Datasets:
schema_version stringclasses 1
value | sample_id stringlengths 43 43 | task stringclasses 1
value | source_dataset stringclasses 1
value | source_task stringclasses 1
value | split stringclasses 1
value | scene_id stringclasses 885
values | query dict | anchor dict | images listlengths 1 1 | objects listlengths 1 10 | answer stringlengths 448 4.54k | metadata dict |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:92222edf1136b473acb1 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "sink",
"text": "Detect every sink instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D boxes... | {
"image_index": 0,
"frame": "6661",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-006661.jpg",
"frame": "6661",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "118",
"label": "sink",
"box3d": {
"center": [
-0.509865,
0.253708,
0.871904
],
"size": [
0.512311,
0.146658,
0.370248
],
"rot": {
"type": "matrix3x3",
"value": [
0.796229,
0.... | objects = [{"object_id":"118","label":"sink","box3d":{"center":[-0.509865,0.253708,0.871904],"size":[0.512311,0.146658,0.370248],"rot":{"type":"matrix3x3","value":[0.796229,0.056349,-0.602366,-0.363278,0.840707,-0.401548,0.483786,0.538551,0.689865],"convention":"row_major; source OBB local axes transformed from Nymeria... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:A005:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:35d7e8f43aba7edf7347 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "storage",
"text": "Detect every storage instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D... | {
"image_index": 0,
"frame": "6661",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-006661.jpg",
"frame": "6661",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "116",
"label": "storage",
"box3d": {
"center": [
-0.512575,
0.513429,
1.043007
],
"size": [
0.975999,
0.80521,
0.565386
],
"rot": {
"type": "matrix3x3",
"value": [
0.796229,
... | objects = [{"object_id":"116","label":"storage","box3d":{"center":[-0.512575,0.513429,1.043007],"size":[0.975999,0.80521,0.565386],"rot":{"type":"matrix3x3","value":[0.796229,0.056349,-0.602365,-0.363277,0.840707,-0.401549,0.483785,0.538551,0.689866],"convention":"row_major; source OBB local axes transformed from Nymer... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:A005:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:23adfcec8097916147f0 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "mirror",
"text": "Detect every mirror instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D b... | {
"image_index": 0,
"frame": "9900",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-009900.jpg",
"frame": "9900",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "54",
"label": "mirror",
"box3d": {
"center": [
-0.082124,
0.310725,
1.372123
],
"size": [
0.834405,
1.679746,
0.098265
],
"rot": {
"type": "matrix3x3",
"value": [
-0.334042,
... | objects = [{"object_id":"54","label":"mirror","box3d":{"center":[-0.082124,0.310725,1.372123],"size":[0.834405,1.679746,0.098265],"rot":{"type":"matrix3x3","value":[-0.334042,-0.030464,-0.942066,-0.088766,0.996052,-0.000734,0.938369,0.083378,-0.335427],"convention":"row_major; source OBB local axes transformed from Nym... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:A008:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:55aeb86739845f7729ea | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "screen",
"text": "Detect every screen instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D b... | {
"image_index": 0,
"frame": "9900",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-009900.jpg",
"frame": "9900",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "62",
"label": "screen",
"box3d": {
"center": [
-0.961301,
-0.607983,
1.546007
],
"size": [
1.102717,
0.647027,
0.118229
],
"rot": {
"type": "matrix3x3",
"value": [
-0.945096,
... | objects = [{"object_id":"62","label":"screen","box3d":{"center":[-0.961301,-0.607983,1.546007],"size":[1.102717,0.647027,0.118229],"rot":{"type":"matrix3x3","value":[-0.945096,-0.088951,0.314453,0.01343,0.950857,0.309339,-0.326516,0.296578,-0.897457],"convention":"row_major; source OBB local axes transformed from Nymer... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:A008:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:4a2357024038ea750c9f | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "couch",
"text": "Detect every couch instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D box... | {
"image_index": 0,
"frame": "11740",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-011740.jpg",
"frame": "11740",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "12",
"label": "couch",
"box3d": {
"center": [
-0.024344,
-0.067835,
2.029501
],
"size": [
1.031645,
0.874149,
2.04325
],
"rot": {
"type": "matrix3x3",
"value": [
0.024167,
-0... | objects = [{"object_id":"12","label":"couch","box3d":{"center":[-0.024344,-0.067835,2.029501],"size":[1.031645,0.874149,2.04325],"rot":{"type":"matrix3x3","value":[0.024167,-0.016627,0.99957,0.3216,0.946842,0.007974,-0.946567,0.321269,0.028229],"convention":"row_major; source OBB local axes transformed from NymeriaPlus... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:A009:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:4ca8aab22196cbb56288 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "lamp",
"text": "Detect every lamp instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D boxes... | {
"image_index": 0,
"frame": "11740",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-011740.jpg",
"frame": "11740",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "0",
"label": "lamp",
"box3d": {
"center": [
-1.74971,
-0.593345,
2.008385
],
"size": [
0.31372,
0.791967,
0.327975
],
"rot": {
"type": "matrix3x3",
"value": [
-0.862527,
-0.0... | objects = [{"object_id":"0","label":"lamp","box3d":{"center":[-1.74971,-0.593345,2.008385],"size":[0.31372,0.791967,0.327975],"rot":{"type":"matrix3x3","value":[-0.862527,-0.016613,0.505738,0.14894,0.94685,0.285119,-0.483595,0.321247,-0.814209],"convention":"row_major; source OBB local axes transformed from NymeriaPlus... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:A009:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:0f5b2ad2f03227acd358 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "storage",
"text": "Detect every storage instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D... | {
