diff --git a/ARCTIC/shared-v1.1/doc/history-v1.0/PUBLICATION.md b/ARCTIC/shared-v1.1/doc/history-v1.0/PUBLICATION.md new file mode 100644 index 0000000000000000000000000000000000000000..bfd81aa9916ca9fd774dad7741827c495aedf4bd --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/history-v1.0/PUBLICATION.md @@ -0,0 +1,10 @@ +# ARCTIC publication layout + +[Standardized data](https://huggingface.co/datasets/ParityLab/Hand-Datasets/tree/main/ARCTIC/shared-v1.0) + +[Original archives](https://huggingface.co/datasets/ParityLab/Hand-Datasets-Raw/tree/main/ARCTIC/raw) + +Local raw archives are retained. Temporary files and runtime logs are excluded. +Upload completion is recorded separately after all files match fixed remote commits. + +[Accepted full-output random review](validation/full_random/index.html) diff --git a/ARCTIC/shared-v1.1/doc/history-v1.0/RAW_TO_SHARED.md b/ARCTIC/shared-v1.1/doc/history-v1.0/RAW_TO_SHARED.md new file mode 100644 index 0000000000000000000000000000000000000000..64bd8b97631fb6bc752c8cd04e50651c2b051bfc --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/history-v1.0/RAW_TO_SHARED.md @@ -0,0 +1,72 @@ +# ARCTIC：raw → shared 字段映射 + +本序列原包的 top.obj / bottom.obj 引用 material_0.mtl，但包内实际为 material.mtl；已核对 newmtl/usemtl 均为 material_0。共享层仅修正 mtllib 文件路径，不改材质、UV或纹理，raw 原包保持不变。 + +本次选择 `s09/laptop_use_03`，原图 ZIP 的全部九路相机各 541 张。输出序列名 `s09_laptop_use_03`；相机 0 为 ego，其余 1–8 为 exo。选择官方 P1，split=train。 + +2026-09-20复核：此前顶盖/底座编码解释反了，现已按官方ObjectTensors重新映射。9路相机的index 0/1是原始欠曝图，各动态几何组件valid=false；camera 6的index 270手部对齐问题仅记录，按用户要求撤销单帧屏蔽，恢复原MANO数值及valid=true。不针对单个可疑投影硬编码排除。曝光筛选不构成其他帧质量保证。整套试点未验收，详见[问题与证据](validation/ARCTIC_FINDINGS.md)。 + +| raw 中实际数据 | 共享层 | 转换与保留范围 | +|---|---|---| +| images_zips/s09/laptop_use_03.zip，0–8/00001.jpg…00541.jpg | observation/rgb.mkv | 所有原图，无裁剪、缩放、旋转或重新压缩；全部 4869 帧 | +| meta.zip：misc.json 的 ioi_offset=2 | camera/frames.jsonl | 动捕索引=原图编号−2；原图 1 没有标注，2…541 对应标注 0…539；同步标识含源序列和图号 | +| raw_seqs.zip：*.egocam.dist.npy 的 intrinsics、dist8、R_k_cam_np、T_k_cam_np | camera/intrinsic.pt、distortion.pt、extrinsic.pt | 相机 0 rational8，畸变顺序 k1,k2,p1,p2,k3,k4,k5,k6；外参 camera_from_world；首图外参缺失，其余 540 帧有效 | +| meta.zip：misc.json 的 intris_mat、world2cam | 八个外部相机的 camera/ | 官方 processing.forward_project2d 以针孔模型投影；静态参数展开为 T 份，全部 541 帧有标定 | +| raw_seqs.zip：*.mano.npy，左右 rot、pose、shape、trans | annotation/mano/motion.pt [541,2,61] | 非平手均值加回，48 轴角+10形状+3平移；世界系转相机系，按形状相关腕根修正 translation；首帧两手 valid=false | +| raw_seqs.zip：*.object.npy [540,7] | object/laptop/pose.pt、parts/*/pose.pt、joint_state.pt | 角度 rad；全局旋转轴角转 SE(3)；物体平移 mm→m；顶盖相对底座绕 -Z 旋转，首帧无效 | +| meta.zip：object_vtemplates/laptop/mesh.obj、top.obj、bottom.obj、MTL/JPG | object/laptop/assets/ | OBJ 顶点 mm→m；顶点顺序/拓扑/UV、材质和纹理引用保留；每个视图一份 | +| 同目录 parts.json | object/laptop/vertex_part_ids.pt 和 metainfo.json | 源0顶盖/1底座，转换为 int64：shared_id=1-source_id，统一0底座/1顶盖；绑定 mesh_ref 和 topology_id | +| object_params.json：keypoints_top、keypoints_bottom | object/laptop/keypoints/xyz.pt [541,32,3] | 原模板各16点的固定顺序，按已发布姿态驱动到相机系；标记 derived，不冒充实测手关键点 | +| splits_json.zip：protocol_p1.json | 视图 metainfo 的 split 与来源 | 保留官方划分；不随意拆帧 | + +未作为 shared 模态发布：fitting_err、身体数据、动捕 marker、替代采样产物。