id stringlengths 31 31 | image stringlengths 44 44 | scene stringclasses 20
values | camera stringclasses 5
values | frame_index int64 0 99 | source_split stringclasses 1
value | K_opencv listlengths 3 3 | R_world_from_camera_opengl listlengths 3 3 | R_world_from_camera_opencv listlengths 3 3 | camera_position_world_m listlengths 3 3 | meters_per_asset_unit float64 0 0.03 | camera_up_opengl listlengths 3 3 | camera_up_opencv listlengths 3 3 | camera_up_xyz listlengths 3 3 | source_archive stringclasses 20
values | source_image stringlengths 67 67 | coordinate_conventions dict |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
hypersim_ai_022_001_cam_00_0024 | tests/omni3d/images/2f35d07c057c436ba253.jpg | ai_022_001 | cam_00 | 24 | Hypersim_test.json | [
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hypersim_ai_022_001_cam_00_0031 | tests/omni3d/images/c1e34b2d9925426bac96.jpg | ai_022_001 | cam_00 | 31 | Hypersim_test.json | [
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hypersim_ai_022_001_cam_00_0000 | tests/omni3d/images/32ee4768ec603e6922ee.jpg | ai_022_001 | cam_00 | 0 | Hypersim_test.json | [
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hypersim_ai_022_001_cam_00_0052 | tests/omni3d/images/b26df156f0c568a1fda3.jpg | ai_022_001 | cam_00 | 52 | Hypersim_test.json | [
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hypersim_ai_022_001_cam_00_0097 | tests/omni3d/images/d4381fbcc2e378aef6d2.jpg | ai_022_001 | cam_00 | 97 | Hypersim_test.json | [
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hypersim_ai_010_004_cam_00_0029 | tests/omni3d/images/0ac3ddf7f1707205d42a.jpg | ai_010_004 | cam_00 | 29 | Hypersim_test.json | [
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hypersim_ai_010_004_cam_00_0052 | tests/omni3d/images/6582dc0fe034c9598bb6.jpg | ai_010_004 | cam_00 | 52 | Hypersim_test.json | [
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hypersim_ai_010_004_cam_00_0051 | tests/omni3d/images/913c916c2a215dc491ef.jpg | ai_010_004 | cam_00 | 51 | Hypersim_test.json | [
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hypersim_ai_010_004_cam_00_0082 | tests/omni3d/images/25b5fbea88c199dbdddb.jpg | ai_010_004 | cam_00 | 82 | Hypersim_test.json | [
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hypersim_ai_010_004_cam_00_0028 | tests/omni3d/images/b8de58c5e06d6f445189.jpg | ai_010_004 | cam_00 | 28 | Hypersim_test.json | [
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hypersim_ai_033_002_cam_01_0012 | tests/omni3d/images/d643d7defb1a17991da7.jpg | ai_033_002 | cam_01 | 12 | Hypersim_test.json | [
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hypersim_ai_033_002_cam_01_0052 | tests/omni3d/images/c5ada1c02c5558784c26.jpg | ai_033_002 | cam_01 | 52 | Hypersim_test.json | [
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hypersim_ai_033_002_cam_00_0089 | tests/omni3d/images/da1b23608a4ddb7deb11.jpg | ai_033_002 | cam_00 | 89 | Hypersim_test.json | [
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hypersim_ai_033_002_cam_01_0004 | tests/omni3d/images/e6f879699c52239febe0.jpg | ai_033_002 | cam_01 | 4 | Hypersim_test.json | [
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hypersim_ai_033_002_cam_00_0029 | tests/omni3d/images/bc37799a6929a1d82595.jpg | ai_033_002 | cam_00 | 29 | Hypersim_test.json | [
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hypersim_ai_053_007_cam_01_0055 | tests/omni3d/images/960c345ba3b749891072.jpg | ai_053_007 | cam_01 | 55 | Hypersim_test.json | [
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hypersim_ai_053_007_cam_00_0078 | tests/omni3d/images/8af8d6f5239596c96ae0.jpg | ai_053_007 | cam_00 | 78 | Hypersim_test.json | [
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hypersim_ai_053_007_cam_00_0095 | tests/omni3d/images/d5281b66dd925afce868.jpg | ai_053_007 | cam_00 | 95 | Hypersim_test.json | [