"image_index": 0,
"frame": "12535",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-012535.jpg",
"frame": "12535",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "137",
"label": "storage",
"box3d": {
"center": [
0.216071,
0.143725,
0.776923
],
"size": [
0.299332,
0.436011,
0.735864
],
"rot": {
"type": "matrix3x3",
"value": [
0.137943,
... | objects = [{"object_id":"137","label":"storage","box3d":{"center":[0.216071,0.143725,0.776923],"size":[0.299332,0.436011,0.735864],"rot":{"type":"matrix3x3","value":[0.137943,-0.165483,-0.976518,0.773569,0.633709,0.001885,0.618516,-0.755664,0.215428],"convention":"row_major; source OBB local axes transformed from Nymer... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:A010:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:f5752e81df51cca46087 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "couch",
"text": "Detect every couch instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D box... | {
"image_index": 0,
"frame": "14846",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-014846.jpg",
"frame": "14846",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "12",
"label": "couch",
"box3d": {
"center": [
-0.558514,
0.319039,
1.988702
],
"size": [
1.031645,
0.874149,
2.04325
],
"rot": {
"type": "matrix3x3",
"value": [
0.282383,
0.1... | objects = [{"object_id":"12","label":"couch","box3d":{"center":[-0.558514,0.319039,1.988702],"size":[1.031645,0.874149,2.04325],"rot":{"type":"matrix3x3","value":[0.282383,0.152565,0.947092,0.148288,0.968464,-0.200221,-0.947771,0.196982,0.250854],"convention":"row_major; source OBB local axes transformed from NymeriaPl... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:A012:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:2da0eef8b9dd2303ecb2 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "couch",
"text": "Detect every couch instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D box... | {
"image_index": 0,
"frame": "15649",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-015649.jpg",
"frame": "15649",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "12",
"label": "couch",
"box3d": {
"center": [
-0.963792,
1.009862,
1.4368
],
"size": [
1.031645,
0.874149,
2.04325
],
"rot": {
"type": "matrix3x3",
"value": [
0.432134,
-0.19... | objects = [{"object_id":"12","label":"couch","box3d":{"center":[-0.963792,1.009862,1.4368],"size":[1.031645,0.874149,2.04325],"rot":{"type":"matrix3x3","value":[0.432134,-0.198256,0.879747,-0.227328,0.920084,0.319011,-0.872687,-0.337846,0.35253],"convention":"row_major; source OBB local axes transformed from NymeriaPlu... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:A013:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:6c81ef095a9ec91f1494 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "refrigerator",
"text": "Detect every refrigerator instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all r... | {
"image_index": 0,
"frame": "18175",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-018175.jpg",
"frame": "18175",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "150",
"label": "refrigerator",
"box3d": {
"center": [
0.146619,
0.035704,
3.876021
],
"size": [
0.973612,
1.794968,
0.871878
],
"rot": {
"type": "matrix3x3",
"value": [
-0.495154,
... | objects = [{"object_id":"150","label":"refrigerator","box3d":{"center":[0.146619,0.035704,3.876021],"size":[0.973612,1.794968,0.871878],"rot":{"type":"matrix3x3","value":[-0.495154,-0.000491,0.868805,0.114468,0.991246,0.065798,-0.861232,0.132031,-0.490763],"convention":"row_major; source OBB local axes transformed from... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:A015:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:8d573f8ca7ebf956c4c2 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "table",
"text": "Detect every table instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D box... | {
"image_index": 0,
"frame": "18175",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-018175.jpg",
"frame": "18175",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "13",
"label": "table",
"box3d": {
"center": [
-0.661941,
0.687745,
2.319741
],
"size": [
1.138456,
0.912445,
0.938221
],
"rot": {
"type": "matrix3x3",
"value": [
0.864218,
-0... | objects = [{"object_id":"13","label":"table","box3d":{"center":[-0.661941,0.687745,2.319741],"size":[1.138456,0.912445,0.938221],"rot":{"type":"matrix3x3","value":[0.864218,-0.000489,0.503118,0.066846,0.991245,-0.11386,-0.498658,0.132031,0.856684],"convention":"row_major; source OBB local axes transformed from NymeriaP... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:A015:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:d3f71199ea0788db0204 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "lamp",
"text": "Detect every lamp instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D boxes... | {
"image_index": 0,
"frame": "7588",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-007588.jpg",
"frame": "7588",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "44",
"label": "lamp",
"box3d": {
"center": [
-2.188731,
0.079814,
1.977286
],
"size": [
0.296669,
0.67425,
0.30922
],
"rot": {
"type": "matrix3x3",
"value": [
-0.168518,
-0.0... | objects = [{"object_id":"44","label":"lamp","box3d":{"center":[-2.188731,0.079814,1.977286],"size":[0.296669,0.67425,0.30922],"rot":{"type":"matrix3x3","value":[-0.168518,-0.002442,0.985695,0.154476,0.987575,0.028856,-0.973519,0.157129,-0.166047],"convention":"row_major; source OBB local axes transformed from NymeriaPl... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R000:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:a8e3d6edbb12348d5fc6 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "table",
"text": "Detect every table instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D box... | {
"image_index": 0,
"frame": "7588",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-007588.jpg",
"frame": "7588",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "21",
"label": "table",
"box3d": {
"center": [
-0.170511,
0.827673,
1.704063
],
"size": [
0.362267,
0.703233,
0.402438
],
"rot": {
"type": "matrix3x3",
"value": [
-0.172813,