选定原始包没有独立深度图、像素分割、接触标签或实测手关键点数组；MANO 派生网格只在内存中做校验，不保存 hand_mesh。当前 raw 未提供可直接核实的逐帧时间，timestamp_ns 与 source_fps 保留 null，不用容器 1 fps 伪造真实采集时间。 + +依据固定官方提交 [`49f3eb4`](https://github.com/zc-alexfan/arctic/tree/49f3eb4b7f01663172576357bb3d95695d7a7689)：`src/datasets/arctic_dataset.py` 的 ioi_offset 映射、`common/body_models.py` 的非平手均值、`common/object_tensors.py` 的 -Z 关节轴与毫米单位、`src/arctic/processing.py` 和 `common/transforms.py` 的九相机投影。 + +## 公共约定与运行 + +这是完整短序列试点，不是全量发布。每个视图使用 [CONTRACT.md](CONTRACT.md) 与 [schema.json](schema.json)。输入是本轮全新下载的 E 盘 raw，不读取 F 盘旧数据或旧试点产物。原始 ZIP/VRS 不改写，临时解包与日志只在数据集 tmp。 + +统一下标 `frame_index=0..T-1`；原帧号与已知时间在 `camera/frames.jsonl`。数值张量是 CPU float32，长度为米，角度为弧度；布尔 valid 表示是否有对应可用标注，缺失的浮点位置填 NaN。valid 不表示可见性。手槽固定左、右。 + +图像由源 JPEG 直接装入 MJPEG/MKV，每包字节不变。容器使用 1 fps、`timebase_role=index_only`，不能按播放器的时长推断真实时间。FFmpeg 固定关闭自动旋转、输出 rgb24，源/目标逐帧 SHA256 相等。实际版本与像素格式写入各视图 metainfo。预览图缩小以方便审核，不是训练输入。 + +校验范围和数值结果见 [validation/REPORT.md](validation/REPORT.md) 与 [validation/report.json](validation/report.json)，原始输入 SHA256 见 [pilot-source-manifest.json](pilot-source-manifest.json)。源官方摘要和原包 CRC 在 raw/doc 的下载验收记录中。人工确认仍待完成，不以数学一致性替代投影核验。 + +运行脚本来自本项目 scripts；已将所需本地模块快照放入本发布 script。当前运行环境为 Python 3、PyTorch 2.5.1 CPU、NumPy、smplx、SciPy、Pillow、OpenCV、trimesh、imageio-ffmpeg；HOT3D 另需官方 VRS 工具。MANO v1.2 模型由使用者依授权在本地提供，不包含在发布目录。 + +脚本默认 `E:/hand-datasets` 数据根目录，项目 `tmp/pilot-runtime` 运行环境和 `tmp/pilot-models` 模型目录；迁移时需按机器调整 `fresh_sequence_common.py` 的 DATA_ROOT/VRS 和本地模型路径。这份试点脚本不是无需配置的独立安装包。 + +```text +python scripts/convert_fresh_sequence_pilots.py ARCTIC +python scripts/convert_fresh_sequence_pilots.py HOT3D +python scripts/document_fresh_sequence_pilots.py +python scripts/diagnose_arctic_review.py exposure +python scripts/diagnose_arctic_review.py geometry +python scripts/repair_arctic_pilot.py +python scripts/render_full_sequence_review.py ARCTIC +python scripts/render_full_sequence_review.py HOT3D +``` + +## 新增固定相机物体组 + +在原s09/laptop_use_03九视角之外，新增s06相机6的11物体完整序列。字段规则相同，具体选择、来源、帧数和校验见[逐物体报告](validation/objects/REPORT.md)及[来源摘要](validation/objects/source-manifest.json)。本组ioi_offset=1，图像编号减1对应标注索引；末图超出标注范围，保留RGB且几何valid=false。本组前两帧暗图只记录，没有套用旧s09曝光排除。仍非全量验收。 + + +## 全量转换范围（2026-09-20） + +339个完整采集序列，3051个相机视图。遵循同一物体部件映射和单位约定，对所有有效帧的物体顶点与关键点执行官方参考计算对照。backgrounds.zip仅为背景参考图，保留在raw，不作为采集序列转换；ZIP内的__MACOSX资源叉不作为图像。 + +逐序列自动检查见[全量检查目录](validation/full/README.md)。[全量处理脚本及摘要](validation/full/script-manifest.json)描述当前实现；既有试点报告内脚本摘要仅描述历史试点运行。试点已获人工确认，全量抽查与发布仍待确认。 + + +### 官方隐藏测试真值 + +339段按P1划分为267段train、34段val与38段test。前301段原包提供MANO、物体姿态和ego标定；38段s03 test无这些文件，与[官方测试真值隐藏说明](https://github.com/zc-alexfan/arctic/blob/master/docs/model/README.md#training)一致。