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b/H2O/shared-v1.1/data/subject4_o2_6/cam4/observation/rgb_valid.pt new file mode 100644 index 0000000000000000000000000000000000000000..4584551d35e5284dbb32b602bee5580e849cb7a1 --- /dev/null +++ b/H2O/shared-v1.1/data/subject4_o2_6/cam4/observation/rgb_valid.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96d6ad45425d0a717a06a408300bab1ccfcc345112c0a9b852b6fc0592dff3ee +size 2231 diff --git a/H2O/shared-v1.1/doc/CONTRACT.md b/H2O/shared-v1.1/doc/CONTRACT.md new file mode 100644 index 0000000000000000000000000000000000000000..e9443daf3c1ee10e1b3bd0508c21ec6a2005f6ee --- /dev/null +++ b/H2O/shared-v1.1/doc/CONTRACT.md @@ -0,0 +1,163 @@ +> H2O v1.1 本地全量迁移；当前等待人工复查，尚未正式发布。 + +# 手物数据仓库统一约定 v1.1：张量合并存储 + +格式版本：`hand-warehouse/1.1`。张量存储约定：`pt/tensor_bundle/v1`。 + +状态：H2O v1.1 配套注册表与读写工具已适配；本地全量自动验收完成后仍须人工复查，HF 尚未发布。 + +本版以 [v1.0 合同](V1_0_SEMANTICS.md) 为语义基础：任务范围、两层序列/相机组织、数据类型、单位、坐标系、时间对齐、左右手顺序、官方划分、view_type、来源、可用监督规则、媒体无损编码和验收要求均保留。下文仅替代数值张量组件的独立 Tensor 文件、对应 `*_valid.pt` 及文件引用规定；这些旧文件名仅用于识别对应逻辑字段。媒体和 JSONL 组件的有效性文件及引用保持 v1.0，不纳入合并。未明确改变的语义继续执行 v1.0。 + +本版按用户约定作为 v1.0 的小版本存储修订，后续所有数据集逐步迁移到 v1.1。数值字段与 valid 语义不变，但 `.pt` 物理结构和引用方式改变，旧读取器不能未经适配直接读取新字典。各数据集在原 `shared-v1.0` 目录内逐步升级，完整验收后将目录更名为 `shared-v1.1`，不长期保留两套发布树。最终 `metainfo.schema_version=hand-warehouse/1.1`、`release_id=shared-v1.1`；尚未迁移的数据集仍使用原目录和版本。升级与发布流程见 [MIGRATION.md](MIGRATION.md)。实施前须按配套 v1.1 注册表完成读写/校验工具；不得将 v1.0 的 schema.json 改个版本号作为已完成适配的证明。正式发布时须提供完整合同与匹配注册表，不依赖本地草案目录中的相对链接。 + +## 1. 合并边界 + +1. 数值张量与对应有效性必须在同一个 `.pt` 文件、同一个字段字典内保存：`{"data": Tensor, "valid": BoolTensor}`。这些数值张量组件不再生成独立的 `*_valid.pt`；媒体和 JSONL 的有效性文件不受此规则影响。 +2. 按组件合并经常一起读取的小张量：相机内参、外参、畸变放在一个 `camera.pt`；MANO 参数与整手可见性放在一个 `mano.pt`；手关键点的二维、三维与可见性放在一个 `keypoints.pt`。 +3. 每个物体的数值字段及全部部件数值字段合并为一个 `object.pt`。不同物体、不同相机、不同序列不合成一个全局大文件，以保留按需下载和读取能力。 +4. RGB、深度、栅格 mask 继续使用原无损媒体格式，不把解码后的大数组或媒体字节塞进 `.pt`。它们的有效性文件保持原文件名、Tensor/媒体格式、形状和引用方式，不包装为字典。 +5. `metainfo.json`、`camera/frames.jsonl`、实例映射、物体身份/运动学定义与网格资产保留原格式。此次不把 JSON、JSONL、OBJ、纹理全部打进一个字典。 + +合并只改变存储方式，不改变采样、帧数、张量内容或有效性判定。不为减少字段数而将多个组件的 valid 合成一个公共 valid。 + +## 2. 目录 + +```text +/shared-v1.1/ + doc/ # 完整合同、匹配 schema、字段映射、验收报告 + script/ # 转换、读取和校验代码 + data/// + metainfo.json + observation/ + rgb.mkv + rgb_valid.pt # 原独立 bool Tensor，保持不变 + depth.mkv + depth_valid.mkv # 逐像素有效性，保留压缩媒体格式 + camera/ + frames.jsonl + camera.pt # intrinsic、extrinsic、distortion + annotation/ + mano/mano.pt # motion、visibility + keypoints/keypoints.pt # uv、xyz、visibility、whole_hand_visibility + object// + metainfo.json + articulation.json # 仅关节/部件结构实际存在时 + object.pt # 位姿、可见性、几何点、关节、部件数值 + assets/ # 原网格、材质、纹理及依赖 + segment/ + mask.mkv # 或 polygons.jsonl，按所选表示 + instances.jsonl # 仅需要实例/区域编码映射时 + mask_valid.pt # 原帧级 bool Tensor，保持不变 + contact/ + relations.jsonl + relations_valid.pt # 原帧级 bool Tensor，保持不变 + __/ + contact.pt # vertex_region、vertex_distance +``` + +只创建实际提供的组件和字段。以上不是每个数据集必须填满的模板；缺失内参、MANO、深度等不能通过占位文件伪装为已提供。序列/相机的两层结构不变，物体与模态目录属于相机内部组件。 + +## 3. 字典结构与有效性 + +本次合并的数值组件 `.pt` 根对象为字符串键的 Python `dict`，内部仅允许嵌套字符串键字典和 CPU `torch.Tensor`，不保存自定义类、模型、NumPy 对象或任意可执行对象。元信息、schema、单位和来源放在 metainfo，不在每个张量条目中重复保存。读取使用 `torch.load(path, map_location="cpu", weights_only=True)`。第 4 节保留的独立有效性 `.pt` 根对象仍为 CPU bool Tensor，不适用字典结构要求。 + +例如，`camera/camera.pt` 的逻辑结构为： + +```python +{ + "intrinsic": {"data": K, "valid": K_valid}, + "extrinsic": {"data": T_camera_from_world, "valid": extrinsic_valid}, + "distortion": {"data": distortion, "valid": distortion_valid}, +} +``` + +以上变量均为 Tensor。未提供的字段整个省略；例如无世界系外参时不保存 `extrinsic`，不填单位矩阵。没有单独畸变向量的模型不创建 `distortion`：Fisheye624 仍使用既定 `[T,15]` 内参参数布局。 + +数值字段统一为 `data` 与 `valid` 两个叶子。源属性原先显式声明全已知 `valid=true` 时，迁移可按该属性的有效性形状展开为全 true 的 bool Tensor；这是已有有效性声明的等价表示，不是根据数值或姿态推测有效性。有效性必须为 bool Tensor，不能用 Python `True` 代替字段内的 Tensor。静态数值字段同样配套 valid，形状采用其语义定义的标量或逐元素有效性；静态网格等外部资产仍可在 metainfo 中声明标量 valid。 + +valid 的形状不要求与 data 完全相同，但必须与该字段定义一致。例如 MANO 为 `[T,2,61]` / `[T,2]`，内参为 `[T,3,3]` / `[T]`，关键点为 `[T,2,K,3]` / `[T,2,K]`。按 schema 将 valid 扩展到相应数值维度，不允许依靠碰巧可广播推断语义。 + +浮点默认 float32，无效浮点位置仍为 NaN；bool 和整数沿用该组件的占位/保留值规则，不因没有 NaN 而视为有效。valid 表达可用监督，不只是“值有限”或“记录存在”；适用官方 QA 与已经确认的排除规则继续保留。不能用 `isfinite(data)` 重建 valid，不能因为迁移而把 false 改成 true。 + +不同字段的 valid 独立保存和解释。visibility 的 valid 不复用姿态 valid；内参 valid 不代替外参 valid。既有相机模型要求内参与单独畸变向量共用有效性时，在两个字段内保存相同 bool 值并校验一致，而不改变该模型的联合标定规则。 + +## 4. 固定分组与字段名 + +下表中的键路径用 `/` 展示字典层级；它不是文件系统路径。数值字段均在列出的键下继续存储 `data`、`valid`。 + +| 文件 | 数值字段键 | 内容 | +|---|---|---| +| `camera/camera.pt` | `intrinsic`、`extrinsic`、`distortion` | 逐帧标定；形状、参数顺序与相机模型定义不变 | +| `annotation/mano/mano.pt` | `motion`、`visibility` | MANO `[T,2,61]` 与源整手可见性；各有独立有效性 | +| `annotation/keypoints/keypoints.pt` | `uv`、`xyz`、`visibility`、`whole_hand_visibility` | 手关键点及源可见性；整手与逐点可见性不混用 | +| `annotation/object//object.pt` | `pose`、`visibility`、`dimensions`、`joint_state` | 该物体的数值标注 | +| 同上 | `keypoints/xyz`、`keypoints/template_xyz` | 相机系逐帧点或物体系静态模板点 | +| 同上 | `parts//pose`、`parts//dimensions`、`parts//keypoints/xyz`、`parts//keypoints/template_xyz` | 部件数值字段，部件身份仍由 articulation 登记 | +| 同上 | `meshes//vertex_part_ids` | `[V] int64` 顶点部件标签，valid 为 `[V]`，未知 -1 对应 false；每个 mesh 单独绑定拓扑 | +| `annotation/contact/__/contact.pt` | `vertex_region`、`vertex_distance` | 已登记拓扑上的接触区域/距离与同形有效性 | + +顶点部件标签使用注册类型 `object/vertex_part_ids/v1`。物体的 mesh_id、part_id 必须在 metainfo/运动学定义中可解析；不同拓扑不能误用同一顶点数组。未提供的可见性、关节值或模板点不生成空字段。 + +**媒体和 JSONL 的有效性保持原样，不参与字典合并：** + +| 数据本体 | 有效性文件 | 存储形式 | +|---|---|---| +| `observation/rgb.mkv` | `observation/rgb_valid.pt` | 独立 CPU bool Tensor `[T]` | +| `annotation/segment/mask.mkv` 或 `polygons.jsonl` | 原 `valid_ref` 指定的文件，通常为 `annotation/segment/mask_valid.pt` | 独立 CPU bool Tensor `[T]`；沿用原路径 | +| `annotation/contact/relations.jsonl` | `annotation/contact/relations_valid.pt` | 独立 CPU bool Tensor `[T]` | +| `observation/depth.mkv` | `observation/depth_valid.mkv` | 原逐像素 bool 无损视频 `[T,H,W]` | + +不新建仅包装上述 valid 的 observation.pt、segment.pt 或关系级 contact.pt。现有媒体/JSONL 的 `valid_ref`、`valid_axes` 及适用的 `valid_storage` 保持原定义；深度编码、NaN 位串还原与像素有效性规则不变。实体对的接触区域/距离是数值张量，仍按上表合并到各实体对的 contact.pt。 + +## 5. metainfo 的文件与字典键引用 + +文件定位与字典内部定位分开登记，不在文件名中拼接自定义分隔符： + +| 字段 | 定义 | +|---|---| +| `data_ref` | 相对当前相机视图根目录的 POSIX 文件路径 | +| `data_key` | 非空字符串列表，按顺序访问 `.pt` 嵌套字典，最终必须得到 data Tensor | +| `valid_ref` | 有效性所在文件；合并的数值字段必须与 data_ref 相同，媒体/JSONL 保留独立有效性文件 | +| `valid_key` | 非空字符串列表，最终必须得到 bool Tensor | +| `storage.profile` / `valid_storage.profile` | 合并字典采用 `pt/tensor_bundle/v1`；媒体及其独立有效性保持原配置，不将独立 bool Tensor 声明为 bundle | + +数值字段必须显式登记 data_key 与 valid_key。例如内参登记： + +```json +{ + "available": true, + "schema_id": "camera/pinhole/v1", + "data_ref": "camera/camera.pt", + "data_key": ["intrinsic", "data"], + "axes": ["T", "row", "column"], + "valid_ref": "camera/camera.pt", + "valid_key": ["intrinsic", "valid"], + "valid_axes": ["T"], + "storage": {"profile": "pt/tensor_bundle/v1"}, + "valid_storage": {"profile": "pt/tensor_bundle/v1"} +} +``` + +这是引用结构片段，实际组件仍须补齐 provenance、source_locator 等必填内容。