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+1,383 @@ +{ + "schema_version": "hand-warehouse/1.0", + "storage_revision": "lossless-video-2026-09-18", + "dataset_id": "ARCTIC", + "release_id": "shared-v1.0", + "sequence_id": "s10_waffleiron_use_02", + "camera_id": "8", + "sample_type": "video", + "num_frames": 735, + "hand_slots": [ + "left", + "right" + ], + "sampling": { + "type": "dense", + "source_fps": null, + "frames_ref": "camera/frames.jsonl", + "selection": "Every released image of this selected camera in the complete official sequence ZIP; boundary images without annotations retained", + "source_fps_reason": "Actual capture FPS not asserted by the selected raw files; frame indices and official synchronization offset retained" + }, + "camera": { + "model": "pinhole", + "schema_id": "camera/pinhole/v1", + "image_size": [ + 2800, + 2000 + ] + }, + "split": "train", + "components": { + "intrinsic": { + "available": true, + "schema_id": "camera/pinhole/v1", + "data_ref": "camera/intrinsic.pt", + "axes": [ + "T", + "row", + "column" + ], + "valid_ref": "camera/intrinsic_valid.pt", + "valid_axes": [ + "T" + ], + "provenance": { + "kind": "format_conversion", + "method": "source values retained" + }, + "source_locator": { + "archive": "raw/data/meta.zip", + "member": "meta/misc.json", + "record": "s10" + } + }, + "extrinsic": { + "available": true, + "schema_id": "transform/se3/v1", + "data_ref": "camera/extrinsic.pt", + "axes": [ + "T", + "row", + "column" + ], + "valid_ref": "camera/extrinsic_valid.pt", + "valid_axes": [ + "T" + ], + "provenance": { + "kind": "format_conversion", + "method": "source values retained" + }, + "source_locator": { + "archive": "raw/data/meta.zip", + "member": "meta/misc.json", + "record": "s10" + }, + "unit": "m", + "convention": "T_camera_from_world" + }, + "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": "Official nonflat mean expanded; shape-dependent root corrected during world-to-camera conversion; image index minus official ioi_offset" + }, + "source_locator": { + "archive": "raw/data/raw_seqs.zip", + "member": "raw_seqs/s10/waffleiron_use_02.mano.npy", + "index_ref": "camera/frames.jsonl:source_annotation_index" + }, + "unit": "m", + "angle_unit": "rad", + "coordinate_frame": "camera", + "model_profile": { + "version": "MANO-v1.2", + "flat_hand_mean": true, + "left_shapedirs_fix": false + } + }, + "object_waffleiron_root_pose": { + "available": true, + "schema_id": "object/rigid/v1", + "data_ref": "annotation/object/waffleiron/pose.pt", + "axes": [ + "T", + "row", + "column" + ], + "valid_ref": "annotation/object/waffleiron/pose_valid.pt", + "valid_axes": [ + "T" + ], + "provenance": { + "kind": "format_conversion", + "method": "source values retained" + }, + "source_locator": { + "archive": "raw/data/raw_seqs.zip", + "member": "raw_seqs/s10/waffleiron_use_02.object.npy", + "index_ref": "camera/frames.jsonl:source_annotation_index" + }, + "unit": "m", + "convention": "T_camera_from_object" + }, + "object_waffleiron_bottom_pose": { + "available": true, + "schema_id": "object/rigid/v1", + "data_ref": "annotation/object/waffleiron/parts/bottom/pose.pt", + "axes": [ + "T", + "row", + "column" + ], + "valid_ref": "annotation/object/waffleiron/parts/bottom/pose_valid.pt", + "valid_axes": [ + "T" + ], + "provenance": { + "kind": "format_conversion", + "method": "source