逐序列证据见[源覆盖清单](validation/full/source-availability.json)。 + +测试序列保留全部9路RGB、misc.json已提供的8路固定相机内外参、米制物体网格与静态铰接结构。第一视角camera0的标定不借用其它序列，metainfo声明model=unknown、schema_id=null并省略内外参数组。没有MANO、物体姿态/关节状态及依赖它们的关键点或visibility。未知标定与缺失模态均为原有CONTRACT允许的缺省情况，无需新增schema。 + + +## 加速版生产校验（2026-09-20） + +以上完整像素检查描述历史试点。当前全量生产仍逐帧检查 JPEG 码流 SHA256、数量、顺序及尺寸；RGB 像素改为每视图固定抽查最多 16 帧，最终抽中的完整序列再逐帧复核 RGB。数值模态及几何验收不变，详见[媒体校验策略](validation/full/MEDIA_VALIDATION.md)。 diff --git a/ARCTIC/shared-v1.1/doc/history-v1.0/pilot-source-manifest.json b/ARCTIC/shared-v1.1/doc/history-v1.0/pilot-source-manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..4725854a85f2616a5bd3e4e2a9ebf4a9da8bb8ae --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/history-v1.0/pilot-source-manifest.json @@ -0,0 +1,30 @@ +[ + { + "path": "raw/data/images_zips/s09/laptop_use_03.zip", + "bytes": 1546860019, + "sha256": "c91cba7c38478cbbda653365ed002373cdaa9e0869a0c6a3c235c879a0d2710f", + "matches_verified_official_download": true, + "zip_crc_at_download": "passed_all_members" + }, + { + "path": "raw/data/meta.zip", + "bytes": 95270963, + "sha256": "2ec627bcb8f17be33defc985a79d1dd744ee44b1f1b5732ed163ecef217c0c6e", + "matches_verified_official_download": true, + "zip_crc_at_download": "passed_all_members" + }, + { + "path": "raw/data/raw_seqs.zip", + "bytes": 225334351, + "sha256": "3c74f8cdb5fb4f521d99132faf0471432bab5db97c7653493b01920d2ad48535", + "matches_verified_official_download": true, + "zip_crc_at_download": "passed_all_members" + }, + { + "path": "raw/data/splits_json.zip", + "bytes": 2734, + "sha256": "99af5f6759c727df07ef897db6d293cc866d465e6b3d6095579fcb62ac831b7d", + "matches_verified_official_download": true, + "zip_crc_at_download": "passed_all_members" + } +] \ No newline at end of file diff --git a/ARCTIC/shared-v1.1/doc/history-v1.0/schema.json b/ARCTIC/shared-v1.1/doc/history-v1.0/schema.json new file mode 100644 index 0000000000000000000000000000000000000000..edb7cf7ce8e8e282d1fbfb5b39ef02a60321d2fb --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/history-v1.0/schema.json @@ -0,0 +1,880 @@ +{ + "schema_version": "hand-warehouse/1.0", + "validity_revision": "usable-annotation-2026-09-20", + "annotation_validity": { + "meaning": "annotation usable for supervision, not merely record presence", + "formula": "source_annotation_present AND numerical_checks_pass AND applicable_official_QA_pass AND NOT explicitly_reviewed_local_exclusion", + "without_official_qa": "omit QA term; declare source rules; do not fabricate QA", + "policy_field": "components..valid_policy", + "visibility_is_independent": true, + "invalid_float_value": "NaN", + "hot3d": "broadcast per-camera frame manual QA conservatively to hand/object labels and pose-derived visibility; retain RGB and source calibration; keep native QA in raw and review report", + "hot3d_visibility": "native visibility_ratio[%] already ranges from 0 to 1; do not divide by 