MANO 的 schema_id 仍可为 `mano/axis_angle61/v1`：它描述解码后的数值语义，不因为物理文件合并而改动。顶层 schema_version 与 storage.profile 标识新的存储方式。 + +媒体和 JSONL 的 data_ref 不设置 data_key；RGB 的 valid_ref 仍为 `observation/rgb_valid.pt`，不设置 valid_key。分割、关系和深度的有效性同样保持原引用方式，不新增任何字典键字段。只有引用合并字典时才使用 data_key/valid_key。 + +同样规则适用于 attributes 中的可见性等数值字段。相机模型已有的 `distortion_ref` 改为指向 `camera/camera.pt`，新增 `distortion_key=["distortion", "data"]`；对应有效性由同组件的 `distortion_valid_ref` 与 `distortion_valid_key=["distortion", "valid"]` 登记。带 `_key` 的引用必须指向匹配的 bundle 文件，不能指向目录或媒体。 + +读取器按文件路径缓存已加载字典，再按 key 取字段。同一 camera.pt 的三个字段不应触发三次反序列化。按组件下载时取所需 bundle 的整个文件；本约定不承诺 `.pt` 内单个键的远端局部下载。组件合并会增加最小下载粒度，这是减少文件数的明确取舍。 + +## 6. 迁移与验收 + +各数据集分别迁移：先适配工具并做代表性完整序列验证，再迁移全量并核对结果，最后按授权更新远端发布；一个数据集完成不代表其他数据集已完成。迁移状态和输入/输出固定版本逐数据集登记。 + +本地先在既有 `shared-v1.0` 内完成受控升级，校验完成后更名为 `shared-v1.1`。暂存、回滚、锁、旧文件清理、版本更新及 HF 路径切换遵循 [MIGRATION.md](MIGRATION.md)；不复制完整媒体、不改 raw、不重新编码。多文件原地更新期间须保持维护状态，不能让读取任务使用半迁移视图。 + +每次迁移必须检查： + +1. 所有组件、属性及其字典键可解析；无越界文件引用、缺失键或未登记字段；已合并的数值组件不得遗留旧独立 `*_valid.pt`。媒体/JSONL 的原独立有效性文件必须保留，不得误删或重打包。 +2. 每个迁移前后的数值字段 dtype、shape、逐元素值、NaN 位置以及 bool valid 完全一致。数值张量还应按统一连续字节视图比较，确认没有更改 NaN 位串等内容；不能用近似容差代替单纯重打包的一致性。 +3. T、帧映射、相机方向、手槽、split、来源和 valid_policy 不变。固定标定仍按既有 `[T,...]` 规则保存；本次不额外改成单份静态标定加广播。 +4. 媒体与其他未修改文件按原可信摘要核对。新 `.pt` 的文件 SHA256 通常改变，必须重新生成发布清单；新文件指纹不等于转换语义正确性的证明。 +5. 用新读取器运行代表性完整序列及所有相机，检查 RGB、相机与实际存在的标注是否正确关联；报告明确“重打包数值一致”与“人工视觉验收”的不同范围。 + +只有完成匹配注册表、读写工具及上述验收后才能生产/发布 v1.1。上传仍须单独得到授权；本文档更新本身不启动数据迁移或上传；被替代旧文件的清理属于后续迁移发布步骤，必须遵守MIGRATION.md 中先验收、安全切换和固定提交核验要求。 \ No newline at end of file diff --git a/H2O/shared-v1.1/doc/FULL_MIGRATION_SUMMARY.json b/H2O/shared-v1.1/doc/FULL_MIGRATION_SUMMARY.json new file mode 100644 index 0000000000000000000000000000000000000000..c5175c18a089f089ba4ef2542ed5270593b612d6 --- /dev/null +++ b/H2O/shared-v1.1/doc/FULL_MIGRATION_SUMMARY.json @@ -0,0 +1,29 @@ +{ + "phase": "local_finalized_not_uploaded", + "completed_views": 920, + "created_utc": "2026-10-10T04:22:53.882589+00:00", + "workers": 4, + "inventory_index_sha256": "4fda65fdfdbb6df1cbcbea8c6a4bed6a6aaad2927005875b6efec40d93eb60c1", + "num_frames": 571645, + "source_files": 20370, + "target_files": 13010, + "elapsed_seconds": 10930.069547452033, + "estimated_remaining_seconds": 0.0, + "source_revision": "2d78ce6422a5db77f6d64c2fb88770ab6e55ae0d", + "raw_tree_oid": "8f7d72b27405e57926199f7e37a40703c9da4662", + "all_numeric_bytes_exact": true, + "all_source_data_files_match_fixed_hf": true, + "all_changed_file_hashes_verified": true, + "unchanged_file_fingerprints_stable": true, + "media_verification": "one encoded-file hash pass against fixed HF; unchanged inode/size/mtime rechecked under maintenance; no all-video pixel comparison", + "backup_root": "/data/xuzhefeng/Datasets/uni-hoi-h2o-full-20260930-process16-pipe/H2O/tmp/migration-v1.1-full-20261010/backups", + "saved_data_files": 7360, + "scope": "184 sequences, 920 cameras, 571645 view-frame entries (114329 synchronized frames); human post-full review and HF publication