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hypersim_ai_053_007_cam_00_0098 | tests/omni3d/images/4224227cb4073befc926.jpg | ai_053_007 | cam_00 | 98 | Hypersim_test.json | [
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hypersim_ai_053_007_cam_01_0053 | tests/omni3d/images/f43a3efd2656b83c07c4.jpg | ai_053_007 | cam_01 | 53 | Hypersim_test.json | [
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hypersim_ai_035_001_cam_01_0077 | tests/omni3d/images/c7fca3ff89cdcdfebb90.jpg | ai_035_001 | cam_01 | 77 | Hypersim_test.json | [
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hypersim_ai_035_001_cam_00_0035 | tests/omni3d/images/2e7af3985329bbe17c37.jpg | ai_035_001 | cam_00 | 35 | Hypersim_test.json | [
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hypersim_ai_035_001_cam_01_0039 | tests/omni3d/images/31b3798607287f719fa1.jpg | ai_035_001 | cam_01 | 39 | Hypersim_test.json | [
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hypersim_ai_035_001_cam_00_0060 | tests/omni3d/images/7cc6bbaf5f085cfd4180.jpg | ai_035_001 | cam_00 | 60 | Hypersim_test.json | [
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hypersim_ai_035_001_cam_00_0058 | tests/omni3d/images/df909a0276708df5d10f.jpg | ai_035_001 | cam_00 | 58 | Hypersim_test.json | [
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hypersim_ai_051_001_cam_00_0004 | tests/omni3d/images/2551c1c99fe40e430c7a.jpg | ai_051_001 | cam_00 | 4 | Hypersim_test.json | [
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hypersim_ai_051_001_cam_01_0034 | tests/omni3d/images/a637c7eabb0896a1884c.jpg | ai_051_001 | cam_01 | 34 | Hypersim_test.json | [
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hypersim_ai_051_001_cam_02_0072 | tests/omni3d/images/7c3e7943955eed42550f.jpg | ai_051_001 | cam_02 | 72 | Hypersim_test.json | [
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hypersim_ai_051_001_cam_04_0084 | tests/omni3d/images/59ac7f4d14056388e768.jpg | ai_051_001 | cam_04 | 84 | Hypersim_test.json | [
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hypersim_ai_051_001_cam_02_0082 | tests/omni3d/images/eb527a29d1c289ff6bb1.jpg | ai_051_001 | cam_02 | 82 | Hypersim_test.json | [
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hypersim_ai_026_002_cam_00_0089 | tests/omni3d/images/aaca8206996920f85dad.jpg | ai_026_002 | cam_00 | 89 | Hypersim_test.json | [
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hypersim_ai_026_002_cam_00_0090 | tests/omni3d/images/05a1f5c0a3b680ddffa2.jpg | ai_026_002 | cam_00 | 90 | Hypersim_test.json | [
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hypersim_ai_026_002_cam_00_0004 | tests/omni3d/images/3e4680129b2610a32754.jpg | ai_026_002 | cam_00 | 4 | Hypersim_test.json | [
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hypersim_ai_026_002_cam_00_0027 | tests/omni3d/images/4f1780e096cbae54f71f.jpg | ai_026_002 | cam_00 | 27 | Hypersim_test.json | [
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hypersim_ai_026_002_cam_00_0088 | tests/omni3d/images/7cb1968a4ab83ed72d38.jpg | ai_026_002 | cam_00 | 88 | Hypersim_test.json | [
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hypersim_ai_044_004_cam_00_0004 | tests/omni3d/images/c10c19d0bcb4e13ae053.jpg | ai_044_004 | cam_00 | 4 | Hypersim_test.json | [
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hypersim_ai_044_004_cam_00_0041 | tests/omni3d/images/2679f5e0c7eae03d223c.jpg | ai_044_004 | cam_00 | 41 | Hypersim_test.json | [
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hypersim_ai_044_004_cam_00_0052 | tests/omni3d/images/eeb0393fb7054d716270.jpg | ai_044_004 | cam_00 | 52 | Hypersim_test.json | [
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hypersim_ai_044_004_cam_00_0046 | tests/omni3d/images/d07956b452a28f5f351b.jpg | ai_044_004 | cam_00 | 46 | Hypersim_test.json | [
