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], + "provenance": { + "kind": "format_conversion", + "method": "source values retained" + }, + "source_locator": { + "archive": "raw/data/FreiHAND_pub_v2.zip", + "member": "training_mano.json", + "index_ref": "camera/frames.jsonl:source_locator.annotation_index", + "member_pattern": "training/mask/{annotation_index:08d}.jpg" + } + }, + "keypoints_xyz": { + "available": true, + "schema_id": "keypoints/xyz/v1", + "data_ref": "annotation/keypoints/xyz.pt", + "axes": [ + "T", + "hand", + "joint", + "coordinate" + ], + "valid_ref": "annotation/keypoints/xyz_valid.pt", + "valid_axes": [ + "T", + "hand", + "joint" + ], + "provenance": { + "kind": "format_conversion", + "method": "source values retained" + }, + "source_locator": { + "archive": "raw/data/FreiHAND_pub_v2.zip", + "member": "training_mano.json", + "index_ref": "camera/frames.jsonl:source_locator.annotation_index", + "member_pattern": "training/mask/{annotation_index:08d}.jpg" + }, + "unit": "m", + "coordinate_frame": "camera", + "keypoint_schema": "mano21/v1" + }, + "mano": { + "available": true, + "schema_id": "mano/axis_angle61/v1", + "data_ref": "annotation/mano/motion.pt", + "axes": [ + "T", + "hand", + "parameter" + ], + "valid_ref": "annotation/mano/motion_valid.pt", + "valid_axes": [ + "T", + "hand" + ], + "provenance": { + "kind": "format_conversion", + "method": "Add MANO nonflat mean; recover source camera root from uv/scale; subtract posed middle MCP. No new fitting." + }, + "source_locator": { + "archive": "raw/data/FreiHAND_pub_v2.zip", + "member": "training_mano.json", + "index_ref": "camera/frames.jsonl:source_locator.annotation_index", + "member_pattern": "training/mask/{annotation_index:08d}.jpg" + }, + "unit": "m", + "coordinate_frame": "camera", + "angle_unit": "rad", + "model_profile": { + "version": "MANO-v1.2", + "flat_hand_mean": true, + "left_shapedirs_fix": false + } + }, + "segment": { + "available": true, + "schema_id": "segment/foreground_intensity/v1", + "data_ref": "annotation/segment/mask.mkv", + "axes": [ + "T", + "height", + "width" + ], + "valid_ref": "annotation/segment/mask_valid.pt", + "valid_axes": [ + "T" + ], + "provenance": { + "kind": "format_conversion", + "method": "source values retained" + }, + "source_locator": { + "archive": "raw/data/FreiHAND_pub_v2.zip", + "member": "training_mano.json", + "index_ref": "camera/frames.jsonl:source_locator.annotation_index", + "member_pattern": "training/mask/{annotation_index:08d}.jpg" + }, + "storage": { + "profile": "mkv/uint16_ffv1/v1", + "codec": "ffv1", + "pixel_format": "gray", + "encoded_size": [ + 224, + 224 + ], + "source_lossy": true, + "decoder": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers", + "encoder_parameters": { + "level": 3 + } + }, + "storage_fps": 1, + "timebase_role": "index_only", + "coverage": { + "kind": "selected_entities", + "entities": [ + "hand_right" + ] + }, + "segmentation_type": "semantic", + "value_range": [ + 0, + 255 + ], + "normalization_scale": 0.00392156862745098, + "foreground_category": "hand", + "entity_id": "hand_right" + } + }, + "split": "train", + "split_scheme": "FreiHAND_official_train_evaluation", + "split_source_locator": { + "archive": "raw/data/FreiHAND_pub_v2.zip", + "member_prefix": "training/" + }, + "storage_revision": "lossless-video-2026-09-18" +} \ No newline at end of file diff --git a/FreiHAND/shared-v1.0/data/training_00126976/camera/observation/rgb.mkv b/FreiHAND/shared-v1.0/data/training_00126976/camera/observation/rgb.mkv new file mode 100644 index 0000000000000000000000000000000000000000..778114891abc689580ba012c6fd4dcdb9d0bc240 --- /dev/null +++ b/FreiHAND/shared-v1.0/data/training_00126976/camera/observation/rgb.mkv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c47a7787f734d7896d2c6da5419be97d2007be8c4accf8eef9cf1656459bfc2 +size 84196720 diff --git a/FreiHAND/shared-v1.0/data/training_00126976/camera/observation/rgb_valid.pt b/FreiHAND/shared-v1.0/data/training_00126976/camera/observation/rgb_valid.pt new file mode 100644 index 0000000000000000000000000000000000000000..6e5f1625289b2c89ff6b8b5e55e6fd58459e2e73 --- /dev/null +++ b/FreiHAND/shared-v1.0/data/training_00126976/camera/observation/rgb_valid.