100" + }, + "hand_slots": [ + "left", + "right" + ], + "view_metadata": { + "required_fields": [ + "view_type" + ], + "view_type_values": [ + "ego", + "exo", + "unknown" + ], + "view_type_policy": "required per camera view; use ego or exo whenever the source data or capture setup establishes the viewpoint; use unknown only when no trustworthy source determines it; never omit or guess" + }, + "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": { + "storage": "mask.mkv", + "dtype": "uint16", + "value_range": [ + 0, + 255 + ], + "normalization_scale": 0.00392156862745098, + "axes": [ + "T", + "height", + "width" + ], + "meaning": "native hand foreground intensity; individual hand or union declared in metadata; not instance codes or calibrated probability", + "zero": "background", + "full_scale": "foreground", + "mapping": "foreground_category in component metadata", + "valid_shape": [ + "T" + ], + "required_metadata": [ + "segmentation_type", + "coverage", + "value_range", + "normalization_scale", + "foreground_category", + "entity_id", + "storage" + ], + "shape": [ + "T", + "H", + "W" + ], + "allowed_storage_profiles": [ + "mkv/uint16_ffv1/v1" + ] + } + }, + "note": "Registry for hand-warehouse/1.0. Read CONTRACT.md for field semantics. This is not a JSON Schema document or executable validator.", + "components": { + "mano/axis_angle61/v1": { + "storage": "pt", + "dtype": "float32", + "shape": [ + "T", + 2, + 61 + ], + "valid_shape": [ + "T", + 2 + ], + "unit": "m", + "angle_unit": "rad", + "coordinate_frame": "camera", + "layout": { + "pose_axis_angle": [ + 0, + 48 + ], + "shape": [ + 48, + 58 + ], + "translation": [ + 58, + 61 + ] + } + }, + "keypoints/uv/v1": { + "storage": "pt", + "dtype": "float32", + "shape": [ + "T", + 2, + 21, + 2 + ], + "valid_shape": [ + "T", + 2, + 21 + ], + "unit": "pixel", + "required_metadata": [ + "keypoint_schema" + ] + }, + "keypoints/xyz/v1": { + "storage": "pt", + "dtype": "float32", + "shape": [ + "T", + 2, + 21, + 3 + ], + "valid_shape": [ + "T", + 2, + 21 + ], + "unit": "m", + "required_metadata": [ + "keypoint_schema" + ] + }, + "depth/z_float32/v1": { + "storage": "mkv", + "dtype": "float32", + "shape": [ + "T", + "H", + "W" + ], + "valid_shape": [ + "T", + "H", + "W" + ], + "unit": "m", + "depth_type": "z", + "pixel_grid": "current_rgb", + "coordinate_frame": "current_rgb_camera", + "valid_storage": "mkv", + "allowed_storage_profiles": [ + "mkv/depth_float32_bits/v1" + ], + "allowed_valid_storage_profiles": [ + "mkv/bool_ffv1/v1" + ], + "required_metadata": [ + "storage", + "valid_storage", + "depth_origin" + ], + "depth_origin_values": [ + "measured", + "rendered", + "unknown" + ] + }, + "transform/se3/v1": { + "storage": "pt", + "dtype": "float32", + "shape": [ + "T", + 4, + 4 + ], + "valid_shape": [ + "T" + ], + "unit": "m", + "required_metadata": [ + "convention" + ] + }, + "object/rigid/v1": { + "storage": "pt", + "dtype": "float32", + "shape": [ + "T", + 4, + 4 + ], + "valid_shape": [ + "T" + ], + "unit": "m", + "required_metadata": [ + "convention" + ] + }, + "camera/pinhole/v1": { + "storage": "pt", + "dtype": "float32", + "shape": [ + "T", + 3, + 3 + ], + "valid_shape": [ + "T" + ] + }, + "camera/rational8/v1": { + "storage": "pt", + "dtype": "float32", + "shape": [ + "T", + 3, + 3 + ], + "valid_shape": [ + "T" + ] + }, + "camera/opencv_fisheye4/v1": { + "storage": "pt", + "dtype": "float32", + "shape": [ + "T", + 3, + 3 + ], + "valid_shape": [ + "T" + ] + }, + "camera/fisheye624/v1": { + "storage": "pt", + "dtype": "float32", + "shape": [ + "T", + 15 + ], + "valid_shape": [ + "T" + ] + }, + "camera/distortion8/v1": { + "storage": "pt", + "dtype": "float32", + "shape": [ + "T", + 8 + ], + "valid_shape": [ + "T" + ] + }, + "camera/fisheye4_distortion/v1": { + "storage": "pt", + "dtype": "float32", + "shape": [ + "T", + 4 + ], + "valid_shape": [ + "T" + ] + }, + "object/joint_state/v1": { + "storage": "pt", + "dtype": "float32", + "shape": [ + "T", + "J" + ], + "valid_shape": [ + "T", + "J" + ], + "required_metadata": [ + "joint_order" + ], + "unit_rule": "revolute radians; 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preserve historical evidence" + } + }, + "mkv/source_copy/v1": { + "container": "matroska", + "codec": "source_codec_declared_in_metadata", + "method": "stream_copy_only", + "logical_dtype": "uint8", + "decoded_pixel_format": "rgb24", + "validation": [ + "no_reencoding", + "all_decoded_rgb_frames_exact", + "presentation_frame_order_exact" + ] + }, + "mkv/h264_rgb_lossless/v1": { + "container": "matroska", + "codec": "h264", + "encoder": "libx264rgb", + "crf": 0, + "decoded_pixel_format": "rgb24", + "logical_dtype": "uint8", + "gop": "declared_in_encoder_parameters", + "validation": [ + "all_decoded_rgb_frames_exact" + ], + "forbidden": [ + "lossy_rate_control", + "rgb_to_yuv420_subsampling" + ] + }, + "mkv/ffv1_rgb/v1": { + "container": "matroska", + "codec": "ffv1", + "decoded_pixel_format": "rgb24", + "logical_dtype": "uint8", + "validation": [ + "all_decoded_rgb_frames_exact" + ] + }, + "mkv/depth_float32_bits/v1": { + "container": "matroska", + "codec": "ffv1", + "pixel_format": "gray16le", + "logical_dtype": "float32", + "logical_shape": [ + "T", + "H", + "W" + ], + "encoded_shape": [ + "T", + "H", + "2*W" + ], + "packing": "IEEE754 little-endian float32 bits; low uint16 in first W columns, high uint16 in last W columns", + "decode": "reinterpret_float32(uint32(low) | (uint32(high) << 16))", + "validation": [ + "all_float32_bits_exact_including_nan" + ] + }, + "mkv/bool_ffv1/v1": { + "container": "matroska", + "codec": "ffv1", + "pixel_format": "gray", + "logical_dtype": "bool", + "stored_values": [ + 0, + 1 + ], + "validation": [ + "all_bool_values_exact" + ] + }, + "mkv/uint16_ffv1/v1": { + "container": "matroska", + "codec": "ffv1", + "pixel_formats": [ + "gray", + "gray16le" + ], + "logical_dtype": "uint16", + "gray_condition": "all values <=255; decode by exact uint8-to-uint16 promotion", + "validation": [ + "all_integer_values_exact" + ] + } + }, + "video_metadata": { + "required": [ + "profile", + "codec", + "pixel_format", + "encoded_size", + "decoder", + "encoder_parameters", + "source_lossy" + ], + "source_lossy_values": [ + true, + false, + "unknown" + ], + "timebase_role": "index_only", + "lossless_reference": "source compressed packets or fixed-decoder source pixels; depth uses normalized standard float32 bits", + "selection": "choose smaller complete candidate only after exact roundtrip validation" + } +} diff --git a/ARCTIC/shared-v1.1/doc/history-v1.0/validation/ARCTIC_FINDINGS.md b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/ARCTIC_FINDINGS.md new file mode 100644 index 0000000000000000000000000000000000000000..db1005247507d46815909e4329b0ab33a77049ac --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/ARCTIC_FINDINGS.md @@ -0,0 +1,21 @@ +# ARCTIC 试点问题复核（2026-09-20） + +范围：s09/laptop_use_03，全部9相机，每相机541帧。**未通过整体人工验收，不用于训练发布；未全量转换、未上传。** 本文随共享层放在doc/validation/ARCTIC_FINDINGS.md，以下链接以该位置为准。 + +|问题|查证结果|当前处理| +|---|---|---| +|index 0/1近黑，但index 1有MANO|官方原始JPEG就是欠曝。9路相机均如此；全部4869张源图的缩略亮度统计中，p95<35的仅各相机前两帧。前两帧p95为19–23，第三帧为106–240（8位亮度）。图像与动捕分别存在，不代表能组合成可用监督。|保留原图、原帧号和raw；明确排除本序列各相机index 0/1的MANO、物体位姿/关节/派生物体关键点监督，valid=false、浮点值NaN。该阈值仅辅助核对已观察的异常，不是全库自动曝光规则。| +|物体关节投影|转换器误把原parts.json的1解释为顶盖。官方加载先加1，再对parts_ids==1应用关节，因此原0才是顶盖。先前自洽测试用了同一个错误假设，结论不成立。|共享层统一0底座/1顶盖，改为shared_id=1-raw_id。修复转换器和所有9路试点的vertex_part_ids；位姿本身无需改动。| +|camera 6，index 270/source 271手部偏移|部件修复不会修好手部。按官方非平手均值MANO配置、原世界位姿和官方相机变换重建，仍得到相同手投影。全部540个有效源时刻、9相机中，源手几何与共享层数值差小于0.000001m；这不能证明源标注贴合图像，也不能据此认定具体是拟合或标定误差。|按用户要求撤销单帧屏蔽：恢复原MANO数值，左右手valid=true。仅记录已知问题，不针对单个可疑投影硬编码排除；未挪帧、未调整相机、未重新拟合。整个试点保持待验收。| +|官方valid能否过滤上述问题|官方forward_valid检查物体中心、手根与至少3个关节点是否落入定义的框；这是几何取景规则，未检查RGB曝光，也不证明手轮廓对齐。|不把这个值称为准确性QA，更不能用它盖过已发现的黑图/错位。当前所选raw没有HOT3D那样的人工准确性QA。| + +检查证据： + +- [物体修复前后与原图](diagnosis/camera6-270-before-after.jpg)：MANO未被人为移动，残余问题可见。 +- [全部帧曝光统计](exposure.json)，各相机开头10帧：[0](diagnosis/exposure-0.jpg)、[1](diagnosis/exposure-1.jpg)、[2](diagnosis/exposure-2.jpg)、[3](diagnosis/exposure-3.jpg)、[4](diagnosis/exposure-4.jpg)、[5](diagnosis/exposure-5.jpg)、[6](diagnosis/exposure-6.jpg)、[7](diagnosis/exposure-7.jpg)、[8](diagnosis/exposure-8.jpg)。 +- [独立几何验算和排除清单](diagnosis.json)：执行固定提交的官方ObjectTensors类，使用真实raw张量，旋转运算由等价SciPy四元数实现；每个时刻抽559个顶点，检查9路相机。不是重新运行原来同假设的自洽测试。 +- [完整序列视频](index.html)：左原图、中排除前原参数诊断、右目前valid允许的监督。视频全部帧已渲染，不等于全部帧已人工审核；无源深度/分割/接触时明确缺省。 + +官方依据：[部件与关节代码](https://github.com/zc-alexfan/arctic/blob/49f3eb4b7f01663172576357bb3d95695d7a7689/common/object_tensors.py)、[几何valid定义](https://github.com/zc-alexfan/arctic/blob/49f3eb4b7f01663172576357bb3d95695d7a7689/src/arctic/processing.py)、[MANO配置](https://github.com/zc-alexfan/arctic/blob/49f3eb4b7f01663172576357bb3d95695d7a7689/common/body_models.py)。 + +raw保持官方字节不变，转换前诊断缓存仅在tmp。监督排除可从raw重建，不增加quality组件，不将排除前参数重新作为有效训练标注分发。 diff --git a/ARCTIC/shared-v1.1/doc/history-v1.0/validation/REPORT.md b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/REPORT.md new file mode 100644 index 0000000000000000000000000000000000000000..ee47252088879379422cd10b4a19facb9ee3f152 --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/REPORT.md @@ -0,0 +1,32 @@ +# ARCTIC 完整序列审核 v2 + +[离线完整视频](index.html) · [机器结果](report.json) + +人工确认待完成；旧抽帧投影通过结论撤回。已修正转换器颠倒顶盖/底座编码的错误：原parts.json的0是顶盖、1是底座，共享层重新映射为0底座/1顶盖。9路相机前两帧均为源欠曝图，已排除对应几何监督；camera 6 index 270的手部偏移作为已知问题记录，按用户要求撤销单帧屏蔽，恢复原标注和valid。整套试点仍待验收。中栏显示源参数诊断，右栏按当前valid绘制。详见 问题与修复证据、修复前后对照。预览30fps仅用于播放，不代表真实采集帧率；没有源准确性QA。 + +|相机|源帧数|渲染帧数|左右手有效标注帧数|官方QA通过帧数| +|---|---:|---:|---|---:| +| 0 | 541 | 541 | [539, 539] | None | +| 1 | 541 | 541 | [539, 539] | None | +| 2 | 541 | 541 | [539, 539] | None | +| 3 | 541 | 541 | [539, 539] | None | +| 4 | 541 | 541 | [539, 539] | None | +| 5 | 541 | 541 | [539, 539] | None | +| 6 | 541 | 541 | [539, 539] | None | +| 7 | 541 | 541 | [539, 539] | None | +| 8 | 541 | 541 | [539, 539] | None | + +## 逐模态覆盖 + +- RGB：全部帧原图与逐帧码流/像素校验。 +- 相机内参/畸变：投影使用声明模型和全部参数；HUD显示相机模型。 +- 相机外参：全帧姿态、米制相机位置与世界XZ轨迹。 +- MANO：逐帧网格线框、派生关节点、左右手valid。 +- 物体姿态/几何：逐帧轮廓、局部XYZ轴、物体ID。 +- 材质/纹理：每个物体的原纹理与完整旋转预览。 +- 部件/关节：底座/顶盖分别着色，逐帧关节角。 +- 物体关键点：源32个物体点逐帧叠加。 +- visibility：原数据未提供，明确缺省。 +- 深度/像素分割/接触：本次raw范围未提供，不以投影或帧筛选CSV冒充。 + +完整视频表示每帧已渲染，并不等于每帧人工审核通过。被官方QA排除的源标注仅在诊断栏显示；不挪帧、不隐藏原始异常。所有有效性筛选、可见性与图像编码验收分开记录。源标注质量问题无法通过格式转换修好；通过valid屏蔽，并保留raw溯源。 diff --git a/ARCTIC/shared-v1.1/doc/history-v1.0/validation/assets/laptop.mp4 b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/assets/laptop.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8707bf6e34f5be5e099f56f13fed93fee21f3b0b --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/assets/laptop.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:406e6e13eae365b7542d2a06aa4508f4b17b6c66f9c191e9f7e19ca9aeeb487e +size 563279 diff --git a/ARCTIC/shared-v1.1/doc/history-v1.0/validation/diagnosis.json b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/diagnosis.json new file mode 100644 index 0000000000000000000000000000000000000000..3b3c1627c7dd236bda50dd31d7e3589ad74b8da6 --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/diagnosis.json @@ -0,0 +1,228 @@ +{ + "issue": "Raw parts.json 0=top,1=bottom; previous converter wrongly treated 1 as top. Official code adds 1 and articulates parts_ids==1.", + "correction": "Shared convention remains 0=bottom,1=top; shared_id=1-raw_id. No time shift, pose change or image edit.", + "upstream_code": "https://github.com/zc-alexfan/arctic/blob/49f3eb4b7f01663172576357bb3d95695d7a7689/common/object_tensors.py", + "method": "Executed pinned upstream ObjectTensors class with actual raw tensor state and SciPy quaternion primitives, compared all 540 frames and 9 cameras. 