NL3D/NL3D-Review-Sample

NL3D anonymized review sample

This repository contains an anonymized review-time sample of the NL3D real benchmark. It is intended to let reviewers inspect the data organization and annotations during the double-blind review period; it is not the complete real benchmark.

The sample contains two metallic and two transmissive scenes:

• real_sample/metal/scene_fish1
• real_sample/metal/scene_statue
• real_sample/transmissive/scene_bird
• real_sample/transmissive/scene_banana

Each scene provides RGB observations in color/, registered depth observations in depth/, calibrated intrinsics in intrinsics.json, and ground-truth object geometry in GT_mesh.stl. The annotations/ directory contains quasi-ground-truth FULL_OPENCV camera poses, the final global object Sim(3), frames used for refinement, refinement summaries, per-frame silhouette scores before and after refinement, and final rendered masks.

scene_bird contains 100 RGB/depth captures. Its optimization-frame list and final rendered-mask set contain 97 valid frames; three captures were excluded from the refinement stage and are retained only as raw observations.

The full benchmark contains additional scenes and artifacts that are withheld during the anonymity period. The complete release will be restored after double-blind review.

License

The sample is released under the Creative Commons Attribution 4.0 International license (CC BY 4.0).