FIORD_MeetingRoom_In/mesh/mesh.ply b/FIORD_MeetingRoom_In/mesh/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..665f368f9228fdc45a32b7e37184f865347190fe --- /dev/null +++ b/FIORD_MeetingRoom_In/mesh/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2d435a0c3c704b1bbca0c3160b5d381299aa6007af63223f99d201e33b856a3 +size 263338534 diff --git a/FIORD_Road_Out/MANIFEST.json b/FIORD_Road_Out/MANIFEST.json new file mode 100644 index 0000000000000000000000000000000000000000..e3886534ae58c6b244aed4a88161ca05ae2086c5 --- /dev/null +++ b/FIORD_Road_Out/MANIFEST.json @@ -0,0 +1,65 @@ +{ + "scene": "FIORD_Road_Out", + "files": [ + { + "path": "PACKAGE_EXPORT.json", + "bytes": 2271, + "sha256": "ee8bc618061a7f9d2719624a6c8989848565d1d7681175208622d9d24c20b782" + }, + { + "path": "README.md", + "bytes": 992, + "sha256": "c582bed7f62bf3dfb3c59b68c64996cfeedf4e9bfb586fb838ae8a1105863519" + }, + { + "path": "cameras.json", + "bytes": 1014011, + "sha256": "2e38677bc6bef83c36b3b63ed76e9183b335a7ed782f8ae75d71a2490208aca4" + }, + { + "path": "gaussians/EXPORT.json", + "bytes": 913, + "sha256": "db42ad6f29caede14a3c1430f65cec0f544589b025c8e2b214e5f5759f69fe1e" + }, + { + "path": "gaussians/appearance.json", + "bytes": 11086064, + "sha256": "905f776e03b05e2efa99e2117ac57b59097e4c0ae12d48dd68f04a9b4fde7a56" + }, + { + "path": "gaussians/point_cloud.ply", + "bytes": 133695603, + "sha256": "38a016a57fb4c4a8de7c3cd856fc9e6878fd3d96f18aa13f6c3c4a0c942b8e32" + }, + { + "path": "gaussians_geo/EXPORT.json", + "bytes": 909, + "sha256": "8845267a42f1f8ff2aa11dd4eb470a341e30a83df1abe7446c4095afb1b80b38" + }, + { + "path": "gaussians_geo/appearance.json", + "bytes": 11082789, + "sha256": "a2b185e465fc103beacc8be990452caddafde01bf9365bf8ad99251bec0cc04a" + }, + { + "path": "gaussians_geo/point_cloud.ply", + "bytes": 133873171, + "sha256": "0c5adb31d7c4d9165543e8b3ba725b2b869e0b8fe451997a40dfeaa2a316754d" + }, + { + "path": "lidar_alignment.json", + "bytes": 950, + "sha256": "af8ef6cc72e791f49b58a96da6363371889a28d861bf567446f0068602bc856a" + }, + { + "path": "mesh/mesh.glb", + "bytes": 16683984, + "sha256": "86d293647a0ba110b37ec10b80c2ea83bf3dc31c3f1d24cf0a7acd9d13f32707" + }, + { + "path": "mesh/mesh.ply", + "bytes": 291340747, + "sha256": "edbea9c73cbe6513c848523c7f3f55fa8de51e67a9d97daa55ff2bf9de54fd34" + } + ] +} \ No newline at end of file diff --git a/FIORD_Road_Out/PACKAGE_EXPORT.json b/FIORD_Road_Out/PACKAGE_EXPORT.json new file mode 100644 index 0000000000000000000000000000000000000000..4765ee71b5bf75a994ff0efe36be949b479ceddc --- /dev/null +++ b/FIORD_Road_Out/PACKAGE_EXPORT.json @@ -0,0 +1,60 @@ +{ + "dataset": "FIORD", + "scene": "Road_Out", + "gaussians": { + "source_checkpoint": "/opt/dlami/nvme/gpv/main_k50_radial_ff_apo/train/checkpoints/c35.pt", + "source_sha256": "e20d893dd068e6a7e0fe5125349c07211cd4fe2025e84b0e5c627d7898b09f7a", + "global_step": 35000, + "num_gaussians": 539089, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 7.172192084681228e-08, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "38a016a57fb4c4a8de7c3cd856fc9e6878fd3d96f18aa13f6c3c4a0c942b8e32", + "ply_bytes": 133695603 + }, + "gaussians_geo": { + "source_checkpoint": "/opt/dlami/nvme/gpv/main_k50_radial_ff/train/checkpoints/c35.pt", + "source_sha256": "8ce7acdea6cf79531fb8da2a897040fcc2e21a29d23326f23767991c9ef7e6ab", + "global_step": 35000, + "num_gaussians": 539805, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 9.104854115093985e-08, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "0c5adb31d7c4d9165543e8b3ba725b2b869e0b8fe451997a40dfeaa2a316754d", + "ply_bytes": 133873171 + }, + "mesh": { + "source": "/opt/dlami/nvme/gpv/e12/vig_main_k50_radial_ff/mesh.ply", + "source_sha256": "edbea9c73cbe6513c848523c7f3f55fa8de51e67a9d97daa55ff2bf9de54fd34", + "sha256": "edbea9c73cbe6513c848523c7f3f55fa8de51e67a9d97daa55ff2bf9de54fd34", + "bytes": 291340747 + }, + "n_frames": { + "train": 1126, + "test": 161 + } +} \ No newline at end of file diff --git a/FIORD_Road_Out/README.md b/FIORD_Road_Out/README.md new file mode 100644 index 0000000000000000000000000000000000000000..5622c97165bb2320e46049a0eaf150f94db3fd78 --- /dev/null +++ b/FIORD_Road_Out/README.md @@ -0,0 +1,13 @@ +# FIORD Road_Out + +| Item | File | Size | +|---|---|---| +| GOFish (Ours) Gaussians | `gaussians/point_cloud.ply` | 539,089 Gaussians, 134 MB | +| + Geometry Objective Gaussians | `gaussians_geo/point_cloud.ply` | 539,805 Gaussians, 134 MB | +| + Geometry Objective mesh | `mesh/mesh.ply`, `mesh/mesh.glb` | 291 MB PLY | +| Cameras | `cameras.json` | 1126 train and 161 test frames | + +Both Gaussian files carry the 3-D Mip filter baked into their scales. Reloading each PLY reproduces the checkpoint's stored positions, rotations, opacities and spherical harmonics exactly, and its filtered scales to float32 precision. `EXPORT.json` holds the checks and the source checkpoint sha256. +The mesh is byte-identical to the evaluated mesh, sha256 `edbea9c73cbe6513c848523c7f3f55fa8de51e67a9d97daa55ff2bf9de54fd34`. +`lidar_alignment.json` maps the mesh, Gaussians and cameras into the FIORD LiDAR ground-truth frame used for the paper's geometry scores. +See the top-level README for formats and viewers. diff --git a/FIORD_Road_Out/cameras.json b/FIORD_Road_Out/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..2e4f61ee3e8ef4117d55c2601cf815cbe1a230e5 --- /dev/null +++ b/FIORD_Road_Out/cameras.json @@ -0,0 +1,54096 @@ +{ + "schema": "gofish.package.cameras.v1", + "convention": "COLMAP: x_cam = R(q) x_world + t; camera_to_world is its inverse; OPENCV_FISHEYE params fx,fy,cx,cy,k1..k4 at the stored image resolution; GOFish trained on images downsampled by 4 (intrinsics scale by 1/4)", + "image_folder": "images_4", + "downsample_factor": 4, + "split_rule": "FIORD: images sorted by name; every 8th image starting at index 0 is held out for testing, the rest train", + "cameras": { + "1": { + "model": "OPENCV_FISHEYE", + "width": 3264, + "height": 3264, + "params": [ + 997.437791997989, + 997.8751986754727, + 1612.0, + 1617.0, + 0.02718052003309064, + -0.015202106383221904, + 0.00021228892599215848, + -0.00014278505597585043 + ] + }, + "2": { + "model": "OPENCV_FISHEYE", + "width": 3264, + "height": 3264, + "params": [ + 989.9995116569487, + 981.9985569641552, + 1612.0, + 1617.0, + 0.010301472549280913, + 0.01195550237785003, + -0.015311507361544711, + 0.0033025587514678724 + ] + } + }, + "frames": [ + { + "name": "cam1/IMG_20241230_122548_00_760_fisheye1.jpg", + "camera_id": 1, + "split": "test", + "qvec_wxyz_world_to_camera": [ + 0.9100801184704269, + 0.001677762558771466, + 0.4143462007324898, + 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the frame of the FIORD LiDAR ground truth in metres. The paper's method-independent SfM-to-LiDAR registration, applied identically to every method.", + "use": "x_gt = (transform_mesh_to_gt @ [x, 1])[:3]; the paper scores F-score at 10 cm in this frame.", + "source_sha256": "46a78f64ff3d9d15e6e2f72a1825d449360019d4b45bb590983936720c2db2d4" +} \ No newline at end of file diff --git a/FIORD_Road_Out/mesh/mesh.glb b/FIORD_Road_Out/mesh/mesh.glb new file mode 100644 index 0000000000000000000000000000000000000000..9b445661fe615ef173466c8c310e966ba4089ed2 --- /dev/null +++ b/FIORD_Road_Out/mesh/mesh.