Dataset card: list the train split, final sizes

README.md

@@ -2,931 +2,26 @@
 license: cc-by-4.0
 pretty_name: Every9D
 tags:
-- 6d-pose-estimation
-- 9d-pose-estimation
-- category-level
-- rgb-d
-- uco3d
+  - 6d-pose-estimation
+  - 9d-pose-estimation
+  - category-level
+  - rgb-d
+  - uco3d
 size_categories:
-- 1M<n<10M
+  - 1M<n<10M
 configs:
-- config_name: frames
-  data_files:
-  - split: test
-    path: frames/test-*.parquet
-  - split: train
-    path: frames/train-*
-- config_name: frames_meshes
-  data_files:
-  - split: test
-    path: frames_meshes/test-*.parquet
-  - split: train
-    path: frames_meshes/train-*
-- config_name: tforms
-  data_files:
-  - split: train
-    path: tforms/train.parquet
-  - split: test
-    path: tforms/test.parquet
-dataset_info:
-- config_name: frames
-  features:
-  - name: object_id
-    dtype: string
-  - name: pts3d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: pts3d_feats
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: pts3d_feats_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: verts3d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: verts3d_feats
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: verts3d_feats_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: mesh
-    struct:
-    - name: __dc__
-      dtype: string
-    - name: fields
-      struct:
-      - name: verts
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: faces
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: vert_colors
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: verts_uvs
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: faces_uvs
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: texture
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: vert_feats
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-  - name: obj_ncds0c_tform4x4_obj
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_size_ncds
-    dtype: float64
-  - name: obj_size
-    dtype: float64
-  - name: obj_size3d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_bbox3d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts3d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts3d_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_syms
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts3d_syms
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_axis6d_sym
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_verts_part_id
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: category
-    dtype: string
-  - name: category_id
-    dtype: int64
-  - name: attributes
-    dtype: 'null'
-  - name: frame_id
-    dtype: string
-  - name: cam_intr4x4
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: rgb
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: depth
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: depth_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: normal
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: feat
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: featmap
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: featmap_lvls
-    struct:
-    - name: __l__
-      list:
-      - name: __t__
-        dtype: int64
-      - name: shape
-        list: int64
-      - name: dtype
-        dtype: string
-      - name: data
-        dtype: binary
-      - name: q
-        dtype: string
-      - name: scale
-        dtype: float64
-      - name: pack
-        dtype: string
-      - name: z
-        dtype: string
-      - name: nbytes
-        dtype: int64
-  - name: frame_object_id
-    dtype: string
-  - name: cam_bbox2d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: cam_bbox3d
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask_dt
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask_amodal
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: fo_mask_amodal_dt
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: obj_kpts2d_mask
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: cam_tform4x4_obj
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  - name: cam_tform4x4_obj_ncds
-    struct:
-    - name: __t__
-      dtype: int64
-    - name: shape
-      list: int64
-    - name: dtype
-      dtype: string
-    - name: data
-      dtype: binary
-    - name: q
-      dtype: string
-    - name: scale
-      dtype: float64
-    - name: pack
-      dtype: string
-    - name: z
-      dtype: string
-    - name: nbytes
-      dtype: int64
-  splits:
-  - name: train
-    num_bytes: 263434194847
-    num_examples: 1768255
-  download_size: 261241300506
-  dataset_size: 263434194847
-- config_name: frames_meshes
-  features:
-  - name: object_id
-    dtype: string
-  - name: mesh
-    struct:
-    - name: __dc__
-      dtype: string
-    - name: fields
-      struct:
-      - name: verts
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: faces
-        struct:
-        - name: __t__
-          dtype: int64
-        - name: shape
-          list: int64
-        - name: dtype
-          dtype: string
-        - name: data
-          dtype: binary
-        - name: q
-          dtype: string
-        - name: scale
-          dtype: float64
-        - name: pack
-          dtype: string
-        - name: z
-          dtype: string
-        - name: nbytes
-          dtype: int64
-      - name: vert_colors
-        dtype: 'null'
-      - name: verts_uvs
-        dtype: 'null'
-      - name: faces_uvs
-        dtype: 'null'
-      - name: texture
-        dtype: 'null'
-      - name: vert_feats
-        dtype: 'null'
-  splits:
-  - name: train
-    num_bytes: 1035525098
-    num_examples: 110552
-  download_size: 1033627173
-  dataset_size: 1035525098
+  - config_name: frames
+    data_files:
+      - {split: train, path: "frames/train-*.parquet"}
+      - {split: test, path: "frames/test-*.parquet"}
+  - config_name: frames_meshes
+    data_files:
+      - {split: train, path: "frames_meshes/train-*.parquet"}
+      - {split: test, path: "frames_meshes/test-*.parquet"}
+  - config_name: tforms
+    data_files:
+      - {split: train, path: "tforms/train.parquet"}
+      - {split: test, path: "tforms/test.parquet"}
 ---
 
 # Every9D
@@ -947,8 +42,8 @@ The `tforms` config holds one row per sequence, so 114,194 rows in total.
 
 | Config | What it holds | Size | Needs uCO3D? |
 |--------|---------------|------|--------------|
-| `tforms` | One rigid transform per sequence, plus size and symmetry. Gives a pose for **every frame** of a uCO3D video | ~10 MB | yes, for images and cameras |
-| `frames` | Ready-to-train RGB-D crops at 256 × 256, up to 16 frames per sequence | ~254 GB | no |
+| `tforms` | One rigid transform per sequence, plus size and symmetry. Gives a pose for **every frame** of a uCO3D video | ~20 MB | yes, for images and cameras |
+| `frames` | Ready-to-train RGB-D crops at 256 × 256, up to 16 frames per sequence | ~270 GB | no |
 | `frames_meshes` | The `alpha500` mesh of each sequence, used for the amodal masks | ~1 GB | no |
 
 Train and test are disjoint, and no object appears in both. The 65 categories with
@@ -956,7 +51,7 @@ a single sequence appear in test only, so they have no train object.
 
 ## Option A: use the crops
 
-No uCO3D download is needed. Stream the data, as the full train split is about 250 GB:
+No uCO3D download is needed. Stream the data, as the full train split is about 260 GB:
 
 ```python
 from datasets import load_dataset
@@ -1105,6 +200,7 @@ categories.
 - Poses inherit uCO3D's cameras. Canonical orientations were reviewed per category, but individual sequences can still be wrong.
 - `alpha500` meshes are alpha-shape reconstructions from uCO3D's segmented point clouds, not artist meshes. Thin parts can be missing, so the amodal masks are approximate.
 - `frames` holds up to 16 frames per sequence, and at least 9. Use Option B to reach the rest.
+- `frames_meshes` has 10 sequences stored twice (9 in train, 1 in test), as identical copies, so it has 10 more rows than there are sequences.
 
 ## License and citation