pending", + "index_html": "/data/xuzhefeng/Datasets/uni-hoi-h2o-full-20260930-process16-pipe/H2O/shared-v1.1/doc/validation/index.html", + "hf_writes": false, + "final_root": "/data/xuzhefeng/Datasets/uni-hoi-h2o-full-20260930-process16-pipe/H2O/shared-v1.1", + "human_full_approval": { + "authorization": "--finalize-after-review", + "recorded_utc": "2026-10-10T08:49:16.137623+00:00" + } +} diff --git a/H2O/shared-v1.1/doc/MIGRATION.md b/H2O/shared-v1.1/doc/MIGRATION.md new file mode 100644 index 0000000000000000000000000000000000000000..b867163fccbc578f22eb6be8181f866bfecb6813 --- /dev/null +++ b/H2O/shared-v1.1/doc/MIGRATION.md @@ -0,0 +1,68 @@ +# 数据集 v1.0 → v1.1 升级规范 + +日期：2026-10-09。目标格式：`hand-warehouse/1.1`。字段与字典布局见 [CONTRACT.md](CONTRACT.md)。 + +## 1. 升级单位与最终布局 + +以一个完整数据集为单位逐步升级。每个数据集在既有目录内完成数值文件重组、工具适配与验证，完成后将目录由 `shared-v1.0` 更名为 `shared-v1.1`。最终使用： + +```text +/ + raw/ # 保持原样 + shared-v1.1/ + data/ + doc/ + script/ +``` + +这是对“发布目录永久保持 shared-v1.0”安排的修订：不长期保留两套发布树，也不复制一整套媒体再制作新版本。尚未升级的数据集继续使用自己的 `shared-v1.0`；不同数据集处于不同版本是正常的。 + +完成后视图元数据统一为 `schema_version=hand-warehouse/1.1`、`release_id=shared-v1.1`。目录名与元数据版本均须正确，不能只更名而不改变内容。发布记录保留旧版本的固定提交以便追溯。 + +## 2. 变更范围 + +- 合并相机、MANO、关键点、物体、实体对接触等数值张量及各自 valid；具体分组遵循合同。 +- 保持媒体及其独立有效性文件不变，包括 RGB、深度、mask 和相应 valid。JSONL、资产按合同保留；不重新编码媒体，不改 raw。 +- 不改变张量 dtype、shape、数值、NaN 位串、valid、帧映射、T、单位、坐标系、左右手、划分及监督策略。 +- 更新匹配的 schema、读取/转换/校验脚本、metainfo 引用、发布清单和正式文档。不得仅替换版本字符串冒充工具适配。 +- 删除已经完整合并且验收通过的旧数值文件与对应独立 valid；不得按 `*_valid.pt` 通配删除，媒体/JSONL 有效性不在清理范围。 + +## 3. 启动与登记 + +启动前核对项目并行上限、实际进程、锁和空间。取得数据集迁移锁并暂停该目录的转换、发布和读取任务；多文件原地更新不是整体原子操作，不得让消费者读取半迁移视图。 + +在发布树外的 `tmp/` 为每个数据集登记：源 schema/release、源 HF 固定提交、源文件清单及摘要、目标版本、工具摘要、变更/删除的精确路径清单、checkpoint、阶段、错误和验收结果。原始数据长期保留。 + +准备可恢复的基线：保存即将被替换的小型元数据和脚本，以及旧数值文件的临时备份或已核验可恢复的远端固定版本。不复制未变化的大型媒体。空间预算包含临时新文件和回滚所需文件；空间不足时停止新增工作，不删 raw 腾空间。 + +## 4. 原地升级 + +1. 先选代表性完整序列及全部相机，在 `tmp/` 验证新写入器、读取器和引用；覆盖实际存在的组件与有效性组合。遵循项目人工验收要求后再全量。 +2. 全量按完整视图处理。读取旧数值及 valid，写临时字典，重新读取并逐字段精确比较；不得用近似误差判断纯重打包的一致性。 +3. 验证通过后在同一文件系统原子替换单个文件，再更新该视图 metainfo。只有新字段与引用完整可读、且回滚依据可用，才能移除该视图被替代的旧文件。 +4. 每个视图保存完成 checkpoint；续跑必须核对输入和工具版本、产物摘要及当前引用，不能只依据文件存在而跳过。整个数据集完成前保持维护状态。 +5. 完成全部视图后校验完整路径集合、无重复/缺失、所有键引用、全部数值一致性和未变文件摘要，并更新正式文档及脚本。生成直接读取新格式的随机完整序列报告，按项目流程人工确认。 + +失败时停止该数据集迁移，保留 checkpoint 和回滚材料，不伪装完成，不自动删除整棵目录或从 raw 重做转换。 + +## 5. 本地最终更名 + +全量验收通过后，在维护状态下统一设置最终 `release_id=shared-v1.1`，更新当前使用的配置、入口、清单和链接，然后将原目录重命名为 `shared-v1.1`。 + +重命名前核对源/目标绝对路径均位于该数据集根目录；目标目录必须不存在，不合并、不覆盖已有同名目录。同一文件系统内执行目录重命名，避免复制全部媒体。更名后再次解析相对引用并检查脚本默认路径，最后解除本地维护状态。 + +历史报告中说明当时版本的文字与固定摘要作为历史证据保留，不批量篡改；当前入口须明确报告所属版本，并链接本次迁移验收结果。 + +## 6. HF 发布与路径更换 + +本地目录重命名不等于 HF 路径已经更换。远端须在得到发布授权后，基于旧的固定提交执行受控更新；发布前再次核对源 HEAD 和相关文件内容，冲突时停止调查。 + +优先复用仓库已有内容，以平台实际支持且经过验证的服务端复制/提交操作，将未变化媒体映射到 `shared-v1.1`；仅新的字典、元数据、文档和脚本需要提供新内容。不承诺路径更换必然零网络传输或零耗时；先验证实际行为，不盲目重新上传全套媒体。 + +理想情况下，在一个提交中添加目标路径并删除旧路径，使默认分支完整切换。若文件数或 API 限制不允许，使用经过验证的临时分支准备与核验，完成后受控切换；若只能分批更新默认分支，必须明确维护状态，旧版本保留到目标完整核验通过，不提前删除唯一完整的旧树。短暂的核验用路径并存不代表长期发布两套版本。 + +最终必须在同一固定提交上验证：目标 `shared-v1.1` 的文件集合、大小与内容摘要全部匹配清单，所有引用有效；旧 `shared-v1.0` 路径已移除；raw 未变化。服务端更换路径仍须执行这些核验，不能用“文件名已改”替代。 + +完成后更新数据集登记与下载示例，记录最终提交，清理本次临时文件并通知一次，再安排下一个数据集。旧提交历史保留历史版本；本流程减少当前发布树的重复文件，不承诺清除 HF 历史存储。 + +本文仅规定后续实施流程，编写本文不等于已经启动迁移、修改数据或获得新的发布授权。 diff --git a/H2O/shared-v1.1/doc/PUBLICATION_PLAN.md b/H2O/shared-v1.1/doc/PUBLICATION_PLAN.md new file mode 100644 index 0000000000000000000000000000000000000000..0e6a26d088f3d228145ad9a8b13bc23b5ab86dda --- /dev/null +++ b/H2O/shared-v1.1/doc/PUBLICATION_PLAN.md @@ -0,0 +1,13 @@ +# H2O shared-v1.1 publication plan + +用户已检查全量后 HTML 并批准发布。