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86d293647a0ba110b37ec10b80c2ea83bf3dc31c3f1d24cf0a7acd9d13f32707 +size 16683984 diff --git a/FIORD_Road_Out/mesh/mesh.ply b/FIORD_Road_Out/mesh/mesh.ply new file mode 100644 index 0000000000000000000000000000000000000000..9a30cdb72fd57addd615b4bcf824c7675589a2bb --- /dev/null +++ b/FIORD_Road_Out/mesh/mesh.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:edbea9c73cbe6513c848523c7f3f55fa8de51e67a9d97daa55ff2bf9de54fd34 +size 291340747 diff --git a/FullCircle_dark/MANIFEST.json b/FullCircle_dark/MANIFEST.json new file mode 100644 index 0000000000000000000000000000000000000000..c1c36a710e0201f33b03ab64aa4fb9a80be83a90 --- /dev/null +++ b/FullCircle_dark/MANIFEST.json @@ -0,0 +1,60 @@ +{ + "scene": "FullCircle_dark", + "files": [ + { + "path": "PACKAGE_EXPORT.json", + "bytes": 2249, + "sha256": "195346face25bb1f9dcb8be332c1eabe51af790d2687b3caa33d111aa8fefa8c" + }, + { + "path": "README.md", + "bytes": 852, + "sha256": "22d37c305adc68dfe78937df7de47f6e11dbcd738c6b72225271f9843df2a4b4" + }, + { + "path": "cameras.json", + "bytes": 880066, + "sha256": "6bb405abb59f43033006e3d0098279fe18ecd9f48ae872506196ae5acb0f7c7c" + }, + { + "path": "mesh/mesh.glb", + "bytes": 8365052, + "sha256": "073aefc32370c6f63896f0b04ae312dc8faa530f5644b18a8e30234db1012f95" + }, + { + "path": "mesh/mesh.ply", + "bytes": 100420438, + "sha256": "9beb077ccc42ea2f7edd21aa87ca15723186e804d256672c18f0690ef933a8b2" + }, + { + "path": "gaussians_geo/EXPORT.json", + "bytes": 904, + "sha256": "6c9518c15c4a6e55b92fc75e83265b30891e4c4f64e3b872264ee4a889f35364" + }, + { + "path": "gaussians_geo/appearance.json", + "bytes": 11076646, + "sha256": "a203b59579f2fdabd38b4f65b69c7a00aec7902d7a6825166c0bece72a9ca83a" + }, + { + "path": "gaussians_geo/point_cloud.ply", + "bytes": 50120595, + "sha256": "b777732c88c9244e50df3ffedfb4a2701b71cc35f256824c0e7a3d900265838e" + }, + { + "path": "gaussians/EXPORT.json", + "bytes": 912, + "sha256": "3c713f682f5e4c39ff24ff181d7a49d8babae0befc2ecd9667265b8b2f91abbe" + }, + { + "path": "gaussians/appearance.json", + "bytes": 11079517, + "sha256": "9a114705a6cb4999ff5702f0bfab6e3d5a3cc0f7482a386d4334646838c3c212" + }, + { + "path": "gaussians/point_cloud.ply", + "bytes": 49947491, + "sha256": "b4f2ac989d4a0acf8df38cd6d9faa118de7352c8ea2b79ae45d1abf9043b802b" + } + ] +} \ No newline at end of file diff --git a/FullCircle_dark/PACKAGE_EXPORT.json b/FullCircle_dark/PACKAGE_EXPORT.json new file mode 100644 index 0000000000000000000000000000000000000000..b17c627f2d5b0816ae26d5203721b3b0e0dfa262 --- /dev/null +++ b/FullCircle_dark/PACKAGE_EXPORT.json @@ -0,0 +1,60 @@ +{ + "dataset": "FullCircle", + "scene": "dark", + "gaussians": { + "source_checkpoint": "/opt/dlami/nvme/fullcircle_20261017/runs/gofish_wogeom/dark/c35.pt", + "source_sha256": "12b09365683f8c9322351a211c43a36dfb2a4ac31011be0e35792f4fef6dc8c5", + "global_step": 35000, + "num_gaussians": 201395, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 1.1800781862802978e-07, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "b4f2ac989d4a0acf8df38cd6d9faa118de7352c8ea2b79ae45d1abf9043b802b", + "ply_bytes": 49947491 + }, + "gaussians_geo": { + "source_checkpoint": "/opt/dlami/nvme/fullcircle_20261017/runs/gofish/dark/c35.pt", + "source_sha256": "a4984a8dc200ad1e7dfd02f10a37276a6258c31301c35fa0e37e8b8d313c5126", + "global_step": 35000, + "num_gaussians": 202093, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 8.429144315869053e-08, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "b777732c88c9244e50df3ffedfb4a2701b71cc35f256824c0e7a3d900265838e", + "ply_bytes": 50120595 + }, + "mesh": { + "source": "/opt/dlami/nvme/gfc/dark/e12_q/mesh.ply", + "source_sha256": "9beb077ccc42ea2f7edd21aa87ca15723186e804d256672c18f0690ef933a8b2", + "sha256": "9beb077ccc42ea2f7edd21aa87ca15723186e804d256672c18f0690ef933a8b2", + "bytes": 100420438 + }, + "n_frames": { + "train": 1094, + "test": 70 + } +} \ No newline at end of file diff --git a/FullCircle_dark/README.md b/FullCircle_dark/README.md new file mode 100644 index 0000000000000000000000000000000000000000..e73ac5320e5df8a4f74d51968d371fdd5985a759 --- /dev/null +++ b/FullCircle_dark/README.md @@ -0,0 +1,12 @@ +# FullCircle dark + +| Item | File | Size | +|---|---|---| +| GOFish (Ours) Gaussians | `gaussians/point_cloud.ply` | 201,395 Gaussians, 50 MB | +| + Geometry Objective Gaussians | `gaussians_geo/point_cloud.ply` | 202,093 Gaussians, 50 MB | +| + Geometry Objective mesh | `mesh/mesh.ply`, `mesh/mesh.glb` | 100 MB PLY | +| Cameras | `cameras.json` | 1094 train and 70 test frames | + +Both Gaussian files carry the 3-D Mip filter baked into their scales. Reloading each PLY reproduces the checkpoint's stored positions, rotations, opacities and spherical harmonics exactly, and its filtered scales to float32 precision. `EXPORT.json` holds the checks and the source checkpoint sha256. +The mesh is byte-identical to the evaluated mesh, sha256 `9beb077ccc42ea2f7edd21aa87ca15723186e804d256672c18f0690ef933a8b2`. +See the top-level README for formats and viewers. diff --git a/FullCircle_dark/cameras.json b/FullCircle_dark/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..ab4351413bb13597ff7d8c8e466ef98496f46790 --- /dev/null +++ b/FullCircle_dark/cameras.json @@ -0,0 +1,48930 @@ +{ + "schema": "gofish.package.cameras.v1", + "convention": "COLMAP: x_cam = R(q) x_world + t; camera_to_world is its inverse; OPENCV_FISHEYE params fx,fy,cx,cy,k1..k4 at the stored image resolution; GOFish trained on images downsampled by 4 (intrinsics scale by 1/4)", + "image_folder": "images_4", + "downsample_factor": 4, + "split_rule": 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"gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 