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"preview_ref": "diagnosis/exposure-8.jpg" + } +} \ No newline at end of file diff --git a/ARCTIC/shared-v1.1/doc/history-v1.0/validation/full/MEDIA_VALIDATION.md b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/full/MEDIA_VALIDATION.md new file mode 100644 index 0000000000000000000000000000000000000000..c35eeba92c62b20bb18ad4df5cbbdd16a32c0018 --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/full/MEDIA_VALIDATION.md @@ -0,0 +1,11 @@ +# 全量媒体校验与并行策略 + +原 JPEG 直接封装 MKV，不重新编码。每个视图对全部 JPEG 的 SHA256、数量、顺序、尺寸逐一核对。所有数值标注、单位、坐标系、官方 QA 与独立几何检查沿用原规则。 + +生产像素检查采用 `jpeg-packets-all-rgb-sample16/v1`：每视图固定抽取最多 16 帧，包含首尾及四分位，其余按固定种子选取，直接解码原 JPEG 与目标 MKV 比较 RGB 字节。报告分别声明逐包全查和像素抽查；不把抽查声称为全量像素检查。最终随机抽查所选完整序列的相机，再对全部帧执行源/目标解码像素精确核验并渲染完整视频。深度、标签或重新编码媒体不适用本加速策略。 + +并行只发生于同一数据集内部的媒体任务；一个序列的数值计算与媒体任务交错，最多一个重型数据集 worker。实测范围、各并行度耗时和可用内存见 [加速验收](acceleration-benchmark.json)，实际设置见 [配置](../../../script/acceleration-config.json)。完整像素回归包含 ARCTIC 全分辨率相机及 HOT3D 彩色/灰度相机。 + +切换前已完成产物保留原来的逐帧像素证明。旧脚本版本由本报告保留的脚本清单与 SHA256、以及仓库固定提交历史追溯；当前入口与冻结实现位于 `script/`。一次性重新核验所有已完成产物的内容摘要和现行结构/valid 规则，记录在 `acceleration-revalidation/`，不修改旧检查点的历史脚本摘要。早期 HOT3D 烟雾测试没有内嵌脚本摘要，重新核验另补全输入资产依赖，不能将其视为当时已记录代码指纹。 + +以上是自动检查；全量人工确认仍待完成，未授权发布。运行日志只在 tmp，原始包永久保留。 diff --git a/ARCTIC/shared-v1.1/doc/history-v1.0/validation/full/README.md b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/full/README.md new file mode 100644 index 0000000000000000000000000000000000000000..c2a82cec99105f70d00692f1aad3f373cd1d957c --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/full/README.md @@ -0,0 +1,8 @@ +# 全量预处理 + +试点已获用户确认；全量人工核验及发布授权待完成。 + +- [媒体校验与并行策略](MEDIA_VALIDATION.md) +- [全量随机抽查](../full_random/index.html)（全量完成后生成） + +逐序列自动检查在 sequences/；历史已完成产物的切换复验在 acceleration-revalidation/。原始包保留，缺失模态不虚构；运行日志和断点仅在 tmp，不自动上传。 diff --git a/ARCTIC/shared-v1.1/doc/history-v1.0/validation/full/acceleration-benchmark.json b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/full/acceleration-benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..15c40f1d6a98af494e2032132856a85d1a54589b --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/history-v1.0/validation/full/acceleration-benchmark.json @@ -0,0 +1,4306 @@ +{ + "measured_at": "2026-09-20T22:27:01.773892+08:00", + "results": [ + { + "dataset": "ARCTIC", + "selected_workers": 3, + "median_seconds_by_workers": { + "1": 216.8228306000019, + "2": 200.2558455000035, + "3": 193.45678880000196, + "4": 194.74744210000063 + }, + "trials": [ + { + "sequence": "s04/mixer_use_02", + "workers": 1, + "conversion_seconds": 216.8228306000019, + "verification_seconds": 10.289313799999945, + "minimum_available_memory_bytes": 3197636608, + "views": [ + { + "camera": 0, + "frames": 598, + "all_tensors_exact": 21, + "all_JPEG_packets_exact": true, + "all_sample_RGB_hashes_exact": true, + "frames_and_assets_exact": true, + "media_timing": { + 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