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hypersim_ai_044_004_cam_00_0044 | tests/omni3d/images/9b05f9907c56b8d37f01.jpg | ai_044_004 | cam_00 | 44 | Hypersim_test.json | [
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hypersim_ai_037_009_cam_00_0005 | tests/omni3d/images/09cf98e1ab6b709adb86.jpg | ai_037_009 | cam_00 | 5 | Hypersim_test.json | [
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hypersim_ai_037_009_cam_01_0037 | tests/omni3d/images/d182d387d416be187a65.jpg | ai_037_009 | cam_01 | 37 | Hypersim_test.json | [
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hypersim_ai_037_009_cam_00_0078 | tests/omni3d/images/e518c743f5061b3a1b16.jpg | ai_037_009 | cam_00 | 78 | Hypersim_test.json | [
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hypersim_ai_037_009_cam_01_0099 | tests/omni3d/images/3d75ee82dc4600652bd2.jpg | ai_037_009 | cam_01 | 99 | Hypersim_test.json | [
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hypersim_ai_037_009_cam_01_0061 | tests/omni3d/images/5e54cc4a1b6d07055d39.jpg | ai_037_009 | cam_01 | 61 | Hypersim_test.json | [
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hypersim_ai_022_006_cam_00_0008 | tests/omni3d/images/c369e4b4bd1d8d500309.jpg | ai_022_006 | cam_00 | 8 | Hypersim_test.json | [
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hypersim_ai_022_006_cam_00_0086 | tests/omni3d/images/362abca882d5b07e13b2.jpg | ai_022_006 | cam_00 | 86 | Hypersim_test.json | [
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hypersim_ai_022_006_cam_00_0046 | tests/omni3d/images/50ab0fed96b6513fb573.jpg | ai_022_006 | cam_00 | 46 | Hypersim_test.json | [
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hypersim_ai_022_006_cam_00_0084 | tests/omni3d/images/6b0eea1ee398aa86fc5d.jpg | ai_022_006 | cam_00 | 84 | Hypersim_test.json | [
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hypersim_ai_022_006_cam_00_0061 | tests/omni3d/images/fb3f88d824cbbf4a7af6.jpg | ai_022_006 | cam_00 | 61 | Hypersim_test.json | [
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hypersim_ai_018_001_cam_00_0081 | tests/omni3d/images/b39d6f74884e787a67c5.jpg | ai_018_001 | cam_00 | 81 | Hypersim_test.json | [
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hypersim_ai_018_001_cam_00_0096 | tests/omni3d/images/7bf1612ea174794ba490.jpg | ai_018_001 | cam_00 | 96 | Hypersim_test.json | [
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hypersim_ai_018_001_cam_00_0045 | tests/omni3d/images/edeefcac6839965a8423.jpg | ai_018_001 | cam_00 | 45 | Hypersim_test.json | [
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hypersim_ai_018_001_cam_00_0050 | tests/omni3d/images/ed89428cf42080fc2b70.jpg | ai_018_001 | cam_00 | 50 | Hypersim_test.json | [
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hypersim_ai_018_001_cam_00_0083 | tests/omni3d/images/121a9ee7cc0ac7448cdd.jpg | ai_018_001 | cam_00 | 83 | Hypersim_test.json | [
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hypersim_ai_021_001_cam_00_0030 | tests/omni3d/images/1bdc81e4b18201651fb8.jpg | ai_021_001 | cam_00 | 30 | Hypersim_test.json | [
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hypersim_ai_021_001_cam_00_0098 | tests/omni3d/images/06dbafc089289ddc24ce.jpg | ai_021_001 | cam_00 | 98 | Hypersim_test.json | [
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hypersim_ai_021_001_cam_00_0069 | tests/omni3d/images/f5024c9881ce091fdf19.jpg | ai_021_001 | cam_00 | 69 | Hypersim_test.json | [
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hypersim_ai_021_001_cam_00_0024 | tests/omni3d/images/aa01f4f60a2a035e9fe6.jpg | ai_021_001 | cam_00 | 24 | Hypersim_test.json | [
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hypersim_ai_021_001_cam_00_0058 | tests/omni3d/images/5704851d656c65968130.jpg | ai_021_001 | cam_00 | 58 | Hypersim_test.json | [
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hypersim_ai_048_008_cam_02_0063 | tests/omni3d/images/2aac110ac9cc0b96852a.jpg | ai_048_008 | cam_02 | 63 | Hypersim_test.json | [