2.9268511170243983e-08, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "95a6fda19c9c82e432fbedc63524b99b63a77790d1c1b3b7a37c4093397f61cf", + "ply_bytes": 84136027 + }, + "mesh": { + "source": "/opt/dlami/nvme/gfc/flat1/e12_q/mesh.ply", + "source_sha256": "dda2d43b6b7ff5012d2f4727da8ce952cb31f68ffe7ce9f74ccd2371ff64ea59", + "sha256": "dda2d43b6b7ff5012d2f4727da8ce952cb31f68ffe7ce9f74ccd2371ff64ea59", + "bytes": 195539916 + }, + "n_frames": { + "train": 1186, + "test": 92 + } +} \ No newline at end of file diff --git a/FullCircle_flat1/README.md b/FullCircle_flat1/README.md new file mode 100644 index 0000000000000000000000000000000000000000..286c56a274a922bfc6fb9bb425efa7797d223b24 --- /dev/null +++ b/FullCircle_flat1/README.md @@ -0,0 +1,12 @@ +# FullCircle flat1 + +| Item | File | Size | +|---|---|---| +| GOFish (Ours) Gaussians | `gaussians/point_cloud.ply` | 338,392 Gaussians, 84 MB | +| + Geometry Objective Gaussians | `gaussians_geo/point_cloud.ply` | 339,252 Gaussians, 84 MB | +| + Geometry Objective mesh | `mesh/mesh.ply`, `mesh/mesh.glb` | 196 MB PLY | +| Cameras | `cameras.json` | 1186 train and 92 test frames | + +Both Gaussian files carry the 3-D Mip filter baked into their scales. Reloading each PLY reproduces the checkpoint's stored positions, rotations, opacities and spherical harmonics exactly, and its filtered scales to float32 precision. `EXPORT.json` holds the checks and the source checkpoint sha256. +The mesh is byte-identical to the evaluated mesh, sha256 `dda2d43b6b7ff5012d2f4727da8ce952cb31f68ffe7ce9f74ccd2371ff64ea59`. +See the top-level README for formats and viewers. diff --git a/FullCircle_flat1/cameras.json b/FullCircle_flat1/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..83d0354a493789b75d9ac1334e464880611c605a --- /dev/null +++ b/FullCircle_flat1/cameras.json @@ -0,0 +1,53718 @@ +{ + "schema": "gofish.package.cameras.v1", + "convention": "COLMAP: x_cam = R(q) x_world + t; camera_to_world is its inverse; OPENCV_FISHEYE params fx,fy,cx,cy,k1..k4 at the stored image resolution; GOFish trained on images downsampled by 4 (intrinsics scale by 1/4)", + "image_folder": "images_4", + "downsample_factor": 4, + "split_rule": "FullCircle: training frames = the FullCircle train set; test frames = its separate tripod test captures, registered in the same frame", + "cameras": { + "1": { + "model": "OPENCV_FISHEYE", + "width": 2880, + "height": 2880, + "params": [ + 781.2593850341325, + 780.7626250917136, + 1440.0, + 1440.0, + 0.08310123480768182, + -0.03403228130954769, + 0.01315075003033446, + -0.0030444082853791268 + ] + }, + "2": { + "model": "OPENCV_FISHEYE", + "width": 2880, + "height": 2880, + "params": [ + 779.7724649624647, + 779.9112546983156, + 1440.0, + 1440.0, + 0.07848318471076958, + -0.028861595887007204, + 0.010656025274360175, + -0.0026011327451478383 + ] + } + }, + "frames": [ + { + "name": "camera1/frame_0001.png", + "camera_id": 1, + "split": "train", + "qvec_wxyz_world_to_camera": [ + 0.6949847669368212, + -0.0654233671056403, + -0.6619045412244511, + -0.27312695778480384 + ], + "tvec_world_to_camera": [ + 1.3649288238935808, + 1.1346217839773727, + -4.227493107751417 + ], + 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"a5e26009d18d92d590b9b0adc609eba6249220fcf6f4ec740c5f41e50153ab19" + }, + { + "path": "gaussians_geo/point_cloud.ply", + "bytes": 69013979, + "sha256": "338496f72e711f569141c30622226c3811c61d068804fbee692b9e4af44279ee" + }, + { + "path": "gaussians/EXPORT.json", + "bytes": 913, + "sha256": "6b79cc2a3b77457c3dd3e100c781c71c74ec349e6c48bf5f41499657f4cb66a6" + }, + { + "path": "gaussians/appearance.json", + "bytes": 11041270, + "sha256": "059fd30ee917f9337e9d679d24949c08a5017fc7e9b09a6aa7e94584a4f00091" + }, + { + "path": "gaussians/point_cloud.ply", + "bytes": 68952227, + "sha256": "bcddc3dc020ee4bb7d6218936ba6c70291bd819da42d07685bc674aff10302b6" + } + ] +} \ No newline at end of file diff --git a/FullCircle_flat2/PACKAGE_EXPORT.json b/FullCircle_flat2/PACKAGE_EXPORT.json new file mode 100644 index 0000000000000000000000000000000000000000..7f1b43fe075723cc93e9445b29e041afc0ddc4c1 --- /dev/null +++ b/FullCircle_flat2/PACKAGE_EXPORT.json @@ -0,0 +1,60 @@ +{ + "dataset": "FullCircle", + "scene": "flat2", + "gaussians": { + "source_checkpoint": "/opt/dlami/nvme/fullcircle_20261017/runs/gofish_wogeom/flat2/c35.pt", + "source_sha256": "e425d6ed3ee718409b50193db2fa299c2f934d5cb492cadbf6849a47d90b8faa", + "global_step": 35000, + "num_gaussians": 278027, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 1.4026318240212277e-07, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "bcddc3dc020ee4bb7d6218936ba6c70291bd819da42d07685bc674aff10302b6", + "ply_bytes": 68952227 + }, + "gaussians_geo": { + "source_checkpoint": "/opt/dlami/nvme/fullcircle_20261017/runs/gofish/flat2/c35.pt", + "source_sha256": "2900fee698660fb9902c7217aed4285aa641d61127ba4a4fc405a187fa0cde5e", + "global_step": 35000, + "num_gaussians": 278276, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 4.592970981320832e-08, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "338496f72e711f569141c30622226c3811c61d068804fbee692b9e4af44279ee", + "ply_bytes": 69013979 + }, + "mesh": { + "source": "/opt/dlami/nvme/gfc/flat2/e12_q/mesh.ply", + "source_sha256": "4f5915576a13c4616956cfa4ad0838c032e45d29b11e26e300d8fbe76ccda606", + "sha256": "4f5915576a13c4616956cfa4ad0838c032e45d29b11e26e300d8fbe76ccda606", + "bytes": 160256376 + }, + "n_frames": { + "train": 1082, + "test": 52 + } +} \ No newline at end of file diff --git a/FullCircle_flat2/README.md b/FullCircle_flat2/README.md new file mode 100644 index 0000000000000000000000000000000000000000..e03f1fa508a30e88b7fc1e16e8ecdeffefc374bf --- /dev/null +++ b/FullCircle_flat2/README.md @@ -0,0 +1,12 @@ +# FullCircle flat2 + +| Item | File | Size | +|---|---|---| +| GOFish (Ours) Gaussians | `gaussians/point_cloud.ply` | 278,027 Gaussians, 69 MB | +| + Geometry Objective Gaussians | `gaussians_geo/point_cloud.ply` | 278,276 Gaussians, 69 MB | +| + Geometry Objective mesh | `mesh/mesh.ply`, `mesh/mesh.glb` | 160 MB PLY | +| Cameras | `cameras.json` | 1082 train and 52 test frames | + +Both Gaussian files carry the 3-D Mip filter baked into their scales. Reloading each PLY reproduces the checkpoint's stored positions, rotations, opacities and spherical harmonics exactly, and its filtered scales to float32 precision. `EXPORT.json` holds the checks and the source checkpoint sha256. +The mesh is byte-identical