此文件记录发布前的计划，不伪称已上传完成。 + +- 固定源提交：2d78ce6422a5db77f6d64c2fb88770ab6e55ae0d。 +- 新数值 bundle、元数据和新文档上传；未变化 LFS 媒体复用服务端 blob，不重新编码。 +- 在独立 PR 内移除旧 H2O/shared-v1.0 路径并准备新版本；main 保持旧版本完整可用，直到新版本按全部路径、大小和内容摘要核验通过才合并。 +- 只调整 H2O 的发布树及对应的 LFS 跟踪行；H2O/raw 与其他数据集内容不变。 +- 不自动 squash/删除整个仓库历史。文件限制错误需要按实际错误调查；全仓库历史清除影响其他数据集和固定提交回溯。 +- 最终 HF 提交号、树摘要与发布核验结果保存在发布树外的 HF_PUBLICATION.json，避免自引用提交号或清单摘要。 +- 上传及核验成功后再清理本次私有试点/暂存/数值备份；正式 shared-v1.1、raw、原始模型和其他任务产物保留。 + +实现：script/provenance/operations/publish_h2o_v1_1.py。使用已有全局 huggingface_hub 登录环境。 diff --git a/H2O/shared-v1.1/doc/RAW_TO_SHARED.md b/H2O/shared-v1.1/doc/RAW_TO_SHARED.md new file mode 100644 index 0000000000000000000000000000000000000000..9b5a2b78b6796aa3be72a39d95a1a416a4269a5c --- /dev/null +++ b/H2O/shared-v1.1/doc/RAW_TO_SHARED.md @@ -0,0 +1,93 @@ +# H2O raw → shared-v1.1（本地全量迁移） + +> 当前为 v1.1 本地全量存储迁移。以下 v1.0 转换记录作为语义和历史基线保留；旧数值文件名不是当前读取入口，当前 bundle 路径及键见末尾“v1.1 纯存储迁移”表。本次不从 raw 重转、不重新编码媒体；全量自动检查完成；全量后人工复查和 HF 发布尚待批准。 + +# H2O raw → shared-v1.0 + +## 范围与来源 + +本版本仅转换 `raw/data/subject{1,2,3,4}_v1_1.tar.gz` 的真实五视角 (`cam0`–`cam4`) 序列；`h2o_CASA.tar` 是单独的扩展，不与标准序列混合。每个原始序列存于 `data/subjectN__/cam{0..4}/`。源压缩包保持不变，不合成源不存在的标注。输出仅在本地制作；完整序列试点及人工检查通过、更新全量预估之前，不启动全量。 + +| 源包/字段 | shared 文件/处理 | +| --- | --- | +| `subjectN_v1_1.tar.gz`: `camX/rgb/.png` | `observation/rgb.mkv`：逐帧源 RGB 解码为 RGB24，FFV1 直接编码；输出**每帧**解码与源 RGB 字节摘要完全一致。`rgb_valid.pt` 记录存在性，源帧号和每组件的包成员及 SHA256 写入 `camera/frames.jsonl`。不再额外编码未采用的 H.264 RGB 候选；FFV1 编码器进程失败时才尝试 H.264。 | +| 同包 `camX/depth/.png` | `observation/depth.mkv` 和 `depth_valid.mkv`；按源毫米单位除以 1000 转米，保留无效深度与全帧时间轴，深度位串以 FFV1 保真封装并逐帧校验。既不做 3 米裁剪也不造出缺失的深度。 | +| `camX/cam_intrinsics.txt`、`camX/cam_pose/.txt` | `camera/intrinsic.pt`、`extrinsic.pt`：保留源内参；逐帧源 `T_world_from_camera` 求逆后存 `T_camera_from_world`；声明变换约定与有效性。 | +| `camX/hand_pose_mano/.txt` | `annotation/mano/motion.pt`、`motion_valid.pt`：源左/右手标志各自判断有效性；姿态与平移保持源数值，声明 MANO 模型配置，缺模型则明确标依赖缺失，不伪造网格或掩码。 | +| `camX/hand_pose/.txt` | `annotation/keypoints/xyz.pt`、`xyz_valid.pt`：源双手 21 点，相机坐标系米制，与 MANO 有效性彼此独立。HTML 中的投影仅用于人工预览，不写回训练数据。 | +| `camX/obj_pose/.txt`、`obj_pose_rt/.txt` | `annotation/object//keypoints/xyz.pt`、`pose.pt`：按源类号关联 21 个物体点及物体→相机位姿；仅源存在时登记组件及有效性。 | +| `object.zip` | `annotation/object//assets/` 与源 OBJ、MTL、纹理；静态形状预览不等于所有帧网格位姿的投影证明。 | +| `label_split.zip` 的 `action_{train,val,test}.txt` | 序列元数据的官方划分及来源；未知映射明确记 `unknown`，不自行编排。 | + +`cam4` 是 ego，`cam0`–`cam3` 是 exo。真实时间/FPS 缺乏可靠来源时使用 null，不把 MKV 封装帧率冒充采集时钟。源 `action_label`、`verb_label`、pose 任务帧列表和 `manolabel_v1.1.tar.gz` 保留在 raw；当前契约没有相应动作组件，本发布不宣称它们已转换。源没有像素分割，本版本不投影网格生成替代分割。 + +## 源资产文件名修复 + +源 `object/cocoa/cocoa.obj` 引用 `ovomaltine.mtl`，材质内写的是 `map_Kd cocoa.png`，但原 ZIP 只提供 `ovomaltine.png`。仅在临时解压目录为该已确认的纹理增加**字节相同**的 `cocoa.png` 别名，保留原 PNG、OBJ、MTL 不变；在网格 `source_locator.texture_aliases` 中记录别名、原始包成员和 SHA256。别名与已保留的旧 cocoa 资产一致，不替换图像、标注或网格。全部八类物体的材质依赖在读取大 subject 包之前预检，其他缺失/越界依赖仍报错。 + +## 加速与验收 + +四个互不依赖的 subject 压缩包可由 `--workers 1..4` 并行顺序读取，各 worker 一次只处理一个序列。数值库保持单线程；FFV1 编码支持 `--codec-threads 1|2|4|8|10`，当前全量按用户要求使用 10；`--decode-threads 10` 通过现有 `HAND_WAREHOUSE_FFMPEG_THREADS` 控制源 RGB PNG→RGB24、完整视频解码摘要、深度/有效性语义校验与 RGB 索引抽取的解码线程，完整校验仍保留。深度 PNG 使用 `--depth-threads 4` 有序分批读取，每批最多读取 4 帧，避免缓存整条序列，缺帧仍按原时间轴写 NaN；不并行改写姿态、标注或原始包。并发数由相同输入实测吞吐量决定，记录 OS 线程峰值和磁盘占用，不以 CPU 线程数本身作为提速证据。RGB 源为 PNG，不适用 ARCTIC/HOT3D 的 JPEG 包直封和 16 帧抽查：RGB、深度、有效性与数值模态仍逐帧精确校验。