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47a94454371cd5d7a3a18c1bc02927bd4dd19f959136c748163ad84bfbb4e410 +size 4454 diff --git a/FreiHAND/shared-v1.0/doc/CONTRACT.md b/FreiHAND/shared-v1.0/doc/CONTRACT.md new file mode 100644 index 0000000000000000000000000000000000000000..43f32bd0249ead979526501586dea3916f183d5c --- /dev/null +++ b/FreiHAND/shared-v1.0/doc/CONTRACT.md @@ -0,0 +1,452 @@ +# 手物数据仓库统一约定 v1.0 + +格式版本：`hand-warehouse/1.0`。存储约定：`lossless-video-2026-09-18`。 + +范围限于手物交互重建。按本任务纳入的源模态转换，不要求每个数据集填满所有组件。缺失模态、尚未下载、语义未核实分别报告，不能互相替代。 + +本文定义各字段的含义与使用规则，机器可读注册表见 [schema.json](schema.json)。两者互相补充；如有冲突，应先核实并统一定义。 + +## 1. 目录 + +```text +hand-datasets/ + / + raw/ + doc/ # 官方说明、来源与校验记录 + script/ # 官方下载脚本、必要包装脚本 + data/ # 保留原始包，不原地解压或改写 + / + doc/ # 发布说明、schema、来源清单 + script/ # 转换、校验脚本及运行配置 + data/ + / + / + metainfo.json + observation/ + rgb.mkv + rgb_valid.pt + depth.mkv # float32 深度的可逆视频编码 + depth_valid.mkv # 逐像素 bool 的无损视频编码 + camera/ + frames.jsonl + intrinsic.pt + intrinsic_valid.pt + extrinsic.pt + extrinsic_valid.pt + annotation/ + mano/ + motion.pt + motion_valid.pt + visibility.pt + keypoints/ + uv.pt + uv_valid.pt + xyz.pt + xyz_valid.pt + visibility.pt # 源数据有时提供 + object/ + / + assets/ # 该物体的网格、材质、纹理及部件资产 + .obj + pose.pt + pose_valid.pt + visibility.pt + metainfo.json # 物体身份、类别、mesh、尺寸与部件引用 + articulation.json + keypoints/ + vertex_part_ids.pt + joint_state.pt + joint_state_valid.pt + parts//pose.pt + parts//pose_valid.pt + segment/ + mask.mkv + mask_valid.pt + instances.jsonl + contact/ + relations.jsonl + __/ # 对应实体间的距离/接触区域 +``` + +目录展示可能存在的组件，不要求填满。具体文件、字段和缺省规则分别见后续对应小节。原始包的解压发生在临时工作区，raw 内原始包保持不变。 + +## 2. 相机视图的 metainfo.json + +### 2.1 顶层字段与发布信息 + +每个相机视图必须有 `metainfo.json`。以下字段除另行说明外均为必填： + +| 字段 | 填写内容 | +|---|---| +| schema_version | 结构版本，本版为 `hand-warehouse/1.0` | +| dataset_id | 数据集的逻辑标识 | +| release_id | 本次数据发布版本，对应目录中的 dataset_version | +| sequence_id | 所属序列或独立图片样本的标识 | +| camera_id | 当前相机视图标识 | +| sample_type | `image` 或 `video`，规则见 2.2 | +| num_frames | 当前视图帧数 T，所有随帧组件按同一时间轴组织 | +| hand_slots | 固定为 `["left", "right"]`；解剖学左右的使用规则见 5.1 | +| sampling | 采样类型、源 FPS、帧索引引用及选择策略，见 2.2 | +| camera | 当前相机模型与图像尺寸，见 2.3 | +| components | 实际提供的组件及其文件、schema、有效性和来源，见 2.5 | +| split | `train/val/test/unknown`，划分协议见 2.4 | +| view_type | 可选，`ego/exo/unknown` | + +`dataset_version` 是数据发布版本；`schema_version` 是结构版本，两者独立。原始包校验摘要、官方来源和转换配置应记录在发布清单中。解压发生在临时工作区，原始包保持不变。 + +### 2.2 图片、视频与 sampling + +`sample_type=image`：允许单图 T=1、`sampling.type=single`，也允许将独立图片批量装入一个视频容器，T>1 时 `sampling.type=independent`、`source_fps=null`。分片大小按数据集选择；FreiHAND 默认每片最多 4096 张，训练与评估分开，尾片不补帧。该数量不是其他数据集的强制要求；同批分辨率、相机模型类型及划分协议一致。每行 frames 必须有稳定且唯一的 `sample_id`、原始文件定位；内参、手形状等仍逐帧保留，不能因打包而共享错误的标定或身份。`sequence_id` 在这里仅是批次标识，不代表真实序列；不得按相邻帧推断跟踪、同步或接触延续。源 camera_id、image_variant、split 等随样本变化时放在 frames 的对应字段中。真实采集时间未知则 timestamp_ns=null。合成背景变体不视为真实多相机。 + +`sample_type=video`：`sampling.type=dense/sparse`；`source_fps` 是真实采集 FPS，未知为 null。非连续取样必须保留源帧号和已知源时间，不可用采样后索引除以 FPS 冒充源时间。可另记采样策略与步长。 + +shared 可以仅存所选 RGB 帧对应的数据。OakInk2 图像/动捕不同采样率时用 annotation_matches 明确映射；不要求将未采样动捕点硬塞进 T。多视角身份和源同步关系要保留；选择了哪些帧/相机及原因写在 sampling 中。 + +`sampling.frames_ref` 指向 `camera/frames.jsonl`。帧号、逐帧时间、同步与标注匹配记录的结构见 4.1；MKV 封装时间的约定见 3.1。 + +### 2.3 camera 模型声明 + +`camera` 至少包含 `model`、`schema_id`、`image_size:[W,H]`。模型未知使用 `unknown` 和 `null`，不猜成针孔。实际内参、畸变及外参数组放在 `camera/`，各模型的固定结构见第 4 节。 + +### 2.4 split 与划分协议 + +保留上游划分，不将同一采集序列的相邻帧随意拆到不同集合。 + +有官方划分时必填 split_scheme 和 split_source_locator，split_scheme 区分如 Dex-YCB s0/s1、ARCTIC P1/P2 等选定协议；不知道时 split=unknown 并给理由，不凭空分配。每发布可选择一种协议；存在逐帧差异时 frames 中的 split 覆盖视图默认值，并登记其来源。 + +### 2.5 components 组件登记 + +组件表的键是本发布内唯一名称，例如 `rgb`、`depth`、`mano`、`keypoints_uv`。每个已提供组件声明以下信息；模态特有参数在第 3–5 节对应小节中定义。 + +| 字段 | 约定 | +|---|---| +| available | 本发布是否提供该组件；缺省也表示未提供 | +| schema_id | 已登记的具体存储与语义类型，不得临时创造未登记名称 | +| data_ref | 数据文件路径，相对当前相机视图根目录，使用 POSIX 路径 | +| axes | 数组各维度的含义 | +| valid_ref / valid_axes | 有效性文件及其维度；语义由所属组件规定 | +| storage / valid_storage | 视频数据／视频有效性的存储配置；包含已登记 profile、实际 codec、pixel_format、encoded_size，见 3.1；非视频组件按原数组规则 | +| provenance | source / format_conversion / derived，以及转换或生成方法 | +| source_locator | 原文件、压缩包成员和记录／帧的定位信息 | + +不存在的组件允许缺省或写作 `{ "available": false, "reason": "..." }`，不用引用不存在的文件。