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hypersim_ai_048_008_cam_03_0036 | tests/omni3d/images/12f9c547b75d41c735ed.jpg | ai_048_008 | cam_03 | 36 | Hypersim_test.json | [
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hypersim_ai_048_008_cam_02_0087 | tests/omni3d/images/add1e74c100137da0a4c.jpg | ai_048_008 | cam_02 | 87 | Hypersim_test.json | [
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hypersim_ai_048_008_cam_00_0058 | tests/omni3d/images/05b9ab42d6590ef50b7d.jpg | ai_048_008 | cam_00 | 58 | Hypersim_test.json | [
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hypersim_ai_048_008_cam_01_0037 | tests/omni3d/images/ebf5707c2b29743cda90.jpg | ai_048_008 | cam_01 | 37 | Hypersim_test.json | [
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hypersim_ai_014_006_cam_00_0046 | tests/omni3d/images/c408955d56fe004f0450.jpg | ai_014_006 | cam_00 | 46 | Hypersim_test.json | [
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hypersim_ai_014_006_cam_00_0088 | tests/omni3d/images/f5d3a728d5259abb535b.jpg | ai_014_006 | cam_00 | 88 | Hypersim_test.json | [
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hypersim_ai_014_006_cam_00_0047 | tests/omni3d/images/f7fb6215f1482fd48d19.jpg | ai_014_006 | cam_00 | 47 | Hypersim_test.json | [
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hypersim_ai_014_006_cam_00_0053 | tests/omni3d/images/0db203dde42e37c158bc.jpg | ai_014_006 | cam_00 | 53 | Hypersim_test.json | [
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hypersim_ai_014_006_cam_00_0031 | tests/omni3d/images/3061b72cfa9204cdcb89.jpg | ai_014_006 | cam_00 | 31 | Hypersim_test.json | [
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hypersim_ai_030_001_cam_00_0077 | tests/omni3d/images/6a842faa7b162066e5be.jpg | ai_030_001 | cam_00 | 77 | Hypersim_test.json | [
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hypersim_ai_030_001_cam_00_0099 | tests/omni3d/images/54f183dade10c1d59792.jpg | ai_030_001 | cam_00 | 99 | Hypersim_test.json | [
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hypersim_ai_030_001_cam_00_0069 | tests/omni3d/images/ac6c2941731be874250a.jpg | ai_030_001 | cam_00 | 69 | Hypersim_test.json | [
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hypersim_ai_030_001_cam_00_0089 | tests/omni3d/images/b06e6ead5e2e2058d93f.jpg | ai_030_001 | cam_00 | 89 | Hypersim_test.json | [
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hypersim_ai_030_001_cam_00_0065 | tests/omni3d/images/7f715562b4dc0ab4482d.jpg | ai_030_001 | cam_00 | 65 | Hypersim_test.json | [
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hypersim_ai_052_009_cam_00_0023 | tests/omni3d/images/fcd056e12d1bcf345920.jpg | ai_052_009 | cam_00 | 23 | Hypersim_test.json | [
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hypersim_ai_052_009_cam_00_0022 | tests/omni3d/images/e5edd7bb05a727068ad6.jpg | ai_052_009 | cam_00 | 22 | Hypersim_test.json | [
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hypersim_ai_052_009_cam_00_0048 | tests/omni3d/images/e9506898c515abaa920f.jpg | ai_052_009 | cam_00 | 48 | Hypersim_test.json | [
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hypersim_ai_052_009_cam_00_0077 | tests/omni3d/images/c94f29551b7164de971e.jpg | ai_052_009 | cam_00 | 77 | Hypersim_test.json | [
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hypersim_ai_052_009_cam_00_0047 | tests/omni3d/images/909d2335c9e8256ebbf2.jpg | ai_052_009 | cam_00 | 47 | Hypersim_test.json | [
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hypersim_ai_011_007_cam_00_0072 | tests/omni3d/images/9aa2bde09d04cb68ef74.jpg | ai_011_007 | cam_00 | 72 | Hypersim_test.json | [
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hypersim_ai_011_007_cam_00_0087 | tests/omni3d/images/853f7ec5ce454b3d2370.jpg | ai_011_007 | cam_00 | 87 | Hypersim_test.json | [