-... | objects = [{"object_id":"21","label":"table","box3d":{"center":[-0.170511,0.827673,1.704063],"size":[0.362267,0.703233,0.402438],"rot":{"type":"matrix3x3","value":[-0.172813,-0.00244,0.984952,0.154351,0.987575,0.029528,-0.972785,0.157131,-0.170289],"convention":"row_major; source OBB local axes transformed from Nymeria... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R000:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:73a36d0ab34a291357e2 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "sink",
"text": "Detect every sink instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D boxes... | {
"image_index": 0,
"frame": "10240",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-010240.jpg",
"frame": "10240",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "98",
"label": "sink",
"box3d": {
"center": [
0.559837,
0.358032,
0.649448
],
"size": [
0.3746,
0.157364,
0.27219
],
"rot": {
"type": "matrix3x3",
"value": [
0.485835,
0.02752... | objects = [{"object_id":"98","label":"sink","box3d":{"center":[0.559837,0.358032,0.649448],"size":[0.3746,0.157364,0.27219],"rot":{"type":"matrix3x3","value":[0.485835,0.027528,0.873617,0.277929,0.942762,-0.184268,-0.828686,0.332327,0.450376],"convention":"row_major; source OBB local axes transformed from NymeriaPlus w... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R001:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:90017d541986474fb38c | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "toilet",
"text": "Detect every toilet instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D b... | {
"image_index": 0,
"frame": "10240",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-010240.jpg",
"frame": "10240",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "99",
"label": "toilet",
"box3d": {
"center": [
0.113962,
0.604242,
1.294576
],
"size": [
0.462066,
0.792644,
0.777458
],
"rot": {
"type": "matrix3x3",
"value": [
0.485835,
0.... | objects = [{"object_id":"99","label":"toilet","box3d":{"center":[0.113962,0.604242,1.294576],"size":[0.462066,0.792644,0.777458],"rot":{"type":"matrix3x3","value":[0.485835,0.027528,0.873617,0.277929,0.942762,-0.184268,-0.828686,0.332327,0.450377],"convention":"row_major; source OBB local axes transformed from NymeriaP... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R001:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:f9b5ab841e948b83b0ad | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "chair",
"text": "Detect every chair instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D box... | {
"image_index": 0,
"frame": "5809",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-005809.jpg",
"frame": "5809",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "121",
"label": "chair",
"box3d": {
"center": [
1.149318,
0.609341,
3.244586
],
"size": [
0.736476,
0.867461,
0.861761
],
"rot": {
"type": "matrix3x3",
"value": [
0.957134,
0.... | objects = [{"object_id":"121","label":"chair","box3d":{"center":[1.149318,0.609341,3.244586],"size":[0.736476,0.867461,0.861761],"rot":{"type":"matrix3x3","value":[0.957134,0.02327,0.288708,0.009682,0.99364,-0.112184,-0.289483,0.11017,0.950822],"convention":"row_major; source OBB local axes transformed from NymeriaPlus... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R003:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:790d406ec34d46d11c37 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "couch",
"text": "Detect every couch instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D box... | {
"image_index": 0,
"frame": "5809",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-005809.jpg",
"frame": "5809",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "42",
"label": "couch",
"box3d": {
"center": [
-0.287464,
0.738954,
2.325091
],
"size": [
0.79706,
0.879568,
1.211717
],
"rot": {
"type": "matrix3x3",
"value": [
-0.961235,
0.... | objects = [{"object_id":"42","label":"couch","box3d":{"center":[-0.287464,0.738954,2.325091],"size":[0.79706,0.879568,1.211717],"rot":{"type":"matrix3x3","value":[-0.961235,0.023294,-0.274745,-0.008021,0.993641,0.112307,0.275614,0.110157,-0.954936],"convention":"row_major; source OBB local axes transformed from Nymeria... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R003:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:863360760c967c9d0f26 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "screen",
"text": "Detect every screen instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D b... | {
"image_index": 0,
"frame": "5809",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-005809.jpg",
"frame": "5809",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "124",
"label": "screen",
"box3d": {
"center": [
1.329779,
-0.888745,
3.116966
],
"size": [
1.392886,
0.815149,
0.12
],
"rot": {
"type": "matrix3x3",
"value": [
0.942413,
0.12... | objects = [{"object_id":"124","label":"screen","box3d":{"center":[1.329779,-0.888745,3.116966],"size":[1.392886,0.815149,0.12],"rot":{"type":"matrix3x3","value":[0.942413,0.126455,0.309624,0.024694,0.896931,-0.44148,-0.333539,0.423702,0.842157],"convention":"row_major; source OBB local axes transformed from NymeriaPlus... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R003:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:2e933fc7926d99b952c0 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "table",
"text": "Detect every table instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D box... | {
"image_index": 0,
"frame": "5809",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-005809.jpg",
"frame": "5809",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "11",
"label": "table",
"box3d": {
"center": [
0.779415,
0.998847,
1.804604
],
"size": [
0.634803,
0.473423,
1.220703
],
"rot": {
"type": "matrix3x3",
"value": [
-0.967352,
0.... | objects = [{"object_id":"11","label":"table","box3d":{"center":[0.779415,0.998847,1.804604],"size":[0.634803,0.473423,1.220703],"rot":{"type":"matrix3x3","value":[-0.967352,0.023294,-0.252363,-0.005413,0.993641,0.112467,0.253378,0.110162,-0.961075],"convention":"row_major; source OBB local axes transformed from Nymeria... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R003:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:fac975d567b00c70721f | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "washer dryer",
"text": "Detect every washer dryer instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all r... | {
"image_index": 0,
"frame": "6274",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-006274.jpg",