临时文件在 `/data` 上隔离放置，历史 62 条目录不复用、不覆盖；调整并发时，在新的运行目录复用本次全量已经原子发布的完整序列，并从源重新核对帧号及逐组件 SHA256；已发布视图只读源包并核对摘要，不再把源 PNG/标注写入临时目录，待转换视图才正常暂存。未完成的临时序列不复用，原运行的脚本、配置及 QC 保留用于溯源。 + +先运行不截帧的代表性完整序列试点，保存自动 QC、真实耗时和 `doc/validation/index.html`（RGB、深度、源 3D 关键点投影、原生物体网格和全组件数值/有效性）。试点由人工核查之后再决定全量；全量后再次抽样人工核查。报告须区分数据完整性、源未提供的模态与仅供人工判断的几何对齐。 + +2026-09-29 完整序列试点已获人工确认，用户已授权本地全量。2026-09-30 用户取消 CPU 使用量上限，指定 4 个独立压缩包 worker、每个 FFV1 编码器 10 线程、每个校验解码器 10 线程、每 worker 深度 PNG 读取 4 线程；Python worker、读取及校验子进程不计入这最多 40 个编码线程，因此总线程数不固定为 40。该配置不代表已证明加速倍数。源包和旧产物保留；代码变化使用独立运行目录，已完成序列保留原始构建记录及生产脚本快照。 + + +## 多线程解码测速（2026-09-30） + +在 101 上以真实 `subject4/h1/0/cam0` 的完整 RGB、深度和有效性视频，以及源头 100 帧 PNG 测试；采用 1、10、10、1 的解码线程顺序，源深度 PNG 另比较 1/2/4 线程。逐字节摘要和输出长度必须相同，测速脚本、全部轮次及结果保存在 `script/provenance/operations/` 和 `doc/validation/`。测速期间旧全量任务仍运行，磁盘负载和缓存会影响结果；不得将阶段加速比冒充整套转换加速比。四个 gzip 包已经独立并行读取，暂不引入多进程重构或增加数值库线程；小矩阵及标注处理没有已测得的进一步并行收益。 + + +本次同输入结果（解码后长度和 SHA256 全部相同）： + +| 阶段 | 1 线程（秒） | 新配置（秒） | 范围 | +| --- | ---: | ---: | --- | +| FFV1 RGB 解码与摘要 | 39.46 | 8.70（10 线程） | 完整 501 帧，中位数 | +| FFV1 深度位串解码与摘要 | 34.91 | 11.56（10 线程） | 完整 501 帧，中位数 | +| 有效性视频解码与摘要 | 2.24 | 2.27（10 线程） | 完整 501 帧；未获提速 | +| 源 RGB PNG 解码 | 2.67 | 1.49（10 线程） | 100 帧，1 线程使用热缓存轮次，不使用冷缓存较慢轮次来夸大提速 | +| 源深度 PNG 读取及毫米→米 | 4.67 | 2.61（4 线程） | 100 帧，中位数；帧序与数值相同 | + +这些结果只代表相应阶段；全流程还包括顺序 gzip 扫描、文件创建、源 SHA256、资产复制和磁盘读写，实际全量 ETA 待稳定吞吐后再更新。 + + +## 2026-09-30：全流水线并行与 I/O 优化 + +源读取仍是四个独立 archive 线程；新增共享相机转换池，正式使用 `--view-workers 16 --view-backend processes`，spawn 子进程避免共用 Python 解释器。`--camera-pipeline` 让一台相机的全部成员读完后立即转换，与下一台相机的读取重叠；如果发现相机成员交错，等待正在读取的任务结束、丢弃私有临时结果并回退到整个序列就绪后转换，不发布不完整视图。序列全部视图成功后仍原子发布。 + +小型 TXT 标注留在内存，仍按原规则解析并记录源成员 SHA256。`--stream-media` 用管道传递 RGB24 与深度位串，保留完整解码摘要、长度/帧序、索引读取和有效性检查，不再先写入巨大的 RGB/depth RAW 文件。临时 PNG 使用只读硬链接或跨文件系统符号链接，源文件不被修改，最终数据不包含这些临时链接。源 PNG 用 `--ram-stage-dir /dev/shm/... --ram-stage-gib 32` 暂存，32 GiB 是所有读取线程共享的 PNG 额度，满额退回磁盘，不阻塞生产者；错误及序列完成均返还额度。流式模式下每个视图不超过 2 GiB 的有效性临时文件也可留在 RAM，16 个视图最坏再需 32 GiB；这是独立于 PNG 额度的工作空间，正常 H2O 最大序列约每视图 1.1 GiB。源存档与最终结果仍在持久磁盘上，RAM 文件仅是可从原始输入再生的中间文件。 + +编码及解码均保留 10 线程，使用 `--ffv1-slices 16` 的 FFV1 v3 分片配置，所有新输出仍与输入解码像素/深度位串完全一致；这不是 NVENC 或有损重编码。帧、深度、MANO、源关键点、相机和物体标签不变，不生成替代分割。既有完成视图保留其原始编码参数与构建记录，不为改变线程配置重编码。 + +### 两条真实序列前 200 帧、共 10 个视图的整流程试点 + +| 配置 | 转换秒数 | 全进程组平均 CPU/40 核 | 最高 5 秒平均 CPU/40 核 | +| --- | ---: | ---: | ---: | +| 原流程 | 251.24 | 12.43% | 25.53% | +| 8 视图线程 + 管道 | 118.66 | 26.89% | 47.86% | +| 8 视图线程 + PNG RAM | 128.23 | 25.27% | 44.32% | +| 16 视图线程 + 16 slices | 127.73 | 26.01% | 43.92% | +| 相机读取/转换重叠 + RAM 中间文件 | 107.63 | 29.98% | 44.13% | +| 16 相机 spawn 进程 + 重叠流水线 | 100.66 | 33.28% | 49.75% | + +每组完整 RGB/depth/depth_valid 解码摘要和所有数值 PT 均与原流程相同。数据来源、试点脚本、全部 cgroup 样本与验证记录保存到 `doc/validation/` 和 `script/provenance/operations/`。试点使用原始组件的前 200 帧重新封装为 gzip level 0，且同机旧全量及其他任务仍运行；缓存和并行负载未控制，不将此结果宣称为全量固定加速比，也不宣称已实现持续 80% CPU。80% 是尽量提高真实吞吐的软目标，不新增 CPU 上限，不做无用计算占满 CPU。全量需重新观察稳定阶段的 cgroup 统计。 + + +## v1.1 纯存储迁移 + +原始 RGB、深度及逐像素 valid、帧索引、MANO、左右手、split 和物体身份保持不变。不重新编码视频，不合成源缺失的 UV、分割或接触。 + +| v1.0 文件 | v1.1 文件与字典条目 | +|---|---| +| camera/intrinsic.pt + valid | camera/camera.pt → intrinsic/{data,valid} | +| camera/extrinsic.pt + valid | camera/camera.pt → extrinsic/{data,valid} | +| mano/motion.pt + valid | mano/mano.pt → motion/{data,valid} | +| keypoints/xyz.pt + valid | keypoints/keypoints.pt → xyz/{data,valid} | +| object//pose.pt + valid | object//object.pt → pose/{data,valid} | +| object//keypoints/xyz.pt + valid | object//object.pt → keypoints/xyz/{data,valid} | + +媒体／JSONL 的独立 valid 保留。