to the evaluated mesh, sha256 `4f5915576a13c4616956cfa4ad0838c032e45d29b11e26e300d8fbe76ccda606`. +See the top-level README for formats and viewers. diff --git a/FullCircle_flat2/cameras.json b/FullCircle_flat2/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..fcc6f1e82f044016020837d23179d7ea1ddc7a32 --- /dev/null +++ b/FullCircle_flat2/cameras.json @@ -0,0 +1,47670 @@ +{ + "schema": "gofish.package.cameras.v1", + "convention": "COLMAP: x_cam = R(q) x_world + t; camera_to_world is its inverse; OPENCV_FISHEYE params fx,fy,cx,cy,k1..k4 at the stored image resolution; GOFish trained on images downsampled by 4 (intrinsics scale by 1/4)", + "image_folder": "images_4", + "downsample_factor": 4, + "split_rule": "FullCircle: training frames = the FullCircle train set; test frames = its separate tripod test captures, registered in the same frame", + "cameras": { + "1": { + "model": "OPENCV_FISHEYE", + "width": 2880, + "height": 2880, + "params": [ + 781.1980784965281, + 780.7448169815531, + 1440.0, + 1440.0, + 0.08149544906206169, + -0.032438885215506454, + 0.0124569683198703, + -0.0029253604145422236 + ] + }, + "2": { + "model": "OPENCV_FISHEYE", + "width": 2880, + "height": 2880, + "params": [ + 779.1516056839548, + 778.8592301255268, + 1440.0, + 1440.0, + 0.0808279704623679, + -0.03138177607154989, + 0.011965429528613925, + -0.002839200348105115 + ] + } + }, + "frames": [ + { + "name": "camera1/frame_0001.png", + "camera_id": 1, + "split": "train", + "qvec_wxyz_world_to_camera": [ + 0.9892589497407477, + 0.039357927225060325, + -0.12394768893780628, + 0.06674319687696136 + ], + "tvec_world_to_camera": [ + -0.4647483287958157, + 0.6636845337087552, + -4.054112875552652 + ], + 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0000000000000000000000000000000000000000..d30d648ae4996e0e7f559d87675ee009a47ba675 --- /dev/null +++ b/FullCircle_lab/PACKAGE_EXPORT.json @@ -0,0 +1,60 @@ +{ + "dataset": "FullCircle", + "scene": "lab", + "gaussians": { + "source_checkpoint": "/opt/dlami/nvme/fullcircle_20261017/runs/gofish_wogeom/lab/c35.pt", + "source_sha256": "3ecc4b27ccab7b40155287a13d3090d40f2337f5260c8b635133259263e24ec3", + "global_step": 35000, + "num_gaussians": 437250, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 2.336629556509706e-08, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "d6c987e6bafff3b3ab88d3301679264025db49ebca5e6a819fcc1b3bdf645a02", + "ply_bytes": 108439531 + }, + "gaussians_geo": { + "source_checkpoint": "/opt/dlami/nvme/fullcircle_20261017/runs/gofish/lab/c35.pt", + "source_sha256": "36bbf1e86a558b33867a05b2f56633ebb088050b3415912b22bd389e4a58dc57", + "global_step": 35000, + "num_gaussians": 436443, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 8.920162031245127e-08, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "2a88549293be94d897e928fa02135aa3ef24cb4433d667a8e14610f3286750ae", + "ply_bytes": 108239395 + }, + "mesh": { + "source": "/opt/dlami/nvme/gfc/lab/e12_q/mesh.ply", + "source_sha256": "13d553aa6835c5a68b7359044d6ab46f86922de1af943990fa8f39360490cdf7", + "sha256": "13d553aa6835c5a68b7359044d6ab46f86922de1af943990fa8f39360490cdf7", + "bytes": 252207954 + }, + "n_frames": { + "train": 1094, + "test": 68 + } +} \ No newline at end of file diff --git a/FullCircle_lab/README.md b/FullCircle_lab/README.md new file mode 100644 index 0000000000000000000000000000000000000000..9e3ab178cee592732168b7bf9e22d1f9fc1f1f0e --- /dev/null +++ b/FullCircle_lab/README.md @@ -0,0 +1,12 @@ +# FullCircle lab + +| Item | File | Size | +|---|---|---| +| GOFish (Ours) Gaussians | `gaussians/point_cloud.ply` | 437,250 Gaussians, 108 MB | +| + Geometry Objective Gaussians | `gaussians_geo/point_cloud.ply` | 436,443 Gaussians, 108 MB | +| + Geometry Objective mesh | `mesh/mesh.ply`, `mesh/mesh.glb` | 252 MB PLY | +| Cameras | `cameras.json` | 1094 train and 68 test frames | + +Both Gaussian files carry the 3-D Mip filter baked into their scales. Reloading each PLY reproduces the checkpoint's stored positions, rotations, opacities and spherical harmonics exactly, and its filtered scales to float32 precision. `EXPORT.json` holds the checks and the source checkpoint sha256. +The mesh is byte-identical to the evaluated mesh, sha256 `13d553aa6835c5a68b7359044d6ab46f86922de1af943990fa8f39360490cdf7`. +See the top-level README for formats and viewers. diff --git a/FullCircle_lab/cameras.json b/FullCircle_lab/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..078e84635479006da3409ad49bd1c7babca453b1 --- /dev/null +++ b/FullCircle_lab/cameras.json @@ -0,0 +1,48846 @@ +{ + "schema": "gofish.package.cameras.v1", + "convention": "COLMAP: x_cam = R(q) x_world + t; camera_to_world is its inverse; OPENCV_FISHEYE params fx,fy,cx,cy,k1..k4 at the stored image resolution; GOFish trained on images downsampled by 4 (intrinsics scale by 1/4)", + "image_folder": "images_4", + "downsample_factor": 4, + "split_rule": "FullCircle: training frames = the FullCircle train set; test frames = its separate tripod test captures, registered in the same frame", + "cameras": { + "1": { + "model": "OPENCV_FISHEYE", + "width": 2880, + "height": 2880, + "params": [ + 781.8829417905752, + 781.6176831251775, + 1440.0, + 1440.0, + 0.08206026849299408, + -0.033340172803248705, + 0.012885197541294443, + -0.0029987721751919385 + ] + }, + "2": { + "model": "OPENCV_FISHEYE", + "width": 2880, + "height": 2880, + "params": [ + 779.3595610961376, + 779.1959833736997, + 1440.0, + 1440.0, + 0.08181692246245968, + -0.033202039252364424, + 0.012951253390662863, + -0.0030216068687956917 + ] + } + }, + "frames": [ + { + "name": "camera1/frame_0001.png", + "camera_id": 1, + "split": "train", + "qvec_wxyz_world_to_camera": [ + 0.33982661944143827, + -0.07065314607716773, + 0.840708470777412, + 0.41561432702868645 + ], + "tvec_world_to_camera": [ + 1.0262042995787606, + 0.17489703373856896, + 3.283112532297698 + ], + 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"mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 2.2611732930499784e-08, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "ed06fd44e46028d3829e7cd1a251dec51d931a80463ef5b5f836587fc0325884", + "ply_bytes": 144747475 + }, + "gaussians_geo": { + "source_checkpoint": "/opt/dlami/nvme/fullcircle_20261017/runs/gofish/lounge/c35.pt", + "source_sha256": "d1e94bd1c1a038c3ddfef502095334ac79c8b74edd87a1d05fa734a13a3056ce", + "global_step": 35000, + "num_gaussians": 587112, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 