静态网格可声明标量有效性；具体见 5.4。观测的 valid 见第 3 节，标注的 valid 与 visibility 区分见 5.1。 + +`provenance.kind` 使用 source/format_conversion/derived，`method` 说明转换或生成方法；发布清单补充脚本版本、参数、输入摘要。`source_locator` 定位到原始文件/压缩包成员和记录、帧号；允许引用有完整溯源清单的前一发布，但链条最终应能回到 raw。不得仅写一个无法定位记录的数据集名字。 + +`.pt` 仅保存 CPU Tensor，不保存 Python 自定义对象；浮点默认 float32，有效性为 bool，浮点无效位置填 NaN。所有随帧数组保留首维 T，单帧也不 squeeze；静态资产按其 schema 单独声明。单位、坐标及固定形状见各组件小节。 + +机器注册表 `schema.json` 中，`components` 固定解码后的数据类型、形状、单位和语义；`storage_profiles` 固定视频内的编码／还原方式。不得临时创造未登记的 schema_id 或 storage.profile。同一语义允许选择其登记的不同无损存储 profile。 + +## 3. observation 观测数据 + +### 3.1 rgb.mkv 与 rgb_valid.pt + +RGB、深度和栅格 mask 在 shared 中统一使用 MKV 视频容器，不展开为逐帧图片或图像 tar。MANO、关键点、位姿等数值标注仍用数组；分割的重叠多边形仍用 JSONL，不为了视频化而有损栅格化。单图可为一帧视频，独立图批量封装规则见 2.2。 + +**无损指共享层不增加信息损失。** 源 JPEG／H.264 等本身可能已是有损编码，原样保留并不恢复已丢失信息；不得重新以有损 JPEG、H.264、H.265、AV1 参数编码。源视频／图片的色彩、位深、分辨率和几何关系不得被静默改变。RGB schema `rgb/uint8/v1` 的统一读取结果是 `[T,H,W,3] uint8`、RGB 通道，有效性仍为 `rgb_valid.pt [T] bool`。超出该 schema 的高位深或 HDR 源必须报告并扩展定义，不能降到 8 位冒充无损。 + +#### 3.1.1 允许的 RGB 存储 profile + +| storage.profile | 编码方式 | 适用规则 | +|---|---|---| +| mkv/mjpeg_copy/v1 | 源 JPEG 压缩帧直接封装成 MJPEG/MKV | 不解码重编码；保持每张 JPEG 码流字节；普通 8 位 JPEG 且 MKV/解码器支持时使用 | +| mkv/source_copy/v1 | 已有视频的 RGB 对应码流直接封装为 MKV | 仅源编码能被 MKV 和选定解码器支持时使用，不伪造帧；需维持正确的呈现顺序与依赖帧 | +| mkv/h264_rgb_lossless/v1 | libx264rgb 的真正无损模式 | 必须 RGB 路径、CRF=0，并通过全帧 RGB 字节比较；不能替换成默认 libx264 YUV420 路径 | +| mkv/ffv1_rgb/v1 | FFV1 的 RGB 可逆编码路径 | 作为通用候选；解码回 RGB 后必须逐字节相同，不做色度降采样 | + +优先尝试源码流直接封装；不能封装或需要选择稀疏帧时，比较 FFV1 与无损 RGB H.264。对完整待发布片段，只在通过无损验收的候选中选择文件较小者，不假设某个编码器总最小；编码时间和随机读取代价记入构建记录。中间候选不作为 shared 多份常驻。H.264 跨帧压缩允许较长 GOP，必须记录 GOP／关键帧间隔，随机取帧需从前一关键帧正确解码，不能把 seek 返回的近似帧当目标帧。 + +普通源视频可以保留它已有的有损码流，但不允许新增有损重编码。源是 VRS 等记录容器时，先查明图像流实际编码：已有兼容 JPEG／视频包可直接提取封装，否则解码后使用真正无损编码；不把整个 VRS 改后缀当 MKV。PNG 不要求直接塞进 MKV，可选上表两种无损重编码方式。 + +#### 3.1.2 视频配置与校验 + +每个视频组件在 metainfo 中登记 `storage`，至少包含： + +| 字段 | 内容 | +|---|---| +| profile | 上述登记的存储 profile；语义仍由组件 schema_id 指定 | +| codec | 文件中实际 codec，例如 mjpeg、h264、ffv1；source_copy 必须写实际 codec | +| pixel_format | 实际编码像素格式；不得仅凭编码器参数猜测 | +| encoded_size | 视频物理像素尺寸 `[width,height]`；深度可能不同于逻辑尺寸，见 3.2 | +| decoder | 解码器名称、版本，以及颜色矩阵／范围／旋转处理等实际像素解释配置；未知的源色彩声明 unknown，不擅自称为 sRGB | +| encoder_parameters | 重编码时的编码器、版本、无损模式和 GOP 等参数；直接封装时记录 stream_copy | +| source_lossy | 源是否已有损：true / false / unknown；不是共享层再有损编码的许可 | + +源与目标使用同一固定解码配置，比较**全部帧**的统一 RGB 字节、数量及顺序；同时保留源编码的色彩标记和必要元数据。MJPEG-copy 还必须从 MKV 逐包取回并对比每张源 JPEG 的哈希。不能用 PSNR 高、视觉相似、编码器参数称为 lossless 等代替全帧精确检查。原图有 EXIF/色彩/方向等元数据时保留 raw 和必要来源信息；不能静默自动旋转图像而不更新像素对应与标定。 + +所有共享视频的呈现帧顺序与统一 frame_index 一一对应，每个栅格组件恰好 T 帧。MKV 的 `storage_fps` 只服务封装，声明 `timebase_role=index_only`；source_copy 可以保留源 PTS 以避免改坏码流，但真实时间与标注对齐仍以 frames 为准。未知真实时间保留 null。缺失某帧组件时保留索引位置并使用该组件的无效占位／valid 标识，不删帧；不能以重复相邻图像冒充已知观测。 + +### 3.2 depth.mkv 与 depth_valid.mkv + +深度语义仍是 `depth/z_float32/v1`：统一读取结果 `[T,H,W] float32`，米制相机 Z 分量，`depth_type=z`。有效深度有限且大于 0，无效位置为 NaN。`depth_origin=measured/rendered/unknown` 必填，来源不明时 unknown。默认与 RGB 共用像素网格及相机参考系，不处理未注册 RGB-D。射线距离必须依据源定义转换成 z，不能只改声明。 + +#### 3.2.1 float32 的可逆视频编码 + +采用 `mkv/depth_float32_bits/v1`：**不是把深度量化成 uint16**，而是将规范化后每个 IEEE-754 float32 的完整 32 位拆成两个 uint16，使用 FFV1 gray16le 保存。视频物理尺寸为 `[2W,H]`：每行前 W 列存原 float32 位串的低 16 位，后 W 列存高 16 位。读取时先合并为 uint32 位串，再按 float32 重新解释，不能数值 cast 成 float32。 + +```text +u = reinterpret_uint32(depth_float32) +encoded[:, :, :W] = uint16(u & 65535) +encoded[:, :, W:] = uint16(u >> 16) +u_restored = uint32(low) | (uint32(high) << 16) +depth_float32 = reinterpret_float32(u_restored) +``` + +统一采用 little-endian 原始字节接口。`camera.image_size` 始终是逻辑 RGB 尺寸 `[W,H]`，不能改成编码视频的 2W；`storage.encoded_size=[2W,H]`。包括 NaN 在内的 float32 位串必须全帧完全恢复，不允许改成 float16、整数毫米、归一化灰度或 RGB 伪彩色。这里的无损验收基准是完成既定米制／坐标转换后的标准 float32 数组，不声称消除 float64→float32 等原约定转换本身的舍入。 + +#### 3.2.2 逐像素有效性 + +`depth_valid.mkv` 使用 `mkv/bool_ffv1/v1`，FFV1 gray8（FFmpeg pixel_format=`gray`），物理尺寸 `[W,H]`。