"frame": "6274",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "113",
"label": "washer dryer",
"box3d": {
"center": [
-0.160008,
0.291114,
0.773361
],
"size": [
0.68505,
1.091157,
0.716745
],
"rot": {
"type": "matrix3x3",
"value": [
-0.580931,
... | objects = [{"object_id":"113","label":"washer dryer","box3d":{"center":[-0.160008,0.291114,0.773361],"size":[0.68505,1.091157,0.716745],"rot":{"type":"matrix3x3","value":[-0.580931,-0.142621,-0.80136,-0.614315,0.72271,0.316713,0.533982,0.676276,-0.507459],"convention":"row_major; source OBB local axes transformed from ... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R004:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:7b21e03c337906007e81 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "wall art",
"text": "Detect every wall art instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned ... | {
"image_index": 0,
"frame": "6575",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-006575.jpg",
"frame": "6575",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "105",
"label": "wall art",
"box3d": {
"center": [
2.258244,
-0.420476,
2.252141
],
"size": [
0.944998,
0.892766,
0.12
],
"rot": {
"type": "matrix3x3",
"value": [
0.942647,
0.... | objects = [{"object_id":"105","label":"wall art","box3d":{"center":[2.258244,-0.420476,2.252141],"size":[0.944998,0.892766,0.12],"rot":{"type":"matrix3x3","value":[0.942647,0.135486,0.305059,-0.115805,0.989898,-0.081799,-0.31306,0.04178,0.948814],"convention":"row_major; source OBB local axes transformed from NymeriaPl... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R005:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:eae06274054ade16490c | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "lamp",
"text": "Detect every lamp instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D boxes... | {
"image_index": 0,
"frame": "6639",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-006639.jpg",
"frame": "6639",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "120",
"label": "lamp",
"box3d": {
"center": [
-0.71963,
-0.95805,
1.168323
],
"size": [
0.671917,
0.230567,
0.105932
],
"rot": {
"type": "matrix3x3",
"value": [
0.898264,
0.1... | objects = [{"object_id":"120","label":"lamp","box3d":{"center":[-0.71963,-0.95805,1.168323],"size":[0.671917,0.230567,0.105932],"rot":{"type":"matrix3x3","value":[0.898264,0.155781,-0.410919,-0.264749,0.938159,-0.22308,0.350756,0.309175,0.883957],"convention":"row_major; source OBB local axes transformed from NymeriaPl... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R006:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:1f079f44ec09d8948283 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "mirror",
"text": "Detect every mirror instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D b... | {
"image_index": 0,
"frame": "6639",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-006639.jpg",
"frame": "6639",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "119",
"label": "mirror",
"box3d": {
"center": [
-0.662024,
-0.334017,
1.344652
],
"size": [
0.617263,
0.915014,
0.12
],
"rot": {
"type": "matrix3x3",
"value": [
0.898264,
0.1... | objects = [{"object_id":"119","label":"mirror","box3d":{"center":[-0.662024,-0.334017,1.344652],"size":[0.617263,0.915014,0.12],"rot":{"type":"matrix3x3","value":[0.898264,0.155781,-0.41092,-0.264749,0.93816,-0.223079,0.350757,0.309175,0.883957],"convention":"row_major; source OBB local axes transformed from NymeriaPlu... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R006:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:9dc504619a42b2a982b9 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "sink",
"text": "Detect every sink instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D boxes... | {
"image_index": 0,
"frame": "6639",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-006639.jpg",
"frame": "6639",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "118",
"label": "sink",
"box3d": {
"center": [
-0.413841,
0.365364,
1.325969
],
"size": [
0.512311,
0.146658,
0.370248
],
"rot": {
"type": "matrix3x3",
"value": [
0.900046,
0.... | objects = [{"object_id":"118","label":"sink","box3d":{"center":[-0.413841,0.365364,1.325969],"size":[0.512311,0.146658,0.370248],"rot":{"type":"matrix3x3","value":[0.900046,0.155781,-0.407,-0.263774,0.93816,-0.224231,0.3469,0.309174,0.885478],"convention":"row_major; source OBB local axes transformed from NymeriaPlus w... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R006:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:bb58eb6a610be5424149 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "chair",
"text": "Detect every chair instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D box... | {
"image_index": 0,
"frame": "7420",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-007420.jpg",
"frame": "7420",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "101",
"label": "chair",
"box3d": {
"center": [
-0.061103,
0.618292,
2.509107
],
"size": [
0.658007,
0.801062,
0.777457
],
"rot": {
"type": "matrix3x3",
"value": [
-0.466772,
... | objects = [{"object_id":"101","label":"chair","box3d":{"center":[-0.061103,0.618292,2.509107],"size":[0.658007,0.801062,0.777457],"rot":{"type":"matrix3x3","value":[-0.466772,0.003663,-0.88437,-0.141802,0.986743,0.07893,0.872935,0.162248,-0.460065],"convention":"row_major; source OBB local axes transformed from Nymeria... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R007:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:34f330c1696cebfda858 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "lamp",
"text": "Detect every lamp instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D boxes... | {
"image_index": 0,
"frame": "7589",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-007589.jpg",
"frame": "7589",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "44",
"label": "lamp",
"box3d": {
"center": [
-2.183262,
0.104948,
1.942657
],
"size": [
0.296669,
0.67425,
0.30922
],
"rot": {
"type": "matrix3x3",
"value": [
-0.163393,
-0.0... | objects = [{"object_id":"44","label":"lamp","box3d":{"center":[-2.183262,0.104948,1.942657],"size":[0.296669,0.67425,0.30922],"rot":{"type":"matrix3x3","value":[-0.163393,-0.010413,0.986506,0.134605,0.990358,0.032748,-0.977335,0.13814,-0.160415],"convention":"row_major; source OBB local axes transformed from NymeriaPlu... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R008:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:3f605a0ae88504994422 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "table",