values retained" + }, + "source_locator": { + "archive": "raw/data/raw_seqs.zip", + "member": "raw_seqs/s10/waffleiron_use_02.object.npy", + "index_ref": "camera/frames.jsonl:source_annotation_index" + }, + "unit": "m", + "convention": "T_camera_from_part" + }, + "object_waffleiron_top_pose": { + "available": true, + "schema_id": "object/rigid/v1", + "data_ref": "annotation/object/waffleiron/parts/top/pose.pt", + "axes": [ + "T", + "row", + "column" + ], + "valid_ref": "annotation/object/waffleiron/parts/top/pose_valid.pt", + "valid_axes": [ + "T" + ], + "provenance": { + "kind": "format_conversion", + "method": "source values retained" + }, + "source_locator": { + "archive": "raw/data/raw_seqs.zip", + "member": "raw_seqs/s10/waffleiron_use_02.object.npy", + "index_ref": "camera/frames.jsonl:source_annotation_index" + }, + "unit": "m", + "convention": "T_camera_from_part" + }, + "object_waffleiron_joint": { + "available": true, + "schema_id": "object/joint_state/v1", + "data_ref": "annotation/object/waffleiron/joint_state.pt", + "axes": [ + "T", + "joint" + ], + "valid_ref": "annotation/object/waffleiron/joint_state_valid.pt", + "valid_axes": [ + "T", + "joint" + ], + "provenance": { + "kind": "format_conversion", + "method": "source values retained" + }, + "source_locator": { + "archive": "raw/data/raw_seqs.zip", + "member": "raw_seqs/s10/waffleiron_use_02.object.npy", + "index_ref": "camera/frames.jsonl:source_annotation_index" + }, + "joint_order": [ + "hinge" + ], + "unit": "rad" + }, + "object_waffleiron_articulation": { + "available": true, + "schema_id": "object/articulated/v1", + "data_ref": "annotation/object/waffleiron/articulation.json", + "axes": [], + "valid_ref": "annotation/object/waffleiron/articulation_valid.pt", + "valid_axes": [], + "provenance": { + "kind": "format_conversion", + "method": "source values retained" + }, + "source_locator": { + "archive": "raw/data/raw_seqs.zip", + "member": "raw_seqs/s10/waffleiron_use_02.object.npy", + "index_ref": "camera/frames.jsonl:source_annotation_index" + }, + "static": true + }, + "object_waffleiron_mesh": { + "available": true, + "schema_id": "mesh/obj/v1", + "data_ref": "annotation/object/waffleiron/assets/mesh.obj", + "axes": [ + "vertex", + "coordinate" + ], + "valid_ref": "annotation/object/waffleiron/assets/mesh_valid.pt", + "valid_axes": [], + "provenance": { + "kind": "format_conversion", + "method": "Object vertices in metres; topology, material and texture dependencies retained" + }, + "source_locator": { + "archive": "raw/data/meta.zip", + "member_prefix": "meta/object_vtemplates/waffleiron/" + }, + "static": true, + "unit": "m", + "coordinate_frame": "object" + }, + "object_waffleiron_keypoints": { + "available": true, + "schema_id": "object_keypoints/camera/v1", + "data_ref": "annotation/object/waffleiron/keypoints/xyz.pt", + "axes": [ + "T", + "joint", + "coordinate" + ], + "valid_ref": "annotation/object/waffleiron/keypoints/xyz_valid.pt", + "valid_axes": [ + "T", + "joint" + ], + "provenance": { + "kind": "derived", + "method": "Official template keypoints driven by released articulation and camera transforms" + }, + "source_locator": { + "archive": "raw/data/meta.zip", + "member_prefix": "meta/object_vtemplates/waffleiron/" + }, + "unit": "m", + "coordinate_frame": "camera", + "keypoint_schema": "arctic_object_keypoints/v1", + "keypoint_names": [ + "top_0", + "top_1", + "top_2", + "top_3", + "top_4", + "top_5", + "top_6", + "top_7", + "top_8", + "top_9", + "top_10", + "top_11", + "top_12", + "top_13", + "top_14", + "top_15", + "bottom_0", + "bottom_1", + "bottom_2", + "bottom_3", + "bottom_4", + "bottom_5", + "bottom_6", + "bottom_7", + "bottom_8", + "bottom_9", + "bottom_10", + "bottom_11", + "bottom_12", + "bottom_13", + "bottom_14", + "bottom_15" + ] + }, + "rgb": { + "available": true, + "schema_id": "rgb/uint8/v1", + "data_ref": "observation/rgb.mkv", + "axes": [ + "T", + "height", + "width", + "channel" + ], + "valid_ref": "observation/rgb_valid.pt", + "valid_axes": [ + "T" + ], + "provenance": { + "kind": "format_conversion", + "method": "Original JPEG packets copied into MKV; every payload/order/dimension checked; declared deterministic RGB sample checked" + }, + "source_locator": { + "archive": "raw/data/images_zips/s10/waffleiron_use_02.zip", + "member_pattern": "{camera_id}/{source_frame_id:05d}.jpg", + "camera_id": "8" + }, + "storage": { + "profile": "mkv/mjpeg_copy/v1", + "codec": "mjpeg", + "pixel_format": "yuvj420p", + "encoded_size": [ + 2800, + 2000 + ], + "source_lossy": true, + "decoder": { + "name": "ffmpeg", + "version": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers", + "output_pixel_format": "rgb24", + "autorotate": false, + "source_color_declaration": "unknown", + "actual_stream_description": "Stream #0:0: Video: mjpeg (Baseline), yuvj420p(pc, bt470bg/unknown/unknown), 2800x2000 [SAR 1:1 DAR 7:5], 1 fps, 1 tbr, 1k tbn" + }, + "encoder_parameters": { + "mode": "stream_copy", + "version": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers" + } + }, + "storage_fps": 1, + "timebase_role": "index_only" + } + }, + "pilot": false, + "split_scheme": "ARCTIC_protocol_p1", + "split_source_locator": { + "archive": "raw/data/splits_json.zip", + "member": "splits_json/protocol_p1.json", + "sequence": "s10/waffleiron_use_02" + }, + "view_type": "exo", + "omitted_components": { + "depth": "No depth images in this official raw release", + "segment": "No pixel segmentation in this official raw release", + "contact": "No source contact labels in selected official raw packages", + "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels", + "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope" + }, + "media_validation_policy": "jpeg-packets-all-rgb-sample16/v1", + "pilot_complete": true, + "production_complete": true, + "pilot_human_review": "approved", + "full_output_human_review": "pending", + "upload_authorized": false +} \ No newline at end of file diff --git a/ARCTIC/shared-v1.0/data/s10_waffleiron_use_02/8/observation/rgb.mkv b/ARCTIC/shared-v1.0/data/s10_waffleiron_use_02/8/observation/rgb.mkv new file mode 100644 index 0000000000000000000000000000000000000000..063c4857f9d605d961de0b2abd4630fe582bd4f6 --- /dev/null +++ b/ARCTIC/shared-v1.0/data/s10_waffleiron_use_02/8/observation/rgb.mkv @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6be361eab00c71f3fa85605676672469e5c22dc23e45839a29d98ad3b97d1bdb +size 265956926 diff --git a/ARCTIC/shared-v1.0/data/s10_waffleiron_use_02/8/observation/rgb_valid.pt b/ARCTIC/shared-v1.0/data/s10_waffleiron_use_02/8/observation/rgb_valid.pt new file mode 100644 index 0000000000000000000000000000000000000000..2105f56cf0b042d54181640c8e4e1880a6749d00 --- /dev/null +++ b/ARCTIC/shared-v1.0/data/s10_waffleiron_use_02/8/observation/rgb_valid.