5.7675514142374595e-08, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "844201bd4fcabb31b5b0bdf9385ac15329f9311edc0ac23f4133348b10148548", + "ply_bytes": 145605307 + }, + "mesh": { + "source": "/opt/dlami/nvme/gfc/lounge/e12_q/mesh.ply", + "source_sha256": "97fe6f5d6f2c4ad0cf9ac049ed6b58ca4cb70dd59d49ef8973c2d3343c6ce6df", + "sha256": "97fe6f5d6f2c4ad0cf9ac049ed6b58ca4cb70dd59d49ef8973c2d3343c6ce6df", + "bytes": 332304665 + }, + "n_frames": { + "train": 1066, + "test": 44 + } +} \ No newline at end of file diff --git a/FullCircle_lounge/README.md b/FullCircle_lounge/README.md new file mode 100644 index 0000000000000000000000000000000000000000..7d214f30e86739566781df198b2b5d93900046d9 --- /dev/null +++ b/FullCircle_lounge/README.md @@ -0,0 +1,12 @@ +# FullCircle lounge + +| Item | File | Size | +|---|---|---| +| GOFish (Ours) Gaussians | `gaussians/point_cloud.ply` | 583,653 Gaussians, 145 MB | +| + Geometry Objective Gaussians | `gaussians_geo/point_cloud.ply` | 587,112 Gaussians, 146 MB | +| + Geometry Objective mesh | `mesh/mesh.ply`, `mesh/mesh.glb` | 332 MB PLY | +| Cameras | `cameras.json` | 1066 train and 44 test frames | + +Both Gaussian files carry the 3-D Mip filter baked into their scales. Reloading each PLY reproduces the checkpoint's stored positions, rotations, opacities and spherical harmonics exactly, and its filtered scales to float32 precision. `EXPORT.json` holds the checks and the source checkpoint sha256. +The mesh is byte-identical to the evaluated mesh, sha256 `97fe6f5d6f2c4ad0cf9ac049ed6b58ca4cb70dd59d49ef8973c2d3343c6ce6df`. +See the top-level README for formats and viewers. diff --git a/FullCircle_lounge/cameras.json b/FullCircle_lounge/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..a63c5ceb38b69dc4f932959593dac478b8fb6a68 --- /dev/null +++ b/FullCircle_lounge/cameras.json @@ -0,0 +1,46662 @@ +{ + "schema": "gofish.package.cameras.v1", + "convention": "COLMAP: x_cam = R(q) x_world + t; camera_to_world is its inverse; OPENCV_FISHEYE params fx,fy,cx,cy,k1..k4 at the stored image resolution; GOFish trained on images downsampled by 4 (intrinsics scale by 1/4)", + "image_folder": "images_4", + "downsample_factor": 4, + "split_rule": "FullCircle: training frames = the FullCircle train set; test frames = its separate tripod test captures, registered in the same frame", + "cameras": { + "1": { + "model": "OPENCV_FISHEYE", + "width": 2880, + "height": 2880, + "params": [ + 781.7844060816046, + 781.8899909765047, + 1440.0, + 1440.0, + 0.08145758761813011, + -0.032373120621670526, + 0.012389175063552303, + -0.0028982850441053366 + ] + }, + "2": { + "model": "OPENCV_FISHEYE", + "width": 2880, + "height": 2880, + "params": [ + 779.7323489086634, + 779.0668351349719, + 1440.0, + 1440.0, + 0.0797179397607909, + -0.030566448878997166, + 0.011646770842487513, + -0.00280760511835064 + ] + } + }, + "frames": [ + { + "name": "camera1/frame_0001.png", + "camera_id": 1, + "split": "train", + "qvec_wxyz_world_to_camera": [ + 0.3063258412774657, + -0.0395539474354631, + 0.9476308286699345, + -0.08121438765550633 + ], + "tvec_world_to_camera": [ + -1.1598489522044384, + -0.3702056408050589, + 3.1132451522913165 + ], + 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], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 9.69666231753763e-08, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "385ee82add8d5b86f1cf818dfcd6220bb9ae5ec3360d0dee007f420ab0410c50", + "ply_bytes": 58536971 + }, + "gaussians_geo": { + "source_checkpoint": "/opt/dlami/nvme/fullcircle_20261017/runs/gofish/persons/c35.pt", + "source_sha256": "9d3c9740576b87c0b60f98bd5b3802d9230a05e0ec75ad501df30637838fb3fe", + "global_step": 35000, + "num_gaussians": 235481, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 8.26069026516052e-08, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "97c7a0e0e5dc31a70a71773668a969826102bc01357a80bc820d087d98728d9a", + "ply_bytes": 58400819 + }, + "mesh": { + "source": "/opt/dlami/nvme/gfc/persons/e12_q/mesh.ply", + "source_sha256": "8215f88ca2c13f3baa1f01cf4a50221d8e198aee9e89860c65afc86125b6831e", + "sha256": "8215f88ca2c13f3baa1f01cf4a50221d8e198aee9e89860c65afc86125b6831e", + "bytes": 134152873 + }, + "n_frames": { + "train": 935, + "test": 68 + } +} \ No newline at end of file diff --git a/FullCircle_persons/README.md b/FullCircle_persons/README.md new file mode 100644 index 0000000000000000000000000000000000000000..1e9849c83fdecc057bfca9df01cd146768916002 --- /dev/null +++ b/FullCircle_persons/README.md @@ -0,0 +1,12 @@ +# FullCircle persons + +| Item | File | Size | +|---|---|---| +| GOFish (Ours) Gaussians | `gaussians/point_cloud.ply` | 236,030 Gaussians, 59 MB | +| + Geometry Objective Gaussians | `gaussians_geo/point_cloud.ply` | 235,481 Gaussians, 58 MB | +| + Geometry Objective mesh | `mesh/mesh.ply`, `mesh/mesh.glb` | 134 MB PLY | +| Cameras | `cameras.json` | 935 train and 68 test frames | + +Both Gaussian files carry the 3-D Mip filter baked into their scales. Reloading each PLY reproduces the checkpoint's stored positions, rotations, opacities and spherical harmonics exactly, and its filtered scales to float32 precision. `EXPORT.json` holds the checks and the source checkpoint sha256. +The mesh is byte-identical to the evaluated mesh, sha256 `8215f88ca2c13f3baa1f01cf4a50221d8e198aee9e89860c65afc86125b6831e`. +See the top-level README for formats and viewers. diff --git a/FullCircle_persons/cameras.json b/FullCircle_persons/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..375fb0246397005850a7186142888fec77990dc8 --- /dev/null +++ b/FullCircle_persons/cameras.json @@ -0,0 +1,42168 @@ +{ + "schema": "gofish.package.cameras.v1", + "convention": "COLMAP: x_cam = R(q) x_world + t; camera_to_world is its inverse; OPENCV_FISHEYE params fx,fy,cx,cy,k1..k4 at the stored image resolution; GOFish trained on images downsampled by 4 (intrinsics scale by 1/4)", + "image_folder": "images_4", + "downsample_factor": 4, + "split_rule": "FullCircle: training frames = the FullCircle train set; test frames = its separate tripod test captures, registered in the same frame", + "cameras": { + "1": { + "model": "OPENCV_FISHEYE", + "width": 2880, + "height": 2880, + "params": [ + 781.4282076659659, + 781.5243048227765, + 1440.0, + 1440.0, + 0.0826504769348355, + -0.03422789164011199, + 0.013483381517134692, + -0.0031290101361622193 + ] + }, + "2": { + "model": "OPENCV_FISHEYE", + "width": 2880, + "height": 2880, + "params": [ + 779.0528432529526, + 779.0349952757758, + 1440.0, + 1440.0, + 