"text": "Detect every table instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D box... | {
"image_index": 0,
"frame": "7589",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-007589.jpg",
"frame": "7589",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "21",
"label": "table",
"box3d": {
"center": [
-0.168668,
0.861909,
1.66774
],
"size": [
0.362267,
0.703233,
0.402438
],
"rot": {
"type": "matrix3x3",
"value": [
-0.167691,
-0... | objects = [{"object_id":"21","label":"table","box3d":{"center":[-0.168668,0.861909,1.66774],"size":[0.362267,0.703233,0.402438],"rot":{"type":"matrix3x3","value":[-0.167691,-0.010412,0.985785,0.134464,0.990358,0.033334,-0.976626,0.138143,-0.164674],"convention":"row_major; source OBB local axes transformed from Nymeria... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R008:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:6fb9675522efa808dab8 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "lamp",
"text": "Detect every lamp instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D boxes... | {
"image_index": 0,
"frame": "7591",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-007591.jpg",
"frame": "7591",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "44",
"label": "lamp",
"box3d": {
"center": [
-2.18109,
0.180886,
1.832039
],
"size": [
0.296669,
0.67425,
0.30922
],
"rot": {
"type": "matrix3x3",
"value": [
-0.138788,
-0.01... | objects = [{"object_id":"44","label":"lamp","box3d":{"center":[-2.18109,0.180886,1.832039],"size":[0.296669,0.67425,0.30922],"rot":{"type":"matrix3x3","value":[-0.138788,-0.011678,0.990253,0.098842,0.994774,0.025585,-0.985377,0.10143,-0.136909],"convention":"row_major; source OBB local axes transformed from NymeriaPlus... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R009:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:c2473cccf36e7d5e7e72 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "table",
"text": "Detect every table instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D box... | {
"image_index": 0,
"frame": "7591",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-007591.jpg",
"frame": "7591",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "21",
"label": "table",
"box3d": {
"center": [
-0.158646,
0.924686,
1.57977
],
"size": [
0.362267,
0.703233,
0.402438
],
"rot": {
"type": "matrix3x3",
"value": [
-0.143103,
-0... | objects = [{"object_id":"21","label":"table","box3d":{"center":[-0.158646,0.924686,1.57977],"size":[0.362267,0.703233,0.402438],"rot":{"type":"matrix3x3","value":[-0.143103,-0.011677,0.989639,0.098733,0.994774,0.026014,-0.984771,0.101433,-0.141202],"convention":"row_major; source OBB local axes transformed from Nymeria... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R009:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:b7a72606e0f7d6d968e2 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "bed",
"text": "Detect every bed instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D boxes u... | {
"image_index": 0,
"frame": "9710",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-009710.jpg",
"frame": "9710",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "16",
"label": "bed",
"box3d": {
"center": [
0.68562,
0.848746,
1.752448
],
"size": [
2.128347,
0.727121,
1.615374
],
"rot": {
"type": "matrix3x3",
"value": [
-0.703507,
-0.14... | objects = [{"object_id":"16","label":"bed","box3d":{"center":[0.68562,0.848746,1.752448],"size":[2.128347,0.727121,1.615374],"rot":{"type":"matrix3x3","value":[-0.703507,-0.147497,-0.695214,-0.233137,0.97199,0.0297,0.671361,0.182975,-0.718189],"convention":"row_major; source OBB local axes transformed from NymeriaPlus ... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R011:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:b95a6f6b12cb855b7a8e | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "mirror",
"text": "Detect every mirror instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D b... | {
"image_index": 0,
"frame": "9710",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-009710.jpg",
"frame": "9710",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "54",
"label": "mirror",
"box3d": {
"center": [
0.742107,
-0.137025,
3.418245
],
"size": [
0.834405,
1.679746,
0.098265
],
"rot": {
"type": "matrix3x3",
"value": [
-0.706529,
... | objects = [{"object_id":"54","label":"mirror","box3d":{"center":[0.742107,-0.137025,3.418245],"size":[0.834405,1.679746,0.098265],"rot":{"type":"matrix3x3","value":[-0.706529,-0.147498,-0.692143,-0.233008,0.971989,0.030718,0.668225,0.182978,-0.721107],"convention":"row_major; source OBB local axes transformed from Nyme... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R011:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:bd3e2ec5b137c469c31e | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "screen",
"text": "Detect every screen instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D b... | {
"image_index": 0,
"frame": "9710",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-009710.jpg",
"frame": "9710",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "62",
"label": "screen",
"box3d": {
"center": [
-0.042763,
-1.08813,
3.062452
],
"size": [
1.102717,
0.647027,
0.118229
],
"rot": {
"type": "matrix3x3",
"value": [
-0.699981,
... | objects = [{"object_id":"62","label":"screen","box3d":{"center":[-0.042763,-1.08813,3.062452],"size":[1.102717,0.647027,0.118229],"rot":{"type":"matrix3x3","value":[-0.699981,-0.290391,0.652456,0.043347,0.894638,0.444684,-0.712844,0.339553,-0.613642],"convention":"row_major; source OBB local axes transformed from Nymer... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R011:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:fd6fb0cc7f8438a557d0 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "table",
"text": "Detect every table instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D box... | {
"image_index": 0,
"frame": "9710",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-009710.jpg",
"frame": "9710",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "56",
"label": "table",
"box3d": {
"center": [
2.040463,
1.054788,
1.834866
],
"size": [
0.363393,
0.696116,
0.481564
],
"rot": {
"type": "matrix3x3",
"value": [
-0.700461,