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f28f491aa267ec79b52712fee7ab20e777e118db51994d37dc6a3dc09f3e2fc2 +size 1894 diff --git a/ARCTIC/shared-v1.0/doc/CONTRACT.md b/ARCTIC/shared-v1.0/doc/CONTRACT.md new file mode 100644 index 0000000000000000000000000000000000000000..f756d711647e109b6bb732ce1b9c84111730489d --- /dev/null +++ b/ARCTIC/shared-v1.0/doc/CONTRACT.md @@ -0,0 +1,457 @@ +# 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 | + +无损重新编码的 RGB 必须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。MJPEG-copy 不重新编码，生产校验采用 `jpeg-packets-all-rgb-sample16/v1`：从 MKV 逐包取回，对全部源 JPEG 的 SHA256、数量、顺序和图像尺寸进行精确核对；每视图另用同一固定解码配置比较最多 16 帧的源与目标 RGB 字节（含首尾与四分位位置，其余由固定种子抽取）。记录策略、实际索引、种子与结果；不足 16 帧时全查。试点与最终完整序列随机抽查，对选中视图的全部帧复核解码 RGB。历史已做全帧像素检查的证明继续保留。 + +逐包一致与像素抽查的范围必须分别声明，不能将抽查写成全量像素检查。不能用 PSNR 高、视觉相似、编码器参数称为 lossless 等替代精确检查。同时保留源编码的色彩标记和必要元数据；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。以上加速策略仅适用于原 JPEG 码流直接封装，不适用于深度、标签或重新编码的 RGB。 + +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：标注是否可用于监督 + +标注的 `valid=true` 表示：有对应实际标注、通过本 schema 数值检查，且通过来源明确提供并适用于该组件的有效性/QA 条件。`valid=false` 可由缺标注、无法建立帧对应、源无效占位或官方 QA 不通过导致；不等于画面没有手或手不可见。各组件独立判断，MANO 按 `[T,2]` 标记左右手，关键点按 `[T,2,K]` 标记。 + +**2026-09-20 将标注 valid 从“仅表示存在”修订为“可用于监督”，字段形状不变。** 公式为 `source_annotation_present AND numerical_checks_pass AND applicable_official_QA_pass`。没有官方 QA 时省略最后一项，不伪造 QA；不能把未知当成已通过已存在的 QA。适配器在组件 `valid_policy` 中记录具体规则、来源、聚合/广播作用域。缺失官方必需 QA 的记录须明确处理为未知或暂停验收，不能静默通过。无效浮点项仍填 NaN，原始数据保留在 raw；被排除原值可用于 doc 中明确标识的诊断渲染，不能冒充 shared 有效监督。 + +本地筛选须依据明确的规则，并在 `valid_policy.local_excluded_frame_indices`、排除原因和正式报告中记录。单个可疑投影作为问题记录，不直接硬编码排除该帧。已确认的曝光异常须明确作用范围，不能把一个序列的“前两帧有问题”套到所有序列。RGB 编码完好与几何监督可用是两件事，允许保留原图及帧索引而屏蔽对应标注；未发现问题不等于完成全部人工审核，试点待确认时不能作为已验收发布使用。 + +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、visible、mask_qa_pass | 分别表达姿态存在、可见性、对画面中可见手物位姿的人工 QA | 逐手/物体记录决定存在性，再 AND 当前相机当前帧 QA；QA 是整帧聚合判定，保守排除该帧全部手物几何监督，不声称每个实体均有错误；源可见性基于位姿推导时，其自身 valid 同样受 QA 约束 | +| [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 | 核实每项筛选依据；不把可见性/评估选择直接等同 QA。本次原始 mano.npy 不含这些派生评估标记，按原记录与数值检查生成 valid，并声明没有额外官方 QA 输入 | + +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；检查失败必须报告或修复，不能静默隐藏。QA 不通过应报告排除数量与原因，并保留可追溯信息；不能把这类无效称为缺标注。RGB、深度等观测有效性仍按各自 schema；手物 QA 不自动否定 RGB、静态相机内参或物体资产。相机外参是否过滤须依据其自身来源规则；HOT3D 本次保留源外参用于溯源和诊断，不能用其存在性证明 QA 失败帧的几何监督正确。 + +#### 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“这项标注能否用于监督”，`visibility` 回答“在当前图像中是否可见（或可见多少）”。不可见的手或关键点仍可有有效标注；不能因 visibility=0 就清空坐标。源没有 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，但源有标注且通过适用有效性检查 | 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，通过适用 QA | 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 | +| 有手部参数，但官方 QA 明确不通过 | false | 不据此断言不可见；源可见比例若基于不可靠位姿，其属性 valid 也为 false | + +visibility 自己的 valid_ref 表示该可见性标注是否可用，不复用 MANO 或关键点坐标的 valid_ref；明确记录源存在性及适用的 QA 条件。上述例子不要求凭图像自动生成可见性。 + +不设 quality 组件或目录，不另存拟合误差、曝光、截断比例等通用质量数组。适用的官方 QA 合并进对应 valid，在 `valid_policy` 记录来源与规则；正式校验报告保留原始 QA 时间区间及排除统计。原始 QA 文件仍在 raw，官方 split 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`；只有实际采用 0–100 的百分比才除以100，不能只凭表头判断。HOT3D 的 `visibility_ratio[%]` 实值已经是0–1，官方读取器原样读取，必须保留原值。