0.08025491638937134, + -0.030669206779145076, + 0.011682565284438312, + -0.0028059967188676428 + ] + } + }, + "frames": [ + { + "name": "camera1/frame_0001.png", + "camera_id": 1, + "split": "train", + "qvec_wxyz_world_to_camera": [ + -0.3334819539922099, + -0.25566193061850534, + 0.9032331101622926, + 0.08715912058131417 + ], + "tvec_world_to_camera": [ + 6.726215741992718, + -1.6501717742221043, + 4.513670535125562 + ], + 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b/FullCircle_persons/gaussians/EXPORT.json @@ -0,0 +1,23 @@ +{ + "source_checkpoint": "/opt/dlami/nvme/fullcircle_20261017/runs/gofish_wogeom/persons/c35.pt", + "source_sha256": "38ba404d8752fcccbd3d8a1db2d956848fb970de15548ac23670d5bdf67bb31c", + "global_step": 35000, + "num_gaussians": 236030, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 9.69666231753763e-08, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "385ee82add8d5b86f1cf818dfcd6220bb9ae5ec3360d0dee007f420ab0410c50", + "ply_bytes": 58536971 +} \ No 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0000000000000000000000000000000000000000..6ced9d52352659d6651126ae642740abc61afbfa --- /dev/null +++ b/FullCircle_room1/PACKAGE_EXPORT.json @@ -0,0 +1,60 @@ +{ + "dataset": "FullCircle", + "scene": "room1", + "gaussians": { + "source_checkpoint": "/opt/dlami/nvme/fullcircle_20261017/runs/gofish_wogeom/room1/c35.pt", + "source_sha256": "501d8999f198af249d6d9db4fcf19aeeed4814ae432732062761caaf3987c8a8", + "global_step": 35000, + "num_gaussians": 266323, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 8.531728212801681e-08, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + 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"ply_sha256": "93cf3d888d67ea126a9e770f7bb4946489267e899ae31f0ee85689a93bef7b9c", + "ply_bytes": 66029051 + }, + "mesh": { + "source": "/opt/dlami/nvme/gfc/room1/e12_q/mesh.ply", + "source_sha256": "844332ba926f445c9d65f9f535ff46c1f95776e4a3e8488ae9c49a0595650419", + "sha256": "844332ba926f445c9d65f9f535ff46c1f95776e4a3e8488ae9c49a0595650419", + "bytes": 151302872 + }, + "n_frames": { + "train": 1118, + "test": 76 + } +} \ No newline at end of file diff --git a/FullCircle_room1/README.md b/FullCircle_room1/README.md new file mode 100644 index 0000000000000000000000000000000000000000..67008073586a81022d92569ff7d6c7bf9b4b0de1 --- /dev/null +++ b/FullCircle_room1/README.md @@ -0,0 +1,12 @@ +# FullCircle room1 + +| Item | File | Size | +|---|---|---| +| GOFish (Ours) Gaussians | `gaussians/point_cloud.ply` | 266,323 Gaussians, 66 MB | +| + Geometry Objective Gaussians | `gaussians_geo/point_cloud.ply` | 266,240 Gaussians, 66 MB | +| + Geometry Objective mesh | `mesh/mesh.ply`, `mesh/mesh.glb` | 151 MB PLY | +| Cameras | `cameras.json` | 1118 train and 76 test frames | + +Both Gaussian files carry the 3-D Mip filter baked into their scales. Reloading each PLY reproduces the checkpoint's stored positions, rotations, opacities and spherical harmonics exactly, and its filtered scales to float32 precision. `EXPORT.json` holds the checks and the source checkpoint sha256. +The mesh is byte-identical to the evaluated mesh, sha256 `844332ba926f445c9d65f9f535ff46c1f95776e4a3e8488ae9c49a0595650419`. +See the top-level README for formats and viewers. diff --git a/FullCircle_room1/cameras.json b/FullCircle_room1/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..4592f97c74127b5b5e734464f765fca21772f92f --- /dev/null +++ b/FullCircle_room1/cameras.json @@ -0,0 +1,50190 @@ +{ + "schema": "gofish.package.cameras.v1", + "convention": "COLMAP: x_cam = R(q) x_world + t; camera_to_world is its inverse; OPENCV_FISHEYE params fx,fy,cx,cy,k1..k4 at the stored image resolution; GOFish trained on images downsampled by 4 (intrinsics scale by 1/4)", + "image_folder": "images_4", + "downsample_factor": 4, + "split_rule": "FullCircle: training frames = the FullCircle train set; test frames = its separate tripod test captures, registered in the same frame", + "cameras": { + "1": { + "model": "OPENCV_FISHEYE", + "width": 2880, + "height": 2880, + "params": [ + 781.610251775457, + 781.039685170408, + 1440.0, + 1440.0, + 0.08208676372266553, + -0.03330741949481096, + 0.012927206047759824, + -0.0030077288039899916 + ] + }, + "2": { + "model": "OPENCV_FISHEYE", + "width": 2880, + "height": 2880, + "params": [ + 779.1843320070275, + 778.5631587954796, + 1440.0, + 1440.0, + 0.08253103219890827, + -0.03299807238430665, + 0.012621724753299127, + -0.0029499103239704495 + ] + } + }, + "frames": [ + { + "name": "camera1/frame_0001.png", + "camera_id": 1, + "split": "train", + "qvec_wxyz_world_to_camera": [ + 0.10125248013830758, + -0.14404778008371, + 0.9843726187818193, + 0.0029529157488530793 + ], + "tvec_world_to_camera": [ + -4.164584832437115, + -0.42278899765530054, + 1.8083341338885044 + ], + 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"/opt/dlami/nvme/fullcircle_20261017/runs/gofish_wogeom/room2/c35.pt", + "source_sha256": "2c429893495f6b9fdaefd8e1527fc75edb0b3a65e948f4dbae677609af5a2b05", + "global_step": 35000, + "num_gaussians": 300989, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 1.5467234604216173e-08, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "d6b485bae8b65145f71beaaf485d783b69adeab360dd2e8c72ccf260c45a8fa9", + "ply_bytes": 74646803 + }, + "gaussians_geo": { + "source_checkpoint": 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"2a81050ad90e7ef7aa0b29a149f555b070ec26f0c4543000a5a9a5c49e306a52", + "sha256": "2a81050ad90e7ef7aa0b29a149f555b070ec26f0c4543000a5a9a5c49e306a52", + "bytes": 186531843 + }, + "n_frames": { + "train": 668, + "test": 56 + } +} \ No newline at end of file diff --git a/FullCircle_room2/README.md b/FullCircle_room2/README.md new file mode 100644 index 0000000000000000000000000000000000000000..b73e24977dc60421a47a1769e3e6248ffa999265 --- /dev/null +++ b/FullCircle_room2/README.md @@ -0,0 +1,12 @@ +# FullCircle room2 + +| Item | File | Size | +|---|---|---| +| GOFish (Ours) Gaussians | `gaussians/point_cloud.ply` | 300,989 Gaussians, 75 MB | +| + Geometry Objective Gaussians | `gaussians_geo/point_cloud.ply` | 299,551 Gaussians, 74 MB | +| + Geometry Objective mesh | `mesh/mesh.ply`, `mesh/mesh.glb` | 187 MB PLY | +| Cameras | `cameras.json` | 668 train and 56 test frames | + +Both Gaussian files carry the 3-D Mip filter baked into their scales. Reloading each PLY reproduces the checkpoint's stored positions, rotations, opacities and spherical harmonics exactly, and its filtered scales to float32 precision. `EXPORT.json` holds