-0... | objects = [{"object_id":"56","label":"table","box3d":{"center":[2.040463,1.054788,1.834866],"size":[0.363393,0.696116,0.481564],"rot":{"type":"matrix3x3","value":[-0.700461,-0.147498,-0.698282,-0.233268,0.971989,0.028683,0.674492,0.182978,-0.715247],"convention":"row_major; source OBB local axes transformed from Nymeri... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R011:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:380cf069de5417fe4bb2 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "wall art",
"text": "Detect every wall art instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned ... | {
"image_index": 0,
"frame": "9710",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-009710.jpg",
"frame": "9710",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "105",
"label": "wall art",
"box3d": {
"center": [
1.485521,
-0.348129,
2.631741
],
"size": [
0.944998,
0.892766,
0.12
],
"rot": {
"type": "matrix3x3",
"value": [
0.708646,
-0... | objects = [{"object_id":"105","label":"wall art","box3d":{"center":[1.485521,-0.348129,2.631741],"size":[0.944998,0.892766,0.12],"rot":{"type":"matrix3x3","value":[0.708646,-0.136969,0.692142,0.218521,0.975349,-0.030718,-0.670872,0.173015,0.721108],"convention":"row_major; source OBB local axes transformed from Nymeria... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R011:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:4a3cd43f9d9e130792a8 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "bed",
"text": "Detect every bed instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D boxes u... | {
"image_index": 0,
"frame": "9711",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-009711.jpg",
"frame": "9711",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "16",
"label": "bed",
"box3d": {
"center": [
0.662935,
0.900978,
1.699744
],
"size": [
2.128347,
0.727121,
1.615374
],
"rot": {
"type": "matrix3x3",
"value": [
-0.701599,
-0.1... | objects = [{"object_id":"16","label":"bed","box3d":{"center":[0.662935,0.900978,1.699744],"size":[2.128347,0.727121,1.615374],"rot":{"type":"matrix3x3","value":[-0.701599,-0.159425,-0.694509,-0.226718,0.973945,0.005463,0.675543,0.16129,-0.719463],"convention":"row_major; source OBB local axes transformed from NymeriaPl... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R012:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:5977c85ac36b2489d351 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "mirror",
"text": "Detect every mirror instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D b... | {
"image_index": 0,
"frame": "9711",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-009711.jpg",
"frame": "9711",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "54",
"label": "mirror",
"box3d": {
"center": [
0.728919,
-0.047029,
3.386974
],
"size": [
0.834405,
1.679746,
0.098265
],
"rot": {
"type": "matrix3x3",
"value": [
-0.704618,
... | objects = [{"object_id":"54","label":"mirror","box3d":{"center":[0.728919,-0.047029,3.386974],"size":[0.834405,1.679746,0.098265],"rot":{"type":"matrix3x3","value":[-0.704618,-0.159426,-0.691446,-0.226695,0.973944,0.006452,0.672401,0.161294,-0.7224],"convention":"row_major; source OBB local axes transformed from Nymeri... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R012:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:85ffb390af066c682570 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "screen",
"text": "Detect every screen instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D b... | {
"image_index": 0,
"frame": "9711",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-009711.jpg",
"frame": "9711",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "62",
"label": "screen",
"box3d": {
"center": [
-0.043963,
-1.015142,
3.051381
],
"size": [
1.102717,
0.647027,
0.118229
],
"rot": {
"type": "matrix3x3",
"value": [
-0.699447,
... | objects = [{"object_id":"62","label":"screen","box3d":{"center":[-0.043963,-1.015142,3.051381],"size":[1.102717,0.647027,0.118229],"rot":{"type":"matrix3x3","value":[-0.699447,-0.301599,0.647928,0.019166,0.898352,0.438857,-0.714427,0.319376,-0.62257],"convention":"row_major; source OBB local axes transformed from Nymer... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R012:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:656b3c4803e0cd868909 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "table",
"text": "Detect every table instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D box... | {
"image_index": 0,
"frame": "9711",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-009711.jpg",
"frame": "9711",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "56",
"label": "table",
"box3d": {
"center": [
2.015086,
1.125095,
1.779137
],
"size": [
0.363393,
0.696116,
0.481564
],
"rot": {
"type": "matrix3x3",
"value": [
-0.698556,
-0... | objects = [{"object_id":"56","label":"table","box3d":{"center":[2.015086,1.125095,1.779137],"size":[0.363393,0.696116,0.481564],"rot":{"type":"matrix3x3","value":[-0.698556,-0.159426,-0.697569,-0.226743,0.973944,0.004474,0.67868,0.161294,-0.716504],"convention":"row_major; source OBB local axes transformed from Nymeria... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R012:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:8b6b560cfdc37409759c | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "wall art",
"text": "Detect every wall art instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned ... | {
"image_index": 0,
"frame": "9711",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-009711.jpg",
"frame": "9711",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "105",
"label": "wall art",
"box3d": {
"center": [
1.475923,
-0.266473,
2.606174
],
"size": [
0.944998,
0.892766,
0.12
],
"rot": {
"type": "matrix3x3",
"value": [
0.706913,
-0... | objects = [{"object_id":"105","label":"wall art","box3d":{"center":[1.475923,-0.266473,2.606174],"size":[0.944998,0.892766,0.12],"rot":{"type":"matrix3x3","value":[0.706913,-0.148924,0.691445,0.212179,0.97721,-0.006453,-0.674725,0.151271,0.722401],"convention":"row_major; source OBB local axes transformed from NymeriaP... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R012:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:ba76843677b4c28d9479 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "mirror",
"text": "Detect every mirror instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D b... | {