像素只能为 0 或 1，统一解码为 `[T,H,W] bool`，逐像素含义不变。这样不再把庞大的 bool 数组保存为未压缩 `.pt`；标注的帧级／手级 valid 仍保留原有小数组。 + +登记示例（W、H 以下取 640、480；decoder/encoder_parameters 的实际版本由转换器填写）： + +```json +{ + "available": true, + "schema_id": "depth/z_float32/v1", + "data_ref": "observation/depth.mkv", + "axes": ["T", "height", "width"], + "valid_ref": "observation/depth_valid.mkv", + "valid_axes": ["T", "height", "width"], + "unit": "m", + "depth_type": "z", + "depth_origin": "measured", + "invalid_value": "NaN", + "storage": { + "profile": "mkv/depth_float32_bits/v1", + "codec": "ffv1", + "pixel_format": "gray16le", + "encoded_size": [1280, 480], + "source_lossy": false, + "decoder": {"name": "ffmpeg", "version": "填写实际版本"}, + "encoder_parameters": {"name": "ffv1", "level": 3, "version": "填写实际版本"} + }, + "valid_storage": { + "profile": "mkv/bool_ffv1/v1", + "codec": "ffv1", + "pixel_format": "gray", + "encoded_size": [640, 480], + "source_lossy": false, + "decoder": {"name": "ffmpeg", "version": "填写实际版本"}, + "encoder_parameters": {"name": "ffv1", "version": "填写实际版本"} + }, + "provenance": {"kind": "format_conversion", "method": "源深度转米制 z float32；逐位打包为 FFV1"}, + "source_locator": {"file": "raw/data/depth.zip", "member": "depth/0001.png"} +} +``` + +深度和有效性视频都必须逐帧解码验收：float32 位串相同、bool 相同、T 相同，并检查 valid=true 的正有限值和 valid=false 的 NaN。读取器必须按 profile 还原，不能把 depth.mkv 的编码像素直接当深度值。 + +## 4. camera 相机、帧索引与标定 + +### 4.1 frames.jsonl：索引、时间与对应关系 + +`camera/frames.jsonl` 每行对应统一帧号 `frame_index=0..T-1`，是所有组件的唯一行索引。至少包含 `frame_index`、`timestamp_ns`、`clock_domain`、`source_locator`；原始帧号/文件名保存在 `source_frame_id`，不能被新帧号替代。每行还可有 `annotation_matches`，按组件键保存 `source_frame_id`、`source_timestamp_ns`、`clock_domain`、`match_method` 和 `delta_ns`；方法为 exact/index_map/nearest/interpolated，索引映射无时间依据时 delta_ns=null。nearest 必须记录允许误差；interpolated 必须记录两端源标识和权重。delta_ns 仅在同一时间域中计算为源标注时间减图像时间。多相机共享 `sequence_id`；已知同步关系必须用 `sync_id` 或明确的源帧/时间映射表达，不能仅凭相同数组索引认定同步。 + +每个视图必须提供此文件。源时间使用整数纳秒及 `clock_domain`，未知写 JSON `null`；不同时间域不能直接比较。逐帧 split 可以覆盖 metainfo 的视图默认划分，并保留来源，见 2.4。 + +### 4.2 坐标系与标定通则 + +| 项目 | 统一约定 | +|---|---| +| 相机坐标 | 右手系，X 向右、Y 向下、Z 向前，长度单位米 | +| 齐次变换 | 列向量，`p_target = T_target_from_source @ p_source` | +| 图像坐标 | `(u,v)`；左上像素中心为 `(0,0)`，u 向右、v 向下，单位 pixel | +| 固定标定 | 本版展开为 T 份，同一 schema 不混用静态与动态形状 | +| 分辨率或模型变化 | 分开存储为视图／片段，不在同一组件中混装 | +| 未知标定 | 相机内外参允许缺省，不填单位阵冒充已知标定 | + +### 4.3 intrinsic.pt 与畸变参数 + +| model / schema_id | intrinsic.pt 的固定结构 | +|---|---| +| pinhole / camera/pinhole/v1 | `[T,3,3]`，标准 K，最后一行为 `[0,0,1]`；限无畸变或已校正图像 | +| fisheye624 / camera/fisheye624/v1 | `[T,15]`，`[f,cx,cy,k0,k1,k2,k3,k4,k5,p0,p1,s0,s1,s2,s3]`，采用 Project Aria Fisheye624 投影定义 | +| opencv_fisheye4 / camera/opencv_fisheye4/v1 | `intrinsic.pt [T,3,3]` 保存 K；同组件 `distortion_ref` 指向 `[T,4]`，顺序 `[k1,k2,k3,k4]`，使用 OpenCV fisheye 等距角度多项式；已由 ReInterHand 实际原始相机参数验证 | +| rational8 / camera/rational8/v1 | `intrinsic.pt [T,3,3]` 保存 K；同组件必需 `distortion_ref` 指向 `[T,8]`，顺序 `[k1,k2,p1,p2,k3,k4,k5,k6]` | +| unknown / null | 不提供可用 intrinsic，不声称可以投影 | + +有畸变的其他模型必须注册新 schema，固定参数名、顺序和投影公式；不能塞进针孔 K 后遗失畸变项。`metainfo.camera.schema_id` 必须与 intrinsic 组件一致。同一模型的别名不可隐式改变参数布局。 + +`opencv_fisheye4`：对前方点令 `x=X/Z, y=Y/Z, r=sqrt(x²+y²), theta=atan(r)`，`theta_d=theta*(1+k1*theta²+k2*theta⁴+k3*theta⁶+k4*theta⁸)`；`u=fx*x*theta_d/r+cx, v=fy*y*theta_d/r+cy`。光轴 r=0 时使用连续极限 `theta_d/r=1`。四系数不能按普通径向畸变解释，也不能补零冒充 Fisheye624。 + +rational8 对归一化坐标 x=X/Z、y=Y/Z，令 r²=x²+y²，径向项为 `(1+k1*r²+k2*r⁴+k3*r⁶)/(1+k4*r²+k5*r⁴+k6*r⁶)`；再加 p1/p2 切向项并经 K 得到像素。`distortion_ref` 与 intrinsic 共用 `[T]` valid，保存到 camera/distortion.pt。不得把这种畸变三维坐标当作真实相机系 xyz 保存。 + +内参有效性为 `intrinsic_valid.pt [T] bool`；有畸变时使用对应 `distortion_ref`。同一模型的参数名和顺序固定。 + +### 4.4 extrinsic.pt 与 extrinsic_valid.pt + +`extrinsic.pt` 为 `[T,4,4]`，schema `transform/se3/v1`，方向固定 `T_camera_from_world`，有效性 `[T]`。世界坐标含义及源坐标转换记录在 provenance 中；只有相机坐标标注不要求虚构世界坐标。旋转块须正交且 determinant≈1。 + +## 5. annotation 标注数据 + +### 5.1 标注通则：手槽、valid 与 visibility + +手槽固定为 0=left、1=right，指解剖学左右，不按画面位置或可见性重排。本阶段只处理左右手两槽，不处理更多手。实体引用使用 `hand_left`、`hand_right`；手槽不证明跨采集片段的个人身份。 + +#### 5.1.1 valid：标注是否存在 + +对手标注，`valid=false` 表示这一帧没有对应标注，例如图像已经开始录制但动捕尚未开始、动捕中断、源标注缺帧或无法建立帧对应。