| --- |
| pretty_name: Syn4D multi-task benchmark files |
| --- |
| |
| # Syn4D multi-task benchmark files |
|
|
| This directory contains the portable ground-truth release and protocol metadata |
| for the 512-sequence Syn4D benchmark. The evaluator and model adapters are |
| maintained in [Syn4D_benchmark](https://github.com/jzr99/Syn4D_benchmark). |
|
|
| ## Contents |
|
|
| - `data/tracking_gt/<variant>/<scene>/<sequence>.npy`: one structured tracking |
| ground-truth file per sequence; |
| - `sequences.jsonl`: portable sequence index with paths relative to a local |
| `kaggle_eval` root; |
| - `protocol.json`: task definitions, alignment rules, metrics, and aggregation; |
| - `baselines.json`: official baseline repositories, revisions, and task support; |
| - `SHA256SUMS`: integrity checksums for all tracking ground-truth files. |
|
|
| There are 512 sequences: four variants (`mixed`, `mixed_no_bedlam`, `og`, and |
| `sim`) times eight scenes, eight base sequences, and two cameras. Every task |
| uses frames `0, 6, ..., 186` (32 frames). |
|
|
| ## Tracking NPY schema |
|
|
| Each file is a non-pickled structured NumPy scalar using schema |
| `syn4d-tracking-gt-v1` and can be loaded with `np.load(path, |
| allow_pickle=False)`. |
| |
| | Field | Shape | Description | |
| | --- | --- | --- | |
| | `schema` | scalar | Schema identifier | |
| | `sequence_id` | scalar | `<variant>/<scene>/<sequence>` | |
| | `tracks_ref0` | `[32,512,3]` | 3D trajectories in OpenCV frame-0 camera coordinates | |
| | `visibility` | `[32,512]` | Valid/visible correspondence mask | |
| | `dynamic` | `[512]` | Dynamic-query labels | |
| | `query_uv` | `[512,2]` | Frame-0 source-image query pixels | |
| | `frame_indices` | `[32]` | Evaluated source-frame indices | |
| | `intrinsics` | `[4]` | `[fx, fy, cx, cy]` | |
| | `image_size` | `[2]` | `[height, width]` | |
|
|
| The tracking benchmark evaluates these fixed 512 sparse queries. The |
| intermediate 4096-query WorldTrack conversion files are not required for |
| evaluation and are intentionally omitted. |
|
|
| Model inputs and the remaining task ground truth are included under this |
| directory's `challenge_eval` subtree: |
|
|
| - `<variant>/<scene>/mp4/<sequence>.mp4`: 512 model-input videos; |
| - `<variant>/<scene>/exr_layers/depth/<sequence>/`: the 32 evaluated depth EXRs; |
| - `<variant>/<scene>/ground_truth/meta_exr_csv/`: camera-pose metadata. |
|
|
| ## Download and use |
|
|
| ```bash |
| git clone https://github.com/jzr99/Syn4D_benchmark.git |
| cd Syn4D_benchmark |
| python -m pip install -r requirements.txt |
| python download_benchmark.py --output data/release |
| export SYN4D_DATA_ROOT="$PWD/data/release/benchmark/challenge_eval" |
| export SYN4D_TRACKING_GT="$PWD/data/release/benchmark/data/tracking_gt" |
| ``` |
|
|
| The downloader fetches only the release files needed for evaluation, resumes |
| partial downloads, and verifies the expected file counts. It does not download |
| the much larger source-PNG mirror. See the GitHub README for task-specific |
| downloads and the prediction contract. |
|
|
| Verify the release with: |
|
|
| ```bash |
| cd Syn4D_Benchmark/benchmark |
| sha256sum --check SHA256SUMS |
| ``` |
|
|
| ## Baseline results |
|
|
| All values are macro-averages over 512 sequences. A dash means the official |
| method does not expose that task through a compatible inference interface. |
|
|
| | Method | Track score | APD | Dynamic APD | EPE (m) | Depth AbsRel | Depth delta1 | Pose ATE (m) | RPE trans. (m) | RPE rot. (deg) | |
| | --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | |
| | Open-D4RT | 0.3043 | 0.3631 | 0.2317 | 2.3298 | 0.1290 | 0.8408 | 0.0676 | 0.0355 | 0.3872 | |
| | 4RC | 0.4763 | 0.5848 | 0.3417 | 1.5925 | 0.0775 | 0.9195 | 0.0370 | 0.0218 | 0.1593 | |
| | V-DPM | 0.4880 | 0.5774 | 0.3757 | 1.6371 | 0.0891 | 0.9022 | 0.0375 | 0.0265 | 0.1693 | |
| | Any4D | 0.2776 | 0.3676 | 0.1701 | 1.8578 | 0.1040 | 0.8874 | 0.1611 | 0.1382 | 0.7645 | |
| | TraceAnything | 0.2206 | 0.3240 | 0.1003 | 2.3577 | - | - | - | - | - | |
| | St4RTrack | 0.2575 | 0.3302 | 0.1667 | 2.2390 | - | - | - | - | - | |
| | SpaTrackerV2 | 0.4334 | 0.5452 | 0.2960 | 1.6163 | 0.0727 | 0.9210 | 0.0444 | 0.0332 | 0.1569 | |
|
|