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hypersim_ai_011_007_cam_01_0051 | tests/omni3d/images/37907e5146c8ad0a5c58.jpg | ai_011_007 | cam_01 | 51 | Hypersim_test.json | [
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hypersim_ai_011_007_cam_01_0085 | tests/omni3d/images/6ff47b592c5725245fde.jpg | ai_011_007 | cam_01 | 85 | Hypersim_test.json | [
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hypersim_ai_011_007_cam_01_0087 | tests/omni3d/images/4f1fbba9a95b71033c92.jpg | ai_011_007 | cam_01 | 87 | Hypersim_test.json | [
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hypersim_ai_039_002_cam_00_0030 | tests/omni3d/images/67ed76d64a6683639485.jpg | ai_039_002 | cam_00 | 30 | Hypersim_test.json | [
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hypersim_ai_039_002_cam_00_0041 | tests/omni3d/images/e6c837c8426a744482df.jpg | ai_039_002 | cam_00 | 41 | Hypersim_test.json | [
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hypersim_ai_039_002_cam_00_0038 | tests/omni3d/images/baef3a59ef13a3fbe044.jpg | ai_039_002 | cam_00 | 38 | Hypersim_test.json | [
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hypersim_ai_039_002_cam_00_0037 | tests/omni3d/images/55d5525bbca162e48e9d.jpg | ai_039_002 | cam_00 | 37 | Hypersim_test.json | [
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hypersim_ai_039_002_cam_00_0033 | tests/omni3d/images/e4c56bab09e75f82378f.jpg | ai_039_002 | cam_00 | 33 | Hypersim_test.json | [
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hypersim_ai_001_010_cam_02_0095 | tests/omni3d/images/28a82f5680a95ab59d61.jpg | ai_001_010 | cam_02 | 95 | Hypersim_test.json | [
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hypersim_ai_001_010_cam_01_0060 | tests/omni3d/images/01c6695114db7371dca3.jpg | ai_001_010 | cam_01 | 60 | Hypersim_test.json | [
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hypersim_ai_001_010_cam_00_0039 | tests/omni3d/images/256bd43f43f61c8a215d.jpg | ai_001_010 | cam_00 | 39 | Hypersim_test.json | [
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hypersim_ai_001_010_cam_02_0078 | tests/omni3d/images/bd95076b2588b82805c6.jpg | ai_001_010 | cam_02 | 78 | Hypersim_test.json | [
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hypersim_ai_001_010_cam_00_0021 | tests/omni3d/images/bc00763b0cb634eadc91.jpg | ai_001_010 | cam_00 | 21 | Hypersim_test.json | [
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hypersim_ai_054_005_cam_01_0058 | tests/omni3d/images/ad78fc3284d154661c9a.jpg | ai_054_005 | cam_01 | 58 | Hypersim_test.json | [
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hypersim_ai_054_005_cam_01_0054 | tests/omni3d/images/0108eeada5f0ee2afcfc.jpg | ai_054_005 | cam_01 | 54 | Hypersim_test.json | [
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hypersim_ai_054_005_cam_01_0070 | tests/omni3d/images/09f18184cdb5a25bea18.jpg | ai_054_005 | cam_01 | 70 | Hypersim_test.json | [
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hypersim_ai_054_005_cam_00_0032 | tests/omni3d/images/762cf384844bef5161dc.jpg | ai_054_005 | cam_00 | 32 | Hypersim_test.json | [
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hypersim_ai_054_005_cam_00_0065 | tests/omni3d/images/9c093cb68296e28a96a4.jpg | ai_054_005 | cam_00 | 65 | Hypersim_test.json | [
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BAGEL-SAM evaluation release
| Subset | Count | Ground truth |
|---|---|---|
| Omni3D VQA | 200 questions / 191 images | Answer labels, GT boxes and object poses |
| Mask evaluation | 100 distinct object instances | GT instance masks and boxes |
| Hypersim camera evaluation | 100 frames / 20 scenes | Full camera extrinsics in meters, intrinsics and camera-up vectors |
The subsets overlap in images and must not be counted as independent datasets. All runtime asset paths are relative to this dataset root. manifest.json describes sampling and conventions.
