| # FunGraph3D |
| FunGraph3D.annotations.json: Object and interactive element segmentation annotations |
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| FunGraph.relations.json: Functional 3D scene graph annotations |
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| all_labels.json: all labels appeared in the dataset for evaluation |
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| all_labels_clip.embedding.npy: CLIP embeddings of all labels appeared in the dataset for evaluation |
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| all_edges.json: all relationship descriptions appeared in the dataset for edge evaluation |
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| all_edges_bert_embeddings.npy: BERT embeddings of all relationship descriptions appeared in the dataset for edge evaluation |
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| OpenFunGraph_split.txt: split used for OpenFunGraph evaluation |
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| ## Assets for each scene |
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| interaction_video.mp4: dynamic interaction video for the scene |
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| xxx.ply: 5mm laser scan for the scene |
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| videoX/depth: high resolution depth rendered by the Leica scan |
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| videoX/raw_camera: raw camera pose files for iPad scan |
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| videoX/raw_low_res_depth: raw low resolution LiDar depth files for iPad scan |
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| videoX/raw_rgb: raw RGB files for iPad scan |
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| videoX/rgb: registered RGB images in the scan by COLMAP (used for evaluation) |
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| cameras.txt: camera intrinsics by COLMAP |
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| images.txt: camera extrinsics by COLMAP |