没有新增缺失组件。迁移实现见 script/h2o_v1_1/pilot.py；本次仅原地调整 shared 数值存储，不修改 raw，不重编码媒体。原始构建记录与旧验收属于 v1.0，不冒充 v1.1 验收。 + + +全量入口：script/h2o_v1_1/full.py。原 v1.0 文档及构建记录保留于 history-v1.0/；旧转换实现及配套规范在 script/v1_0_snapshot/。 diff --git a/H2O/shared-v1.1/doc/V1_0_SEMANTICS.md b/H2O/shared-v1.1/doc/V1_0_SEMANTICS.md new file mode 100644 index 0000000000000000000000000000000000000000..f756d711647e109b6bb732ce1b9c84111730489d --- /dev/null +++ b/H2O/shared-v1.1/doc/V1_0_SEMANTICS.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/H2O/shared-v1.1/doc/history-v1.0/CONTRACT.md b/H2O/shared-v1.1/doc/history-v1.0/CONTRACT.md new file mode 100644 index 0000000000000000000000000000000000000000..f756d711647e109b6bb732ce1b9c84111730489d --- /dev/null +++ b/H2O/shared-v1.1/doc/history-v1.0/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/H2O/shared-v1.1/doc/history-v1.0/RAW_TO_SHARED.md b/H2O/shared-v1.1/doc/history-v1.0/RAW_TO_SHARED.md new file mode 100644 index 0000000000000000000000000000000000000000..ecbabbe2a02df9c56a784a2f9fdfafaf3b1b591c --- /dev/null +++ b/H2O/shared-v1.1/doc/history-v1.0/RAW_TO_SHARED.md @@ -0,0 +1,70 @@ +# H2O raw → shared-v1.0 + +## 范围与来源 + +本版本仅转换 `raw/data/subject{1,2,3,4}_v1_1.tar.gz` 的真实五视角 (`cam0`–`cam4`) 序列；`h2o_CASA.tar` 是单独的扩展，不与标准序列混合。每个原始序列存于 `data/subjectN__/cam{0..4}/`。源压缩包保持不变，不合成源不存在的标注。输出仅在本地制作；完整序列试点及人工检查通过、更新全量预估之前，不启动全量。 + +| 源包/字段 | shared 文件/处理 | +| --- | --- | +| `subjectN_v1_1.tar.gz`: `camX/rgb/.png` | `observation/rgb.mkv`：逐帧源 RGB 解码为 RGB24，FFV1 直接编码；输出**每帧**解码与源 RGB 字节摘要完全一致。`rgb_valid.pt` 记录存在性，源帧号和每组件的包成员及 SHA256 写入 `camera/frames.jsonl`。不再额外编码未采用的 H.264 RGB 候选；FFV1 编码器进程失败时才尝试 H.264。 | +| 同包 `camX/depth/.png` | `observation/depth.mkv` 和 `depth_valid.mkv`；按源毫米单位除以 1000 转米，保留无效深度与全帧时间轴，深度位串以 FFV1 保真封装并逐帧校验。既不做 3 米裁剪也不造出缺失的深度。 | +| `camX/cam_intrinsics.txt`、`camX/cam_pose/.txt` | `camera/intrinsic.pt`、`extrinsic.pt`：保留源内参；逐帧源 `T_world_from_camera` 求逆后存 `T_camera_from_world`；声明变换约定与有效性。 | +| `camX/hand_pose_mano/.txt` | `annotation/mano/motion.pt`、`motion_valid.pt`：源左/右手标志各自判断有效性；姿态与平移保持源数值，声明 MANO 模型配置，缺模型则明确标依赖缺失，不伪造网格或掩码。 | +| `camX/hand_pose/.txt` | `annotation/keypoints/xyz.pt`、`xyz_valid.pt`：源双手 21 点，相机坐标系米制，与 MANO 有效性彼此独立。HTML 中的投影仅用于人工预览，不写回训练数据。 | +| `camX/obj_pose/.txt`、`obj_pose_rt/.txt` | `annotation/object//keypoints/xyz.pt`、`pose.pt`：按源类号关联 21 个物体点及物体→相机位姿；仅源存在时登记组件及有效性。 | +| `object.zip` | `annotation/object//assets/` 与源 OBJ、MTL、纹理；静态形状预览不等于所有帧网格位姿的投影证明。 | +| `label_split.zip` 的 `action_{train,val,test}.txt` | 序列元数据的官方划分及来源；未知映射明确记 `unknown`，不自行编排。 | + +`cam4` 是 ego，`cam0`–`cam3` 是 exo。真实时间/FPS 缺乏可靠来源时使用 null，不把 MKV 封装帧率冒充采集时钟。源 `action_label`、`verb_label`、pose 任务帧列表和 `manolabel_v1.1.tar.gz` 保留在 raw；当前契约没有相应动作组件，本发布不宣称它们已转换。源没有像素分割，本版本不投影网格生成替代分割。 + +## 源资产文件名修复 + +源 `object/cocoa/cocoa.obj` 引用 `ovomaltine.mtl`，材质内写的是 `map_Kd cocoa.png`，但原 ZIP 只提供 `ovomaltine.png`。仅在临时解压目录为该已确认的纹理增加**字节相同**的 `cocoa.png` 别名，保留原 PNG、OBJ、MTL 不变；在网格 `source_locator.texture_aliases` 中记录别名、原始包成员和 SHA256。别名与已保留的旧 cocoa 资产一致，不替换图像、标注或网格。全部八类物体的材质依赖在读取大 subject 包之前预检，其他缺失/越界依赖仍报错。 + +## 加速与验收 + +四个互不依赖的 subject 压缩包可由 `--workers 1..4` 并行顺序读取，各 worker 一次只处理一个序列。数值库保持单线程；FFV1 编码支持 `--codec-threads 1|2|4|8|10`，当前全量按用户要求使用 10；`--decode-threads 10` 通过现有 `HAND_WAREHOUSE_FFMPEG_THREADS` 控制源 RGB PNG→RGB24、完整视频解码摘要、深度/有效性语义校验与 RGB 索引抽取的解码线程，完整校验仍保留。