Models and code
Compare https://huggingface.co/Yiming1234/bagel-sam-mask-pre-fusion (mask-trained step 30000) with https://huggingface.co/Yiming1234/bagel-sam3d-post-fusion (v11.1 step 6000). Code and scoring tools: https://github.com/plzdoo/bagel-sam/blob/main/RELEASED_COMPARISON.md . This is a training-stage comparison, not a fusion-only ablation: the later checkpoint also received additional answer/controller supervision.
Construction and splits
The original 100 category-balanced Omni3D questions are retained (31 Hypersim, 66 KITTI, 3 Objectron). We added 100 distinct questions on 100 new official Hypersim-test images, selected with seed 42 from 20 scenes, five frames per scene. These questions compare object-center depth along the camera viewing axis, using different object categories uniquely named within the frame and a minimum GT depth separation of 0.5 m. They are derived questions, not an official Omni3D VQA benchmark. The full 200 is not category balanced. Source annotation IDs are preserved in provenance/.
The mask subset is a seed-42 selection of 100 distinct existing Omni3D/OmniNOCS object instances. GT masks are annotations, not SAM predictions. Boxes can be supplied in a separately labelled box-assisted segmentation experiment. The text-only mask evaluator deliberately ignores boxes. The camera subset uses the same 100 new Hypersim frames and original synthetic camera trajectory metadata. Source split membership was verified; exact image overlap against the checkpoints' complete training manifests has not been audited.
Images use the tone-mapped previews distributed for Omni3D/Hypersim diagnostics. They are not the original linear HDR images. One candidate scene (ai_015_010) was excluded because its supplied camera transforms failed rigid-rotation checks; transforms were not silently repaired.
Inputs and labels
Use tests/omni3d/inputs.jsonl, tests/masks/inputs.jsonl and tests/camera_pose/inputs.jsonl as input manifests. VQA questions.jsonl additionally includes answers; annotations.jsonl includes object geometry. Mask and camera annotations.jsonl are scoring data. Do not pass answers, GT mask pixels, GT object poses or GT camera poses into an autonomous model. Keep predictions in a separate directory.
Camera conventions and limits
R_world_from_camera_opengl maps column vectors from native Hypersim camera coordinates (x right, y up, z backward) to world coordinates. R_world_from_camera_opencv uses x right, y down, z forward. camera_position_world_m is the camera center in scene-world meters, converted with the original scene's meters-per-asset-unit factor. World +Z is up.
camera_up_xyz is the world-up direction expressed in the BAGEL/SAM3D camera convention: x left, y up, z forward. It can be scored by angular error without knowing a world origin. Full absolute camera-pose evaluation requires predictions in the same world frame, usually with a scene map or other reference. These BAGEL checkpoints are not claimed to be trained for full world-frame camera localization. A camera-up prediction is not a full 6-DoF pose.
Sources, attribution and terms
Omni3D: Brazil et al., Omni3D: A Large Benchmark and Model for 3D Object Detection in the Wild, CVPR 2023, https://github.com/facebookresearch/omni3d . Original annotation license is included as OMNI3D_LICENSE.md; underlying datasets retain their separate terms.
Hypersim: Roberts et al., Hypersim: A Photorealistic Synthetic Dataset for Holistic Indoor Scene Understanding, ICCV 2021, https://github.com/apple/ml-hypersim . Hypersim images and metadata, and adaptations of those data in this package, are under CC BY-SA 3.0: https://creativecommons.org/licenses/by-sa/3.0/ . Our changes are subset selection, path normalization, question derivation, and coordinate/unit conversions. No affiliation or endorsement is implied.
The original subset also contains KITTI and Objectron images and OmniNOCS-derived instance masks. Their original terms and attribution apply; this release does not relicense third-party assets. Source image paths, annotation IDs and mask provenance are retained for traceability. See KITTI https://www.cvlibs.net/datasets/kitti/ , Objectron https://github.com/google-research-datasets/Objectron and OmniNOCS https://github.com/google-deepmind/omninocs .
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