"image_index": 0,
"frame": "10228",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-010228.jpg",
"frame": "10228",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "39",
"label": "mirror",
"box3d": {
"center": [
0.32765,
-0.418487,
0.735727
],
"size": [
0.623905,
0.907165,
0.05
],
"rot": {
"type": "matrix3x3",
"value": [
-0.82087,
-0.148... | objects = [{"object_id":"39","label":"mirror","box3d":{"center":[0.32765,-0.418487,0.735727],"size":[0.623905,0.907165,0.05],"rot":{"type":"matrix3x3","value":[-0.82087,-0.148139,-0.551569,-0.334587,0.907423,0.254234,0.462844,0.393241,-0.794441],"convention":"row_major; source OBB local axes transformed from NymeriaPlu... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R013:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:808cff1f44eca68d96c1 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "sink",
"text": "Detect every sink instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D boxes... | {
"image_index": 0,
"frame": "10228",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-010228.jpg",
"frame": "10228",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "98",
"label": "sink",
"box3d": {
"center": [
0.09957,
0.26039,
0.830885
],
"size": [
0.3746,
0.157364,
0.27219
],
"rot": {
"type": "matrix3x3",
"value": [
0.820871,
-0.148139... | objects = [{"object_id":"98","label":"sink","box3d":{"center":[0.09957,0.26039,0.830885],"size":[0.3746,0.157364,0.27219],"rot":{"type":"matrix3x3","value":[0.820871,-0.148139,0.551566,0.334586,0.907423,-0.254235,-0.462842,0.393241,0.794443],"convention":"row_major; source OBB local axes transformed from NymeriaPlus wo... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R013:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:561522398d90b37f854c | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "toilet",
"text": "Detect every toilet instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D b... | {
"image_index": 0,
"frame": "10228",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-010228.jpg",
"frame": "10228",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "99",
"label": "toilet",
"box3d": {
"center": [
-0.604864,
0.462668,
1.203001
],
"size": [
0.462066,
0.792644,
0.777458
],
"rot": {
"type": "matrix3x3",
"value": [
0.820871,
-... | objects = [{"object_id":"99","label":"toilet","box3d":{"center":[-0.604864,0.462668,1.203001],"size":[0.462066,0.792644,0.777458],"rot":{"type":"matrix3x3","value":[0.820871,-0.148139,0.551566,0.334586,0.907423,-0.254235,-0.462841,0.393241,0.794443],"convention":"row_major; source OBB local axes transformed from Nymeri... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R013:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:3fc75839aa761fb2b447 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "sink",
"text": "Detect every sink instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D boxes... | {
"image_index": 0,
"frame": "10368",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-010368.jpg",
"frame": "10368",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "98",
"label": "sink",
"box3d": {
"center": [
0.59032,
0.132626,
0.93169
],
"size": [
0.3746,
0.157364,
0.27219
],
"rot": {
"type": "matrix3x3",
"value": [
0.960769,
-0.074812... | objects = [{"object_id":"98","label":"sink","box3d":{"center":[0.59032,0.132626,0.93169],"size":[0.3746,0.157364,0.27219],"rot":{"type":"matrix3x3","value":[0.960769,-0.074812,-0.267069,-0.076056,0.854952,-0.5131,0.266717,0.513283,0.815722],"convention":"row_major; source OBB local axes transformed from NymeriaPlus wor... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R014:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:3ff8f9261b11faf6daf2 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "storage",
"text": "Detect every storage instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D... | {
"image_index": 0,
"frame": "10368",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-010368.jpg",
"frame": "10368",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "97",
"label": "storage",
"box3d": {
"center": [
0.551559,
0.439832,
1.142614
],
"size": [
0.915164,
0.913503,
0.451066
],
"rot": {
"type": "matrix3x3",
"value": [
0.96077,
-0... | objects = [{"object_id":"97","label":"storage","box3d":{"center":[0.551559,0.439832,1.142614],"size":[0.915164,0.913503,0.451066],"rot":{"type":"matrix3x3","value":[0.96077,-0.074812,-0.267067,-0.076055,0.854952,-0.513101,0.266716,0.513284,0.815722],"convention":"row_major; source OBB local axes transformed from Nymeri... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R014:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:d7c2e88665cf5d81a059 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "chair",
"text": "Detect every chair instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D box... | {
"image_index": 0,
"frame": "10567",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-010567.jpg",
"frame": "10567",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "153",
"label": "chair",
"box3d": {
"center": [
-1.056368,
0.915266,
1.392085
],
"size": [
1.163503,
0.861775,
0.581345
],
"rot": {
"type": "matrix3x3",
"value": [
0.551765,
0... | objects = [{"object_id":"153","label":"chair","box3d":{"center":[-1.056368,0.915266,1.392085],"size":[1.163503,0.861775,0.581345],"rot":{"type":"matrix3x3","value":[0.551765,0.012089,0.833912,0.049476,0.997659,-0.047199,-0.832531,0.067302,0.549876],"convention":"row_major; source OBB local axes transformed from Nymeria... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R015:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:83ae8fe2a8b8a7a1b0a5 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "refrigerator",
"text": "Detect every refrigerator instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all r... | {
"image_index": 0,
"frame": "10567",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-010567.jpg",
"frame": "10567",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "150",
"label": "refrigerator",
"box3d": {
"center": [
0.685036,
0.299675,
3.271629
],
"size": [
0.973612,
1.794968,
0.871878
],
"rot": {
"type": "matrix3x3",
"value": [
0.55902,