the checks and the source checkpoint sha256. +The mesh is byte-identical to the evaluated mesh, sha256 `2a81050ad90e7ef7aa0b29a149f555b070ec26f0c4543000a5a9a5c49e306a52`. +See the top-level README for formats and viewers. diff --git a/FullCircle_room2/cameras.json b/FullCircle_room2/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..82098ff9b7394ea1dd43a33cadc26168e85a23d6 --- /dev/null +++ b/FullCircle_room2/cameras.json @@ -0,0 +1,30450 @@ +{ + "schema": "gofish.package.cameras.v1", + "convention": "COLMAP: x_cam = R(q) x_world + t; camera_to_world is its inverse; OPENCV_FISHEYE params fx,fy,cx,cy,k1..k4 at the stored image resolution; GOFish trained on images downsampled by 4 (intrinsics scale by 1/4)", + "image_folder": "images_4", + "downsample_factor": 4, + "split_rule": "FullCircle: training frames = the FullCircle train set; test frames = its separate tripod test captures, registered in the same frame", + "cameras": { + "1": { + "model": "OPENCV_FISHEYE", + "width": 2880, + "height": 2880, + "params": [ + 780.7140794129513, + 780.4110480809355, + 1440.0, + 1440.0, + 0.08212926102519093, + -0.03319103103844925, + 0.012912307715094204, + -0.0029715081159228727 + ] + }, + "2": { + "model": "OPENCV_FISHEYE", + "width": 2880, + "height": 2880, + "params": [ + 779.3608076872316, + 779.1745881334888, + 1440.0, + 1440.0, + 0.0804225563488609, + -0.030845950654306422, + 0.01179551474839329, + -0.0028385721078876673 + ] + } + }, + "frames": [ + { + "name": "camera1/frame_0001.png", + "camera_id": 1, + "split": "train", + "qvec_wxyz_world_to_camera": [ + -0.15074172636429822, + 0.056672335532960506, + 0.9849961494431183, + -0.06203034660696889 + ], + "tvec_world_to_camera": [ + -0.5492553009136424, + -1.4987042019056613, + 3.1486723147734206 + ], 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"/opt/dlami/nvme/fullcircle_20261017/runs/gofish/room3/c35.pt", + "source_sha256": "81178478adcc78d7f15a6f2d434f1567f5440f461bd6ea0a457f9258d0c52f62", + "global_step": 35000, + "num_gaussians": 238436, + "sh_degree": 3, + "feature_type": "sh", + "filter_note": [ + "3-D Mip filter baked: scale = sqrt(exp(scale)^2 + filter_3D^2), isotropic; opacity unchanged (physical Mip3D, no volume-ratio opacity compensation, as in the paper)" + ], + "mip3d_filter_schema": "gofish.physical_mip3d_filter.checkpoint.v2", + "mip3d_algorithm": "physical-q-jacobian-colmap-corner-mip3d-unobserved-max.v3", + "verify": { + "positions_max_abs": 0.0, + "scale_eff_max_rel": 7.393086320917064e-08, + "opacity_max_abs": 0.0, + "rotation_max_abs": 0.0, + "sh_dc_max_abs": 0.0, + "sh_rest_max_abs": 0.0 + }, + "ply_sha256": "419d55f7b474b54901980165198f9a7792bf6130b20b7f86b0ef0d4fc86c8421", + "ply_bytes": 59133659 + }, + "mesh": { + "source": "/opt/dlami/nvme/gfc/room3/e12_q/mesh.ply", + "source_sha256": "afbb8568a7d0c10835d8b2b92dbf2b01ea4e410c5753ec5ba5aa58fc10bbe791", + "sha256": "afbb8568a7d0c10835d8b2b92dbf2b01ea4e410c5753ec5ba5aa58fc10bbe791", + "bytes": 129505742 + }, + "n_frames": { + "train": 714, + "test": 59 + } +} \ No newline at end of file diff --git a/FullCircle_room3/README.md b/FullCircle_room3/README.md new file mode 100644 index 0000000000000000000000000000000000000000..16abc47c31e4a25b14c5e7abf17c9481c29ad385 --- /dev/null +++ b/FullCircle_room3/README.md @@ -0,0 +1,12 @@ +# FullCircle room3 + +| Item | File | Size | +|---|---|---| +| GOFish (Ours) Gaussians | `gaussians/point_cloud.ply` | 238,547 Gaussians, 59 MB | +| + Geometry Objective Gaussians | `gaussians_geo/point_cloud.ply` | 238,436 Gaussians, 59 MB | +| + Geometry Objective mesh | `mesh/mesh.ply`, `mesh/mesh.glb` | 130 MB PLY | +| Cameras | `cameras.json` | 714 train and 59 test frames | + +Both Gaussian files carry the 3-D Mip filter baked into their scales. Reloading each PLY reproduces the checkpoint's stored positions, rotations, opacities and spherical harmonics exactly, and its filtered scales to float32 precision. `EXPORT.json` holds the checks and the source checkpoint sha256. +The mesh is byte-identical to the evaluated mesh, sha256 `afbb8568a7d0c10835d8b2b92dbf2b01ea4e410c5753ec5ba5aa58fc10bbe791`. +See the top-level README for formats and viewers. diff --git a/FullCircle_room3/cameras.json b/FullCircle_room3/cameras.json new file mode 100644 index 0000000000000000000000000000000000000000..51c9b010e1f595d80f82176dc168bf9247f1ee5a --- /dev/null +++ b/FullCircle_room3/cameras.json @@ -0,0 +1,32508 @@ +{ + "schema": "gofish.package.cameras.v1", + "convention": "COLMAP: x_cam = R(q) x_world + t; camera_to_world is its inverse; OPENCV_FISHEYE params fx,fy,cx,cy,k1..k4 at the stored image resolution; GOFish trained on images downsampled by 4 (intrinsics scale by 1/4)", + "image_folder": "images_4", + "downsample_factor": 4, + "split_rule": "FullCircle: training frames = the FullCircle train set; test frames = its separate tripod test captures, registered in the same frame", + "cameras": { + "1": { + "model": "OPENCV_FISHEYE", + "width": 2880, + "height": 2880, + "params": [ + 781.3124892037888, + 781.0699173697315, + 1440.0, + 1440.0, + 0.0836246167994278, + -0.034868709705163106, + 0.013635231996286383, + -0.0031441077097971873 + ] + }, + "2": { + "model": "OPENCV_FISHEYE", + "width": 2880, + "height": 2880, + "params": [ + 779.6548489193631, + 779.344745442413, + 1440.0, + 1440.0, + 0.07992027287574542, + -0.030168434774115696, + 0.011300773967734552, + -0.0027184165276457864 + ] + } + }, + "frames": [ + { + "name": "camera1/frame_0001.png", + "camera_id": 1, + "split": "train", + "qvec_wxyz_world_to_camera": [ + 0.9740926407388301, + 0.15268123418370969, + 0.1398008561228395, + -0.09103674320796541 + ], + "tvec_world_to_camera": [ + -0.682205344142025, + -0.9537687942593986, + 4.306293915940939 + ], + 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gaussian-splatting +- 3d-reconstruction +- mesh +- fisheye +--- + +# GOFish: Full Field-of-View Gaussian Splatting and Mesh Extraction + +[Allen Tu](https://tuallen.github.io/)1,2, [Meher Gitika Karumuri](https://scholar.google.com/citations?user=R14csHAAAAAJ)1, [Shifan Zhu](https://shifanzhu.github.io/)1,3, [Hailing Wang](https://scholar.google.com/citations?user=oKoYjqUAAAAJ)1,4, [Yen-Liang Lin](https://sites.google.com/view/yenlianglin)1, [David Held](https://davheld.github.io/)1,5, [Matthias Zwicker](https://www.cs.umd.edu/~zwicker/)2, [Tom Goldstein](https://www.cs.umd.edu/~tomg/)2 + +1Amazon, 2University of Maryland, College Park, 3University of Massachusetts Amherst, 4Northeastern University, 