它不表示画面中没有手，也不表示手被遮挡、出画或标注质量较低。各组件独立判断：没有 MANO 标注不代表同时没有关键点标注。MANO 按 `[T,2]` 分别标记左右手；关键点按 `[T,2,K]` 标记，整只手缺少该套关键点时整槽为 false，只有部分点缺标注时仅那些点为 false。 + +**这是本仓库归一化后的 annotation-presence 定义，不是源数据中所有同名 valid 字段的通用解释。** “没有标注”指源提供了实际标注而非缺失占位符，并已对应到该帧；仅有文件或数组位置不算有标注。false 不说明缺失原因：未开始动捕只是示例，源没有区分原因时不推断。 + +源字段必须按官方语义映射，不能直接按名字复制： + +| 来源 | 官方含义 | 映射原则 | +|---|---|---| +| [H2O](https://github.com/taeinkwon/h2odataset) 的手标注首位 | 0 未标注、1 已标注 | 可作为对应手标注存在性的依据，不推断未标注原因 | +| [HOT3D](https://github.com/facebookresearch/hot3d#using-mask-files) 的 pose_available 与 visible | 分别表达姿态是否提供、是否可见；可用性不评价精度 | 分开处理；整帧两手聚合标记不能直接广播成逐手 valid，应检查逐手记录 | +| [Dex-YCB](https://github.com/NVlabs/dex-ycb-toolkit#loading-dataset-and-visualizing-samples) 的全零 pose_m、全 -1 joints | 不可见的手或缺标注共用占位表示 | 对应组件 valid=false；不能从该值判定 visibility=false，也不能声称原因是动捕缺失 | +| [ARCTIC](https://github.com/zc-alexfan/arctic/blob/master/docs/data/data_doc.md) 的 is_valid/left_valid/right_valid | 是否有效用于官方评估 | 不直接作为本仓库标注存在性；有实际标注时保留。按当前范围不另存评估属性，但不能宣称本 valid 等于官方评估筛选规则 | + +源 valid=false 若代表评估筛选或其他条件，应检查实际标注和源约定后映射；不能一律清空坐标。反之，占位零或 -1 只有在源官方明确规定时才判为缺失，不泛化成所有数据的判断规则。 + +`valid=true` 的标注应通过其 schema 的数值与形状检查；检查失败属于数据错误，应报告或修复，不能为了掩盖错误把已有标注静默改为“缺标注”。RGB、深度等非标注组件的 valid 仍按各自 schema 表示观测是否存在或是否有有效测量。 + +#### 5.1.2 visibility：可见性属性 + +附加质量属性只保留 `visibility`，存放在对应模态或标注集内，不设 quality 目录。同一份可见性仅存一次；uv 与 xyz 共用时引用同一个文件。 + +visibility 通过所属组件 attributes 登记 data_ref、axes、dtype、visibility_type、meaning、provenance、source_locator；未知值通过属性 valid_ref 标识，全已知可声明 valid=true。比例与布尔值不相互强转，也不按任意阈值二值化。没有 MANO 时，整手可见性挂在 keypoints 组件，使用独立的 whole_hand_visibility.pt，明确 meaning=whole_hand，不与逐关键点可见性混用。 + +`valid` 回答“有没有这项标注”，`visibility` 回答“在当前图像中是否可见（或可见多少）”，两者独立。不可见的手或关键点仍可有标注，必须保留其坐标和 valid=true。源没有提供 visibility 时缺省或标为未知，不由 valid 推断。 + +| 情况 | 手标注 valid | visibility | +|---|---|---| +| RGB 已开始录制，动捕尚未开始，没有其他对应手标注 | false | 以独立源可见性标注为准；没有则未知 | +| 手被遮挡，但动捕/源数据仍有该手标注 | true | 若源声明不可见，则 false 或源可见比例 | +| 手可见且有对应标注 | true | 若源有此信息，则 true 或源可见比例 | +| 手可见，但该帧漏标或动捕中断 | false | 可以为 true，但必须有独立来源依据 | + +visibility 自己的 valid_ref 仅表示“可见性标注是否提供”，不复用 MANO 或关键点坐标的 valid_ref。上述例子不要求凭图像自动生成可见性。 + +拟合误差、额外评估有效性、曝光、QA、截断比例及额外聚合质量标记不纳入 shared。原始资料仍留在 raw；取消为这些信息设立的文件及 frame_attributes/quality_attributes 登记要求。官方 split 和组件原有 available/valid 保留。 + +### 5.2 mano：参数与整手可见性 + +MANO schema `mano/axis_angle61/v1`：`motion.pt [T,2,61]`，顺序为完整 16 关节 axis-angle 48、shape betas 10、全局平移 3。姿态使用弧度，平移米，位于当前相机系。有效性 `[T,2]`；缺少一侧整槽 NaN。PCA 必须先按对应模型展开，不能将 PCA 系数直接填入 axis-angle。 + +`model_profile` 必须固定 MANO 版本、`flat_hand_mean=true`、左手 shapedirs 修正状态。平移表示模型输出顶点所加的全局平移，不是某个腕关节的坐标；源语义不同须转换。shape 无量纲。模型权重不作为共享数据附带上传。 + +`mano/visibility.pt [T,2]` 保存源整手可见比例时使用 float32 [0,1]，`visibility_type=ratio`；百分比须除以 100。通过 MANO 组件的 attributes 登记，未知值使用独立有效性，不复用 motion_valid。 + +手部共享表示仅保留 MANO 参数与选定关键点，不发布独立手表面几何。需要渲染或接触计算时由 MANO 参数生成，几何引用使用固定 MANO 模型配置与顶点顺序；不影响 object 下的物体模型和材质资产。 + +### 5.3 keypoints：二维点、三维点与逐点可见性 + +关键点独立于 MANO 参数存在；没有 motion 也可有关键点。`uv.pt [T,2,K,2]` 与 `xyz.pt [T,2,K,3]`，有效性 `[T,2,K]`，分别采用 `keypoints/uv/v1` 和 `keypoints/xyz/v1`。K 由 `keypoint_schema` 固定，不能在同一数组中逐帧变化；同体系统一顺序。数值使用像素坐标或米制相机系。 + +| keypoint_schema | K 与固定索引 | +|---|---| +| mano21/v1 | 21；wrist 后依次 thumb/index/middle/ring/little，每指由近端至指尖 | +| rhd21/v1 | 21；保持 wrist，然后五指由近端至指尖；原始每指 tip→palm 反序。只统一顺序，不宣称解剖学位置等价于 MANO | + +具体名称与源索引映射见 `schema.json`。当前只登记 MANO21 与 RHD21；不登记 MediaPipe、ReInterHand capture21 或 fit24 中间关键点。 + +每个发布中的每个视图只提供一套标准手关键点，直接放在 keypoints 下，不设 annotation_set_id 字段或目录。uv 与 xyz 是这套关键点的二维与三维表示，不是两套标注。provenance 分别记录二者来自原始标注还是计算结果；不要求已有 2D 必须由当前 xyz 重新投影覆盖。 + +ReInterHand 的 Original keypoints、Original fits keypoints 及带前臂关键点不纳入 shared；如需手关键点，从选定 MANO 参数生成 MANO21 并记录模型/指尖回归约定。其他数据集默认使用选定的官方关键点，不额外生成平行的 MANO 派生集合。后续主动更换生成方法或结果时发布新的 dataset_version，不在同一版本内增设方法分支。 + +manual/projection/fitting 只记录在 provenance，不作为目录或类型分支。不得通过坐标为零、是否出画或 visibility 判断标注是否存在。派生标注仅在实际生成并通过数值检查后声明 valid=true；没有生成的项为 false，不伪造坐标。 + +`keypoints/visibility.pt [T,2,K]` 保存源逐点可见性，布尔表示使用 `visibility_type=boolean`。uv 与 xyz 共用时引用同一份文件。整手比例属性没有 MANO 可挂载时使用 `whole_hand_visibility.pt [T,2]`，`meaning=whole_hand`；它与逐点可见性分开，通用登记规则见 5.1。 + +不使用 annotation_set_id；ReInterHand 中间关键点集合不进入 shared，raw 保留来源文件。 + +### 5.4 object：身份、资产、位姿与几何 + +#### 5.4.1 metainfo.json：物体身份与跟踪作用域 + +手用 `hand_left`、`hand_right` 及槽位 0、1 表示，不再另存 entities.json。物体身份登记在 `annotation/object//metainfo.json`，必填 `object_id`、`identity_scope`、`scope_id`、`source_locator`；可含 `category_id`、`source_object_id`、`mesh_ref`、`has_model`、部件引用。即使只有分割、没有 pose/mesh，也可只有这份物体元信息。 + +`identity_scope` 为 frame/subsequence/sequence，`scope_id` 指定具体作用域；跨相机共享身份只在已有源对应证据时使用。VISOR 按官方 subsequence 与实体名关联时记录 `association_basis=official_subsequence_entity_name`，不能声称这是全视频物理实例跟踪。无需与 object_id 一一对应的标准 track_id；官方独立轨迹标识存在时保留为 source_track_id，并声明作用域。手槽不证明跨采集片段的个人身份。 + +#### 5.4.2 assets：网格、材质与纹理 + +资产属于物体，统一存放在 `annotation/object//` 内，可用 `assets/` 子目录组织网格、材质、纹理和部件资产。序列层不设共享 assets。所有引用采用视图根目录为基准；其中物体资产组件的 `data_ref` 与部件的 `mesh_ref` 采用相对于当前视图目录的 POSIX 路径，例如 `annotation/object/cup_01/assets/cup.obj`，且必须指向所属物体目录内的资产。OBJ 内部的材质、纹理引用遵循文件格式自身的相对路径规则，依赖文件一并保留。不同相机视图允许各自保存物体资产，不要求跨视图去重；下载物体时包含其资产依赖。 + +网格 schema 为 `mesh/obj/v1`，顶点米制，静态有效性可直接声明标量 `valid`，或通过 `valid_ref` 指向标量 bool Tensor；不按 T 重复静态资产。由物体／部件通过引用关联，不仅凭文件名猜测。 + +#### 5.4.3 pose.pt、pose_valid.pt 与 visibility.pt + +刚体 schema 为 `object/rigid/v1`，`pose.pt [T,4,4]` 固定为 `T_camera_from_object`，平移米制，有效性 `[T]`。物体坐标原点、轴向必须与 mesh 一致；旋转块为正交矩阵且 determinant≈1。 + +`object//visibility.pt [T]` 保存源物体可见比例，float32 [0,1]，`visibility_type=ratio`。通过所属物体组件 attributes 登记，独立表达其有效性。 + +#### 5.4.4 articulation.json、部件位姿与 joint_state.pt + +关节物体：schema `object/articulated/v1`，`articulation.json` 登记 `parts` 与 `joints`。每个 part 有 `part_id`、`parent_id`（根为 null）、`has_model`、`mesh_ref`；has_model=false 时 mesh_ref=null，结构节点允许没有网格。父链不得成环。每个 joint 有唯一 `joint_id`、`parent_part`、`child_part`、`type`；fixed 单位 null、revolute 弧度、prismatic 米。有源限位时保存 `limits:[lower,upper]`；没有时 null，不伪造上下限。部件姿态统一为 `T_camera_from_part [T,4,4]`，不与父局部变换混装。 + +若提供 `joint_state.pt [T,J]`，必须登记固定 joint_order、轴在父部件系的表达、零位变换与正方向，valid 为 `[T,J]`；缺少这些运动学定义时只发布部件位姿与已有来源信息，不伪造可驱动的关节模型。关节值与部件位姿同时存在时需验证一致性。 + +部件层级应声明语义：纯语义包含树允许 `joints=[]`，不将包含关系推断为机械关节。关节状态 schema 为 `object/joint_state/v1`；转动用弧度、移动用米，混合类型按 joint_order 对应的关节定义解释。 + +#### 5.4.5 dimensions、几何关键点与顶点部件标签 + +`dimensions.pt [T,3]` 采用 `object/dimensions/v1`，有效性为 `[T]`。 + +物体/部件 `dimensions` 为 `[length,width,height]` 米，轴顺序与该 mesh 的局部坐标关联，登记 `dimensions_semantics` 和来源。HOI4D dimensions 与 mesh 的具体尺度关系未验证前标为 source_unspecified，保留源值并暂停依赖该关系的几何验收，不能默认为待施加缩放。需要施加缩放时明确 scale_applied_to_mesh，禁止重复应用。 + +源物体关键点放 `object//keypoints/xyz.pt [T,K,3]`（相机系）或 `template_xyz.pt [K,3]`（物体系），schema 分别为 object_keypoints/camera/v1 和 object_keypoints/template/v1。明确 keypoint_schema、keypoint_names、单位及有效性；模板点配合 pose 可投影，无须重复生成全部帧。H2O 中心/角点/棱中点，以及 ARCTIC 部件点分别登记具体源顺序，不套用手的 21 点 schema。每个发布选择一套源几何点并记录选择，不另建方法分支。 + +`vertex_part_ids.pt [V] int64` 绑定 `mesh_ref` 与 topology_id，登记整数到 part_id 的映射；未知用 -1。ARCTIC 不同拓扑的资产分别绑定，不能共用未经转换的顶点标签。部件层级中 is_instance/has_model 等源属性保留，几何文件仍全部归 object。 + +### 5.5 segment：分割类别、编码与覆盖范围 + +每个发布选择一套任务使用的分割表示，不建立方法／标注集分支。没有分割就不创建 segment 目录，不为其他模态创建空的实体表。 + +| schema_id | 文件与数值语义 | +|---|---| +| segment/uint16_labels/v1 | mask.mkv；整数区域编号，通过 instances.jsonl 解释 | +| segment/instance_polygons/v1 | polygons.jsonl；实例多边形，可重叠；当前不支持孔洞拓扑 | +| segment/foreground_intensity/v1 | mask.mkv；0–255 前景强度，不是区域编号或经过校准的概率 | + +#### 5.5.1 uint16 标签图与 instances.jsonl + +组件声明 `segmentation_type=semantic/instance/part`；同一组件固定一种类型。`mask.mkv` 解码为 `[T,H,W] uint16`，schema `segment/uint16_labels/v1`，使用 `mkv/uint16_ffv1/v1`，FFV1 gray16le 无损；只有所有区域编码均 ≤255 时允许 gray8（pixel_format=gray），读取后转 uint16，数值不变。禁止调色板和有损编码。有效性 `[T]`，表示该帧有可用分割标注。数值 0 固定为 unassigned，65535 固定为 ignore，1–65534 为区域编码，不能直接等同 entity_id。 + +`instances.jsonl` 每帧一行，包含 `frame_index` 与 `labels`。每条标签包含 `mask_value`、`category_id`、`entity_id`、`part_id`；无意义或未知字段为 null。semantic 允许 entity_id=null；instance 必须引用 hand_left/hand_right 或登记的 object_id；part 还须关联登记部件。源实例 ID 和其他属性分别保存在 `source_instance_id`、`source_attributes`。mask 中每个非保留编码必须有且仅有一个映射。 + +FreiHAND 的试点按本任务需要，统一到手／背景类别，保留每个原生区域编码；不要求给原生细分区域猜测手指名称。需要细部件监督时，尚未核实的部件名称必须保持未知，不能因粗粒度手类别已核实便声称部件语义也已统一。 + +#### 5.5.2 重叠实例多边形 + +每发布选择一套任务使用的分割表示，不建立方法/标注集分支。VISOR 的实际试点存在重叠实例多边形，单层标签图不能无损表达。