... | objects = [{"object_id":"150","label":"refrigerator","box3d":{"center":[0.685036,0.299675,3.271629],"size":[0.973612,1.794968,0.871878],"rot":{"type":"matrix3x3","value":[0.55902,0.012091,0.829066,0.049062,0.997659,-0.047631,-0.827701,0.067302,0.557118],"convention":"row_major; source OBB local axes transformed from Ny... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R015:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:a6e3fe90b8526d60f1b8 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "table",
"text": "Detect every table instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D box... | {
"image_index": 0,
"frame": "10567",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-010567.jpg",
"frame": "10567",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "13",
"label": "table",
"box3d": {
"center": [
1.791547,
0.823995,
1.85683
],
"size": [
1.138456,
0.912445,
0.938221
],
"rot": {
"type": "matrix3x3",
"value": [
0.834169,
0.01... | objects = [{"object_id":"13","label":"table","box3d":{"center":[1.791547,0.823995,1.85683],"size":[1.138456,0.912445,0.938221],"rot":{"type":"matrix3x3","value":[0.834169,0.012092,-0.551376,-0.047179,0.997659,-0.049498,0.549487,0.067303,0.832787],"convention":"row_major; source OBB local axes transformed from NymeriaPl... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R015:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:5ee67e2dc01cf2bf8d7e | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "refrigerator",
"text": "Detect every refrigerator instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all r... | {
"image_index": 0,
"frame": "10572",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-010572.jpg",
"frame": "10572",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "150",
"label": "refrigerator",
"box3d": {
"center": [
0.123472,
0.664058,
3.094853
],
"size": [
0.973612,
1.794968,
0.871878
],
"rot": {
"type": "matrix3x3",
"value": [
0.680178,
... | objects = [{"object_id":"150","label":"refrigerator","box3d":{"center":[0.123472,0.664058,3.094853],"size":[0.973612,1.794968,0.871878],"rot":{"type":"matrix3x3","value":[0.680178,0.003644,0.733038,-0.030029,0.999287,0.022897,-0.732431,-0.037586,0.679803],"convention":"row_major; source OBB local axes transformed from ... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R016:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:610197aa5b9f6b6b9b62 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act0_e72nhq | {
"type": "detect_category",
"category": "table",
"text": "Detect every table instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all returned 3D box... | {
"image_index": 0,
"frame": "10572",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act0_e72nhq/frame-010572.jpg",
"frame": "10572",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "13",
"label": "table",
"box3d": {
"center": [
1.436192,
1.05287,
1.819499
],
"size": [
1.138456,
0.912445,
0.938221
],
"rot": {
"type": "matrix3x3",
"value": [
0.739258,
0.00... | objects = [{"object_id":"13","label":"table","box3d":{"center":[1.436192,1.05287,1.819499],"size":[1.138456,0.912445,0.938221],"rot":{"type":"matrix3x3","value":[0.739258,0.003644,-0.673412,0.022619,0.999287,0.030237,0.673042,-0.037585,0.738649],"convention":"row_major; source OBB local axes transformed from NymeriaPlu... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act0_e72nhq:R016:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
nymeriaplus_rectified_multitask_v0.1.0 | nym_rect:det:train:N01:f88c6ccc9adb4d997b97 | detection | NymeriaPlus | rectified_multiview_category_detection | train | 20230607_s0_james_johnson_act1_7xwm28 | {
"type": "detect_category",
"category": "refrigerator",
"text": "Detect every refrigerator instance visible in this egocentric RGB sequence and return their metric 3D oriented bounding boxes in the anchor-view coordinate frame.\n\nCamera and coordinate information:\n- View 0 is the anchor coordinate frame; all r... | {
"image_index": 0,
"frame": "929",
"coordinate_frame": "anchor_view"
} | [
{
"index": 0,
"path": "images/train/20230607_s0_james_johnson_act1_7xwm28/frame-000929.jpg",
"frame": "929",
"timestamp": null,
"intrinsics": [
314.743288,
314.743288,
449.5,
449.5,
900,
900
],
"cam_to_anchor": [
1,
0,
0,
0,
... | [
{
"object_id": "150",
"label": "refrigerator",
"box3d": {
"center": [
0.271669,
0.328272,
2.959924
],
"size": [
1.038907,
1.794968,
0.871878
],
"rot": {
"type": "matrix3x3",
"value": [
-0.509453,
... | objects = [{"object_id":"150","label":"refrigerator","box3d":{"center":[0.271669,0.328272,2.959924],"size":[1.038907,1.794968,0.871878],"rot":{"type":"matrix3x3","value":[-0.509453,-0.123128,0.851644,0.00655,0.989126,0.146923,-0.860474,0.080429,-0.503107],"convention":"row_major; source OBB local axes transformed from ... | {
"N": 1,
"source_sample_id": "nymeriaplus:train:20230607_s0_james_johnson_act1_7xwm28:A000:N01",
"rectification": {
"camera_model": "PINHOLE",
"width": 900,
"height": 900,
"horizontal_fov_deg": 110
},
"overlap_connection": null,
"selection_contract": "strict_rectified_quality_and_informatio... |
End of preview. Expand in Data Studio
NymeriaPlus Rectified Multi-view 3D QA
This is a derived, asset-closed QA release built from NymeriaPlus. Check the upstream NymeriaPlus terms before redistribution or commercial use. The Hub repository visibility is controlled by the repository owner.
Every RGB frame is rectified from Project Aria FISHEYE624 into a 900x900 square pinhole image with 110.0 degree horizontal FOV. Questions explicitly contain every view's intrinsics, camera position, rotation, and camera-to-anchor 3x4 transform.
| N | Category detection | Grounding |
|---|---|---|
| 1 | 42,838 | 16,795 |
| 2 | 408 | 193 |
| 4 | 620 | 1,019 |
| 6 | 374 | 1,763 |
| 8 | 217 | 1,817 |
Selection gates include source depth-aware visibility >=0.75, rectified OBB short side >=80 px, rectified area >=0.004, distance <=4 m, angular size >=0.09, semantic overlap coefficient 0.10-0.80, and pair angle 20-105 degrees. Multi-view category detection must gain targets at the newest 1->2->4->6->8 stage and must not be solvable from one image. Grounding preserves the original description evidence anchor and requires the newest stage to reobserve a target from a valid moderately-overlapping viewpoint.
QA shards live under qa/. Shared, deduplicated images live under images/ and
are referenced by relative path from each JSON record. Full counts and build
provenance are recorded in dataset_manifest.json.
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