5Carnegie Mellon University + +[Project page](https://3dgofish.github.io/) | [Paper](https://arxiv.org/abs/2610.37818) | [Code](https://github.com/tuallen/GOFish) + +![GOFish reconstructs FIORD Hall_In as a Gaussian Splatting scene and aligned mesh over its full 200° field of view; 3DGUT + PPISP stops at 160°.](assets/teaser.jpg) + +## Scenes: FIORD and FullCircle + +Each folder `_/` holds one scene reconstructed over the full fisheye field of view +(FIORD 200 degrees, FullCircle about 205 degrees per lens), as evaluated in the GOFish paper. + +| Folder | Contents | +|---|---| +| `gaussians/` | GOFish (Ours): the Gaussian Splatting scene trained without SOF's geometry losses. Used for all rendering results. | +| `gaussians_geo/` | GOFish + Geometry Objective: the same pipeline with SOF's geometry losses. | +| `mesh/` | The + Geometry Objective mesh used in the paper's mesh results, as binary PLY and Draco-compressed GLB. | +| `cameras.json` | Calibration (OpenCV fisheye model) and every train/test camera pose. | +| `lidar_alignment.json` | FIORD geometry scenes only: the similarity transform into the LiDAR ground-truth frame used for the paper's mesh scores. Corridor_Out has none because its SfM-LiDAR registration is invalid, so the paper evaluates it for rendering only. | + +## Download +Download one scene, or omit `--include` for all of them: +``` +hf download AllenTu/GOFish-scenes --repo-type dataset --include "FIORD_Kitchen_In/*" --local-dir GOFish-scenes +``` + +## Formats +- `gaussians*/point_cloud.ply`: standard 3D Gaussian Splatting (INRIA) layout: `x y z nx ny nz f_dc_0..2 f_rest_0..44 opacity scale_0..2 rot_0..3`. + Opacity is a logit (apply sigmoid), scales are log (apply exp), rotation is a quaternion w,x,y,z, colors are degree-3 spherical harmonics with channel-major `f_rest`. + The GOFish 3-D Mip filter is baked in: each stored scale is `sqrt(scale^2 + filter_3D^2)`, so the file is exactly the stored scene GOFish renders and meshes. + Opacity is not rescaled, matching GOFish. +- `gaussians*/appearance.json`: the PPISP sensor model and GOFish's wide-angle attenuation W. This covers per-image exposure and color, per-camera vignetting, the camera response function, the radial profile and flat field, and the novel-view controller weights. Tensors are flattened row-major with their shapes. + Generic viewers ignore this file, so they show the scene's radiance without the camera's exposure and lens falloff. +- `mesh/mesh.ply`: the mesh exactly as evaluated, byte-identical to the paper's file. `mesh/mesh.glb` is the same mesh with Draco compression (KHR_draco_mesh_compression, 16-bit positions) for web viewers. +- `cameras.json`: COLMAP convention, `x_cam = R(q) x_world + t`, with `camera_to_world` given as its inverse. Intrinsics are at the stored image resolution. GOFish trained on images downsampled by 4, so divide fx, fy, cx and cy by 4 for the training resolution. + Gaussians, mesh and cameras share one world frame, the training COLMAP registration, with no normalization. + +## Viewing +- Gaussians: SuperSplat (https://superspl.at/editor), gsplat, Nerfstudio or any 3DGS PLY viewer. These render with a pinhole projection. GOFish's full-FoV fisheye rendering needs the GOFish/3DGUT renderer with `cameras.json` and `appearance.json`. +- Mesh: MeshLab, Blender or Open3D for `mesh.ply`; three.js, Babylon.js or a glTF viewer with Draco support for `mesh.glb`. + +`MANIFEST.json` in each folder lists every file with its size and sha256, and each scene's `README.md` gives its counts and provenance. + +## Citation +If you use these scenes, please cite GOFish and the source dataset. +```bibtex +@misc{Tu2026GOFish, + author = {Tu, Allen and Karumuri, Meher Gitika and Zhu, Shifan and Wang, Hailing and Lin, Yen-Liang and Held, David and Zwicker, Matthias and Goldstein, Tom}, + title = {{GOFish}: Full Field-of-View Gaussian Splatting and Mesh Extraction}, + year = {2026}, + eprint = {2610.37818}, + archivePrefix = {arXiv}, + primaryClass = {cs.CV}, + url = {https://3dgofish.github.io/} +} +@inproceedings{gunes2025fiord, + author = {Gunes, Ulas and Turkulainen, Matias and Ren, Xuqian and Solin, Arno and Kannala, Juho and Rahtu, Esa}, + title = {{FIORD}: A Fisheye Indoor-Outdoor Dataset with {LIDAR} Ground Truth for {3D} Scene Reconstruction and Benchmarking}, + booktitle = {Proceedings of the Scandinavian Conference on Image Analysis (SCIA)}, + pages = {3--17}, + year = {2025} +} +@article{foroutan2026fullcircle, + author = {Foroutan, Yalda and Oztas, Ipek and Rebain, Daniel and Dundar, Aysegul and Yi, Kwang Moo and Goli, Lily and Tagliasacchi, Andrea}, + title = {{FullCircle}: Effortless {3D} Reconstruction from Casual 360$^\circ$ Captures}, + journal = {arXiv preprint arXiv:2603.22572}, + year = {2026} +} +``` + +## License +These reconstructions are released under [CC BY-NC 4.0](https://creativecommons.org/licenses/by-nc/4.0/), matching the GOFish code release. +They are derived from the following datasets, whose licenses and attribution terms also apply: +- **FIORD** (Gunes et al., SCIA 2025), [Zenodo](https://zenodo.org/communities/fiord), CC BY 4.0. +- **FullCircle** (Foroutan et al., 2026), [Hugging Face](https://huggingface.co/datasets/youlenda/FullCircle), Apache 2.0. + +## Acknowledgements +This work was completed during an internship at [Amazon](https://www.amazon.science/). We thank +[Ziyang Long](https://ziyanglong.cn/), [Mellon M. Zhang](https://meilongzhang.github.io/), +[Chenqi Li](https://scholar.google.com/citations?user=u_lYTIwAAAAJ), [Sarosij Bose](https://sarosijbose.github.io/), +[Srikumar Sastry](https://vishu26.github.io/), [Amin Kheradmand](https://scholar.google.com/citations?user=5DJL154AAAAJ), +[David Stafford](https://www.linkedin.com/in/davidwstafford), [Yongqing Ye](https://www.linkedin.com/in/avatarye), +[Huixian Gong](https://www.linkedin.com/in/huixiangong), [Yun He](https://yunhe20.github.io/), +[Zeping Liu](https://zpl99.github.io/), [Haiyang Ying](https://oceanying.github.io), +[Alex Hanson](https://www.cs.umd.edu/~hanson/), [Chengyue Huang](https://chengyuehuang511.github.io/), and Chen Xu +for helpful discussions and feedback on this work. diff --git a/assets/teaser.jpg b/assets/teaser.jpg new file mode 100644 index 0000000000000000000000000000000000000000..a2c391ba9ec83b12d154557999a381e402151ecf --- /dev/null +++ b/assets/teaser.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c1243a2fbfe5eb38e4dac00fad11cc2f08dff0aff0a30347ac5f055b3e2037e +size 207856