通过 MANO 组件 attributes 登记，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/ARCTIC/shared-v1.0/doc/PUBLICATION.md b/ARCTIC/shared-v1.0/doc/PUBLICATION.md new file mode 100644 index 0000000000000000000000000000000000000000..bfd81aa9916ca9fd774dad7741827c495aedf4bd --- /dev/null +++ b/ARCTIC/shared-v1.0/doc/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-v1.0/doc/RAW_TO_SHARED.md b/ARCTIC/shared-v1.0/doc/RAW_TO_SHARED.md new file mode 100644 index 0000000000000000000000000000000000000000..64bd8b97631fb6bc752c8cd04e50651c2b051bfc --- /dev/null +++ b/ARCTIC/shared-v1.0/doc/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-v1.0/doc/pilot-source-manifest.json b/ARCTIC/shared-v1.0/doc/pilot-source-manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..4725854a85f2616a5bd3e4e2a9ebf4a9da8bb8ae --- /dev/null +++ b/ARCTIC/shared-v1.0/doc/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-v1.0/doc/schema.json b/ARCTIC/shared-v1.0/doc/schema.json new file mode 100644 index 0000000000000000000000000000000000000000..d904a34272de7f3fd4428c8dc68a919e94a68fca --- /dev/null +++ b/ARCTIC/shared-v1.0/doc/schema.json @@ -0,0 +1,869 @@ +{ + "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" + ], + "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. 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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-v1.0/doc/validation/ARCTIC_FINDINGS.md b/ARCTIC/shared-v1.0/doc/validation/ARCTIC_FINDINGS.md new file mode 100644 index 0000000000000000000000000000000000000000..db1005247507d46815909e4329b0ab33a77049ac --- /dev/null +++ b/ARCTIC/shared-v1.0/doc/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-v1.0/doc/validation/REPORT.md b/ARCTIC/shared-v1.0/doc/validation/REPORT.md new file mode 100644 index 0000000000000000000000000000000000000000..ee47252088879379422cd10b4a19facb9ee3f152 --- /dev/null +++ b/ARCTIC/shared-v1.0/doc/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-v1.0/doc/validation/assets/laptop.mp4 b/ARCTIC/shared-v1.0/doc/validation/assets/laptop.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8707bf6e34f5be5e099f56f13fed93fee21f3b0b --- /dev/null +++ b/ARCTIC/shared-v1.0/doc/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-v1.0/doc/validation/diagnosis.json b/ARCTIC/shared-v1.0/doc/validation/diagnosis.json new file mode 100644 index 0000000000000000000000000000000000000000..3b3c1627c7dd236bda50dd31d7e3589ad74b8da6 --- /dev/null +++ b/ARCTIC/shared-v1.0/doc/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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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。旧脚本快照在 `script/history/pre-acceleration-20260920/`；当前脚本在 `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-v1.0/doc/validation/full/README.md b/ARCTIC/shared-v1.0/doc/validation/full/README.md new file mode 100644 index 0000000000000000000000000000000000000000..c2a82cec99105f70d00692f1aad3f373cd1d957c --- /dev/null +++ b/ARCTIC/shared-v1.0/doc/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-v1.0/doc/validation/full/acceleration-benchmark.json b/ARCTIC/shared-v1.0/doc/validation/full/acceleration-benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..15c40f1d6a98af494e2032132856a85d1a54589b --- /dev/null +++ b/ARCTIC/shared-v1.0/doc/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, + 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