对此补充 `segment/instance_polygons/v1`：`segment/polygons.jsonl` 每帧包含 `frame_index` 和 `instances`，每实例包含 `mask_value` 与 `polygons`（列表，每个多边形为源图像像素坐标顶点序列，保留原始精度）。身份和类别仍由同一 `instances.jsonl` 映射，有效性仍为 `[T]`，通过 schema 区分物理编码。允许多实例重叠，不采用后画覆盖前画。消费者按需栅格化为独立实例二值 mask；不能声称合并的单层 mask 无损。 + +#### 5.5.3 灰度前景强度 + +ReInterHand 的官方渲染 mask 为双手合并的灰度前景掩码，实测存在 0–255 的中间值，不是左右手实例编号。登记 `segment/foreground_intensity/v1`：仍存 `segment/mask.mkv`，解码为 `[T,H,W] uint16`，使用 `mkv/uint16_ffv1/v1`，此类数据优先编码为 FFV1 gray8（pixel_format=gray），读取后转 uint16。有效值范围 0–255，归一化值为 `float32(value)/255`；0 为背景端点、255 为前景端点。组件声明 `foreground_category=hand`、`entity_id=null` 和双手合并语义，不使用区域编号映射。这里保留原始渲染 mask 强度，不把它称为经过校准的概率。若任务需要二值 mask，阈值化属于任务层派生操作，记录阈值；共享层不丢弃中间灰度。不同 schema 的数值含义不同，不能将该文件按整数类别图解码。 + +FreiHAND 训练集的 JPEG mask 使用 `segment/foreground_intensity/v1`，逐像素保留 JPEG 解码后的灰度，`entity_id=hand_right`。该 schema 不限定双手合并：单手或合并范围由 `entity_id` 与 `coverage` 明确声明。评估集整数区域图仍用 `segment/uint16_labels/v1`，两者不能仅凭文件名使用同一种解码语义。 + +#### 5.5.4 coverage 与有效性 + +`coverage.kind=full/selected_entities/partial/unknown`。full 指声明的标注范围完整；selected_entities 还应列出目标范围。无论哪种，0 本身不自动成为背景；背景要有明确类别映射，未标注区域不能用于构造负样本。保留源逐类/逐实例 exhaustive 信息，未知不可改写为完整。 + +三种表示的帧级有效性均为 `[T]`，表示该帧是否提供此分割标注；对应 valid_ref 在组件中登记，仍用小型 bool `.pt` 数组。栅格 mask 必须登记 storage，格式见 3.1.2，所有帧的整数编码或强度逐值完全相同。编码语义由 schema_id 决定，读取器不能仅依据 mask.mkv 文件名选择解码方式。 + +### 5.6 contact：接触、抓取、区域与距离 + +#### 5.6.1 relations.jsonl 与 relations_valid.pt + +`annotation/contact/relations.jsonl`，schema contact/relations/v1，每帧一行含 frame_index、relations。每条记录含 relation_type（contact/grasp）、subject_id（手槽或登记实体）、object_id、status、source_locator、provenance。status 固定为 positive/negative/unknown/target_unannotated：positive 必须有可解析目标，negative 表示源明确否定该关系，unknown 为不确定，target_unannotated 为确有接触但目标未标注。非 positive 的 object_id 可 null，不能用 null 冒充“不接触”。稀疏源无记录的帧不自动补 negative。 + +VISOR 的对象 mask ID 必须先按同帧 source_instance_id 解析成 object_id；hand-not-in-contact、none-of-the-above、inconclusive 分别映射 negative、target_unannotated、unknown，保留原始字符串。Dex ycb_grasp_ind 通过 ycb_ids 映射到登记物体，以 relation_type=grasp 保存；不得当作逐顶点接触。 + +relations 组件的 valid_ref 指向 `relations_valid.pt [T] bool`，表示该帧是否有可用源关系标注。有效帧中可以存在 status=unknown 的明确不确定标注；无源标注的帧为 valid=false、relations=[]。组件仍声明 available/provenance/source_locator。 + +#### 5.6.2 实体对的顶点区域与距离 + +已发布的接触区域/距离按参与关系的 subject_id 与 object_id 组织，每对实体保留选定的一套结果，以精确 geometry_ref/topology_id 关联到手或物体/部件；不要求每套数据都有。顶点区域 schema contact/vertex_region/v1：bool `[T,V]` 加同形 valid；顶点距离 schema contact/vertex_distance/v1：float32 `[T,V]`、米、同形 valid，声明 source/target geometry_ref、distance_definition（signed/unsigned、测量到点集或表面等明确源定义）。geometry_ref 必须指向已登记 mesh 或由固定 MANO 模型配置确定的拓扑；拓扑/顶点数变化时按拓扑拆分片段。其他源区域表示只有在实际接入并登记 schema 后才可转换，不能随意栅格化宣称等价。 + +顶点区域／距离已有存储定义，但尚未完成真实输入试点；接入时必须提供源语义与几何验收证据，不因已经登记 schema 就视为通过。 + +## 附录：任务范围 + +不强制收录 2D bbox、完整高频动捕、动作程序、身体 SMPL-X、点云或网络特征。范围内的接触、visibility、选定手关键点、物体几何不能因不便处理而静默丢弃。分割采用的物理编码由第 5.5 节决定，存在重叠时不能以单层标签图声称无损。 + +不设置 entities_ref/segment/entities.json，不要求与 object_id 重复的 track_id。MediaPipe 不在当前关键点定义中；旧版本迁移必须保留可追溯关系，不能直接删表。手部共享表示不含独立 hand_mesh。 + +schema.json 是普通注册表，不是 JSON Schema 文档或可执行验收器；定义存在不代表真实数据已验证。验收须保留实测范围与未决项。 + +本存储约定只更新标准，不代表既有 FFV1／depth.pt 试点已迁移。新发布必须显式写 storage 配置；旧产物按其旧定义读取，不能只改文件后缀或版本标识伪装为合规。 diff --git a/FreiHAND/shared-v1.0/doc/RAW_MAPPING.md b/FreiHAND/shared-v1.0/doc/RAW_MAPPING.md new file mode 100644 index 0000000000000000000000000000000000000000..af6030324a15a615fa754a544b8f8fca6ebc564f --- /dev/null +++ b/FreiHAND/shared-v1.0/doc/RAW_MAPPING.md @@ -0,0 +1,21 @@ +# FreiHAND 完整转换：raw 到 share + +本发布保留官方全部 130,240 张训练图片（32,560 组手标注 × 4 个背景版本）及 3,960 张评估图片。训练背景变体是独立样本，不是时间序列或多相机。每批最多 4096 张，按源 RGB 编号排序，训练与评估分开。全量预计 32 个训练分片、1 个评估分片，共 33 个；尾片保留实际数量，不补帧。原 JPEG 直接封装的训练 RGB 分片实测源文件合计约 60–106 MB，平均约 92 MB；这是源文件大小估算，不是 4096 张完整转换性能验收。小规模人工核验不要求凑满一个分片。已有 256 张分片属于暂停中的旧中间产物，重新全量处理前须迁移或重建，不能混入新发布。 + +| raw 来源 | share 对应字段 | 转换 | +|---|---|---| +| training/rgb、evaluation/rgb 的 JPEG | observation/rgb.mkv | JPEG 码流原样封装；全部帧核验码流和固定 FFmpeg 解码像素 | +| training_K.json、evaluation_K.json | camera/intrinsic.pt | 每帧针孔 K；float32 | +| training_xyz.json、evaluation_xyz.json | annotation/keypoints/xyz.pt | 官方 MANO21 顺序；米制相机坐标；右手槽 | +| training_mano.json、evaluation_mano.json | annotation/mano/motion.pt | 展开非平手均值；由源 uv/scale 恢复根位置，换成 MANO 模型全局平移；不重新拟合 | +| training/mask/*.jpg | annotation/segment/mask.mkv | Pillow 解码，验证三通道一致后取灰度；FFV1 精确保留 0–255 前景强度，不阈值化 | +| evaluation/segmap/*.png | annotation/segment/mask.mkv、instances.jsonl | 原生区域码保留，源背景 0 映射为 65534；只登记手/背景类别，不猜测手指分区名字 | +| 原图编号、背景版本、标注索引 | camera/frames.jsonl | sample_id 唯一；训练 annotation_index=RGB_index%32560，variant_index=RGB_index//32560 | + +左手未提供，MANO 和关键点左槽 NaN、valid=false。源没有提供的 depth、相机外参、物体、接触与 visibility 缺省；不生成投影关键点替代源关键点。hand_mesh、评估误差与中间拟合结果不在当前共享范围。 + +标准 float32 数组的序列化逐值校验；float64 源 JSON 转为规范 float32 可能发生舍入，不能把整个语义转换称为源文件逐字节无损。RGB/分割视频编码相对于指定解码像素不增加损失；原 JPEG 已有的损失不会恢复。MANO 和源 xyz 是不同标注，拟合残差不能当作转换错误。 + +执行脚本为 convert_freihand_lossless.py，验收为 validate_freihand_release.py。依赖 Python、numpy、torch、Pillow、opencv-python、imageio-ffmpeg、smplx、requests，以及用户自行授权的 MANO v1.2 模型；模型权重不上传。脚本快照保留历史辅助模块，仅调用本发布转换入口；运行时 WORK 应指向工作目录，模型位于 tmp/pilot-models。完整原包直接按 ZIP 成员读取，不在 raw 中解压。 + +两个官方原始 ZIP 同时上传到 FreiHAND/raw/data，保持原字节不变。只有全量转换验收和 HF 固定提交下所有 raw ZIP 与 share 发布文件的大小与内容摘要匹配后，才允许删除 E 盘对应的两个原始 ZIP。doc 只保留原包 URL、大小、SHA256 等来源说明、字段映射与规范；script 保留转换代码。可分发的校验报告、人工预览、样本范围与验收结论保存在 doc/validation 并随 share 发布；运行日志、逐批调试记录与上传进度放 tmp，不上传，成功后清理。其他盘上的原始数据不会由该脚本删除。 diff --git a/FreiHAND/shared-v1.0/doc/schema.json b/FreiHAND/shared-v1.0/doc/schema.json new file mode 100644 index 0000000000000000000000000000000000000000..5671184ee8a06236b10cffb61a8dd86726d4faa5 --- /dev/null +++ b/FreiHAND/shared-v1.0/doc/schema.json @@ -0,0 +1,846 @@ +{ + "schema_version": "hand-warehouse/1.0", + "hand_slots": [ + "left", + "right" + ], + "keypoints": { + "mano21/v1": { + "count": 21, + "names": [ + "wrist", + "thumb_1", + "thumb_2", + "thumb_3", + "thumb_4", + "index_1", + "index_2", + "index_3", + "index_4", + "middle_1", + "middle_2", + "middle_3", + "middle_4", + "ring_1", + "ring_2", + "ring_3", + "ring_4", + "little_1", + "little_2", + "little_3", + "little_4" + ], + "source_index_map": null, + "note": "adapter maps official MANO joint and fingertip convention" + }, + "rhd21/v1": { + "count": 21, + "names": [ + "wrist", + "thumb_1", + "thumb_2", + "thumb_3", + "thumb_4", + "index_1", + "index_2", + "index_3", + "index_4", + "middle_1", + "middle_2", + "middle_3", + "middle_4", + "ring_1", + "ring_2", + "ring_3", + "ring_4", + "little_1", + "little_2", + "little_3", + "little_4" + ], + "source_index_map_per_hand": [ + 0, + 4, + 3, + 2, + 1, + 8, + 7, + 6, + 5, + 12, + 11, + 10, + 9, + 16, + 15, + 14, + 13, + 20, + 19, + 18, + 17 + ] + } + }, + "camera": { + "opencv_fisheye4": { + "K": [ + 3, + 3 + ], + "distortion": [ + "k1", + "k2", + "k3", + "k4" + ], + "projection": "theta=atan(r); theta_d=theta*(1+k1*theta^2+k2*theta^4+k3*theta^6+k4*theta^8); source ReInterHand" + }, + "pinhole": { + "K": [ + 3, + 3 + ] + }, + "fisheye624": { + "parameters": [ + "f", + "cx", + "cy", + "k0", + "k1", + "k2", + "k3", + "k4", + "k5", + "p0", + "p1", + "s0", + "s1", + "s2", + "s3" + ] + }, + "rational8": { + "K": [ + 3, + 3 + ], + "distortion": [ + "k1", + "k2", + "p1", + "p2", + "k3", + "k4", + "k5", + "k6" + ] + } + }, + "segmentation": { + "segment/uint16_labels/v1": { + "storage": "mask.mkv", + "dtype": "uint16", + "mapping": "instances.jsonl", + "valid_shape": [ + "T" + ], + "required_metadata": [ + "segmentation_type", + "coverage", + "mapping_ref", + "storage" + ], + "shape": [ + "T", + "H", + "W" + ], + "reserved_codes": { + "0": "unassigned", + "65535": "ignore" + }, + "region_codes": [ + 1, + 65534 + ], + "allowed_storage_profiles": [ + "mkv/uint16_ffv1/v1" + ] + }, + "segment/instance_polygons/v1": { + "storage": "polygons.jsonl", + "mapping": "instances.jsonl", + "frame_keys": [ + "frame_index", + "instances" + ], + "instance_keys": [ + "mask_value", + "polygons" + ], + "coordinate_unit": "pixel", + "overlap_allowed": true, + "valid_shape": [ + "T" + ], + "required_metadata": [ + "segmentation_type", + "coverage", + "mapping_ref" + ], + "polygon_shape": [ + "N", + 2 + ], + "holes_supported": false + }, + "segment/foreground_intensity/v1": { + 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