深度 PNG 使用 `--depth-threads 4` 有序分批读取，每批最多读取 4 帧，避免缓存整条序列，缺帧仍按原时间轴写 NaN；不并行改写姿态、标注或原始包。并发数由相同输入实测吞吐量决定，记录 OS 线程峰值和磁盘占用，不以 CPU 线程数本身作为提速证据。RGB 源为 PNG，不适用 ARCTIC/HOT3D 的 JPEG 包直封和 16 帧抽查：RGB、深度、有效性与数值模态仍逐帧精确校验。临时文件在 `/data` 上隔离放置，历史 62 条目录不复用、不覆盖；调整并发时，在新的运行目录复用本次全量已经原子发布的完整序列，并从源重新核对帧号及逐组件 SHA256；已发布视图只读源包并核对摘要，不再把源 PNG/标注写入临时目录，待转换视图才正常暂存。未完成的临时序列不复用，原运行的脚本、配置及 QC 保留用于溯源。 + +先运行不截帧的代表性完整序列试点，保存自动 QC、真实耗时和 `doc/validation/index.html`（RGB、深度、源 3D 关键点投影、原生物体网格和全组件数值/有效性）。试点由人工核查之后再决定全量；全量后再次抽样人工核查。报告须区分数据完整性、源未提供的模态与仅供人工判断的几何对齐。 + +2026-09-29 完整序列试点已获人工确认，用户已授权本地全量。2026-09-30 用户取消 CPU 使用量上限，指定 4 个独立压缩包 worker、每个 FFV1 编码器 10 线程、每个校验解码器 10 线程、每 worker 深度 PNG 读取 4 线程；Python worker、读取及校验子进程不计入这最多 40 个编码线程，因此总线程数不固定为 40。该配置不代表已证明加速倍数。源包和旧产物保留；代码变化使用独立运行目录，已完成序列保留原始构建记录及生产脚本快照。 + + +## 多线程解码测速（2026-09-30） + +在 101 上以真实 `subject4/h1/0/cam0` 的完整 RGB、深度和有效性视频，以及源头 100 帧 PNG 测试；采用 1、10、10、1 的解码线程顺序，源深度 PNG 另比较 1/2/4 线程。逐字节摘要和输出长度必须相同，测速脚本、全部轮次及结果保存在 `script/provenance/operations/` 和 `doc/validation/`。测速期间旧全量任务仍运行，磁盘负载和缓存会影响结果；不得将阶段加速比冒充整套转换加速比。四个 gzip 包已经独立并行读取，暂不引入多进程重构或增加数值库线程；小矩阵及标注处理没有已测得的进一步并行收益。 + + +本次同输入结果（解码后长度和 SHA256 全部相同）： + +| 阶段 | 1 线程（秒） | 新配置（秒） | 范围 | +| --- | ---: | ---: | --- | +| FFV1 RGB 解码与摘要 | 39.46 | 8.70（10 线程） | 完整 501 帧，中位数 | +| FFV1 深度位串解码与摘要 | 34.91 | 11.56（10 线程） | 完整 501 帧，中位数 | +| 有效性视频解码与摘要 | 2.24 | 2.27（10 线程） | 完整 501 帧；未获提速 | +| 源 RGB PNG 解码 | 2.67 | 1.49（10 线程） | 100 帧，1 线程使用热缓存轮次，不使用冷缓存较慢轮次来夸大提速 | +| 源深度 PNG 读取及毫米→米 | 4.67 | 2.61（4 线程） | 100 帧，中位数；帧序与数值相同 | + +这些结果只代表相应阶段；全流程还包括顺序 gzip 扫描、文件创建、源 SHA256、资产复制和磁盘读写，实际全量 ETA 待稳定吞吐后再更新。 + + +## 2026-09-30：全流水线并行与 I/O 优化 + +源读取仍是四个独立 archive 线程；新增共享相机转换池，正式使用 `--view-workers 16 --view-backend processes`，spawn 子进程避免共用 Python 解释器。`--camera-pipeline` 让一台相机的全部成员读完后立即转换，与下一台相机的读取重叠；如果发现相机成员交错，等待正在读取的任务结束、丢弃私有临时结果并回退到整个序列就绪后转换，不发布不完整视图。序列全部视图成功后仍原子发布。 + +小型 TXT 标注留在内存，仍按原规则解析并记录源成员 SHA256。`--stream-media` 用管道传递 RGB24 与深度位串，保留完整解码摘要、长度/帧序、索引读取和有效性检查，不再先写入巨大的 RGB/depth RAW 文件。临时 PNG 使用只读硬链接或跨文件系统符号链接，源文件不被修改，最终数据不包含这些临时链接。源 PNG 用 `--ram-stage-dir /dev/shm/... --ram-stage-gib 32` 暂存，32 GiB 是所有读取线程共享的 PNG 额度，满额退回磁盘，不阻塞生产者；错误及序列完成均返还额度。流式模式下每个视图不超过 2 GiB 的有效性临时文件也可留在 RAM，16 个视图最坏再需 32 GiB；这是独立于 PNG 额度的工作空间，正常 H2O 最大序列约每视图 1.1 GiB。源存档与最终结果仍在持久磁盘上，RAM 文件仅是可从原始输入再生的中间文件。 + +编码及解码均保留 10 线程，使用 `--ffv1-slices 16` 的 FFV1 v3 分片配置，所有新输出仍与输入解码像素/深度位串完全一致；这不是 NVENC 或有损重编码。帧、深度、MANO、源关键点、相机和物体标签不变，不生成替代分割。既有完成视图保留其原始编码参数与构建记录，不为改变线程配置重编码。 + +### 两条真实序列前 200 帧、共 10 个视图的整流程试点 + +| 配置 | 转换秒数 | 全进程组平均 CPU/40 核 | 最高 5 秒平均 CPU/40 核 | +| --- | ---: | ---: | ---: | +| 原流程 | 251.24 | 12.43% | 25.53% | +| 8 视图线程 + 管道 | 118.66 | 26.89% | 47.86% | +| 8 视图线程 + PNG RAM | 128.23 | 25.27% | 44.32% | +| 16 视图线程 + 16 slices | 127.73 | 26.01% | 43.92% | +| 相机读取/转换重叠 + RAM 中间文件 | 107.63 | 29.98% | 44.13% | +| 16 相机 spawn 进程 + 重叠流水线 | 100.66 | 33.28% | 49.75% | + +每组完整 RGB/depth/depth_valid 解码摘要和所有数值 PT 均与原流程相同。数据来源、试点脚本、全部 cgroup 样本与验证记录保存到 `doc/validation/` 和 `script/provenance/operations/`。试点使用原始组件的前 200 帧重新封装为 gzip level 0，且同机旧全量及其他任务仍运行；缓存和并行负载未控制，不将此结果宣称为全量固定加速比，也不宣称已实现持续 80% CPU。80% 是尽量提高真实吞吐的软目标，不新增 CPU 上限，不做无用计算占满 CPU。全量需重新观察稳定阶段的 cgroup 统计。 diff --git a/H2O/shared-v1.1/doc/history-v1.0/RESTART_PROVENANCE.json b/H2O/shared-v1.1/doc/history-v1.0/RESTART_PROVENANCE.json new file mode 100644 index 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