sample_id stringlengths 36 38 | scene_zip_id stringclasses 12
values | scene_id stringlengths 17 17 | arrangement_id stringclasses 3
values | camera_label stringlengths 18 20 | camera_index int32 0 6 | azimuth_deg float32 2 360 | elevation_deg float32 30 59.9 | image imagewidth (px) 512 512 | archive stringclasses 12
values | rgb_path stringlengths 34 36 | depth_z_path stringlengths 43 45 | depth_euclidean_path stringlengths 46 48 | normal_worldspace_path stringlengths 49 51 | normal_camspace_path stringlengths 47 49 | mask_combined_path stringlengths 45 47 | object_mask_paths listlengths 5 11 | metadata_path stringclasses 3
values | scene_graph_path stringclasses 3
values | blend_path stringclasses 3
values | colmap_cameras_path stringclasses 3
values | colmap_images_path stringclasses 3
values | colmap_points3d_path stringclasses 3
values | render_width int32 512 512 | render_height int32 512 512 | num_cameras int32 2 7 | num_objects int32 5 11 | num_edges int32 20 110 | camera_fx_px float32 366 366 | camera_fy_px float32 366 366 | camera_fov_h_deg float32 70 70 | camera_fov_v_deg float32 70 70 | camera_position_world_m listlengths 3 3 | object_ids listlengths 5 11 | object_names listlengths 5 11 | object_classes listlengths 5 11 | relation_triplets listlengths 20 110 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
scene_001_arr_001_cam00_az212.7_el59.4 | scene_001 | scene_001_arr_001 | arr_001 | cam00_az212.7_el59.4 | 0 | 212.699997 | 59.400002 | scene_001.zip | arr_001/rgb/cam00_az212.7_el59.4.png | arr_001/depth/cam00_az212.7_el59.4_zdepth.exr | arr_001/depth/cam00_az212.7_el59.4_euclidean.exr | arr_001/normals/cam00_az212.7_el59.4_worldspace.exr | arr_001/normals/cam00_az212.7_el59.4_camspace.exr | arr_001/masks/cam00_az212.7_el59.4_combined.exr | [
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scene_001_arr_001_cam01_az178.8_el41.7 | scene_001 | scene_001_arr_001 | arr_001 | cam01_az178.8_el41.7 | 1 | 178.800003 | 41.700001 | scene_001.zip | arr_001/rgb/cam01_az178.8_el41.7.png | arr_001/depth/cam01_az178.8_el41.7_zdepth.exr | arr_001/depth/cam01_az178.8_el41.7_euclidean.exr | arr_001/normals/cam01_az178.8_el41.7_worldspace.exr | arr_001/normals/cam01_az178.8_el41.7_camspace.exr | arr_001/masks/cam01_az178.8_el41.7_combined.exr | [
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scene_001_arr_001_cam02_az21.7_el52.6 | scene_001 | scene_001_arr_001 | arr_001 | cam02_az21.7_el52.6 | 2 | 21.700001 | 52.599998 | scene_001.zip | arr_001/rgb/cam02_az21.7_el52.6.png | arr_001/depth/cam02_az21.7_el52.6_zdepth.exr | arr_001/depth/cam02_az21.7_el52.6_euclidean.exr | arr_001/normals/cam02_az21.7_el52.6_worldspace.exr | arr_001/normals/cam02_az21.7_el52.6_camspace.exr | arr_001/masks/cam02_az21.7_el52.6_combined.exr | [
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scene_001_arr_001_cam03_az292.0_el52.6 | scene_001 | scene_001_arr_001 | arr_001 | cam03_az292.0_el52.6 | 3 | 292 | 52.599998 | scene_001.zip | arr_001/rgb/cam03_az292.0_el52.6.png | arr_001/depth/cam03_az292.0_el52.6_zdepth.exr | arr_001/depth/cam03_az292.0_el52.6_euclidean.exr | arr_001/normals/cam03_az292.0_el52.6_worldspace.exr | arr_001/normals/cam03_az292.0_el52.6_camspace.exr | arr_001/masks/cam03_az292.0_el52.6_combined.exr | [
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scene_001_arr_002_cam00_az340.0_el46.3 | scene_001 | scene_001_arr_002 | arr_002 | cam00_az340.0_el46.3 | 0 | 340 | 46.299999 | scene_001.zip | arr_002/rgb/cam00_az340.0_el46.3.png | arr_002/depth/cam00_az340.0_el46.3_zdepth.exr | arr_002/depth/cam00_az340.0_el46.3_euclidean.exr | arr_002/normals/cam00_az340.0_el46.3_worldspace.exr | arr_002/normals/cam00_az340.0_el46.3_camspace.exr | arr_002/masks/cam00_az340.0_el46.3_combined.exr | [
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scene_001_arr_002_cam01_az129.8_el36.6 | scene_001 | scene_001_arr_002 | arr_002 | cam01_az129.8_el36.6 | 1 | 129.800003 | 36.599998 | scene_001.zip | arr_002/rgb/cam01_az129.8_el36.6.png | arr_002/depth/cam01_az129.8_el36.6_zdepth.exr | arr_002/depth/cam01_az129.8_el36.6_euclidean.exr | arr_002/normals/cam01_az129.8_el36.6_worldspace.exr | arr_002/normals/cam01_az129.8_el36.6_camspace.exr | arr_002/masks/cam01_az129.8_el36.6_combined.exr | [
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scene_001_arr_002_cam02_az93.4_el37.5 | scene_001 | scene_001_arr_002 | arr_002 | cam02_az93.4_el37.5 | 2 | 93.400002 | 37.5 | scene_001.zip | arr_002/rgb/cam02_az93.4_el37.5.png | arr_002/depth/cam02_az93.4_el37.5_zdepth.exr | arr_002/depth/cam02_az93.4_el37.5_euclidean.exr | arr_002/normals/cam02_az93.4_el37.5_worldspace.exr | arr_002/normals/cam02_az93.4_el37.5_camspace.exr | arr_002/masks/cam02_az93.4_el37.5_combined.exr | [
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scene_001_arr_002_cam03_az139.6_el38.3 | scene_001 | scene_001_arr_002 | arr_002 | cam03_az139.6_el38.3 | 3 | 139.600006 | 38.299999 | scene_001.zip | arr_002/rgb/cam03_az139.6_el38.3.png | arr_002/depth/cam03_az139.6_el38.3_zdepth.exr | arr_002/depth/cam03_az139.6_el38.3_euclidean.exr | arr_002/normals/cam03_az139.6_el38.3_worldspace.exr | arr_002/normals/cam03_az139.6_el38.3_camspace.exr | arr_002/masks/cam03_az139.6_el38.3_combined.exr | [
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scene_001_arr_003_cam00_az62.2_el42.9 | scene_001 | scene_001_arr_003 | arr_003 | cam00_az62.2_el42.9 | 0 | 62.200001 | 42.900002 | scene_001.zip | arr_003/rgb/cam00_az62.2_el42.9.png | arr_003/depth/cam00_az62.2_el42.9_zdepth.exr | arr_003/depth/cam00_az62.2_el42.9_euclidean.exr | arr_003/normals/cam00_az62.2_el42.9_worldspace.exr | arr_003/normals/cam00_az62.2_el42.9_camspace.exr | arr_003/masks/cam00_az62.2_el42.9_combined.exr | [
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scene_001_arr_003_cam01_az177.2_el33.5 | scene_001 | scene_001_arr_003 | arr_003 | cam01_az177.2_el33.5 | 1 | 177.199997 | 33.5 | scene_001.zip | arr_003/rgb/cam01_az177.2_el33.5.png | arr_003/depth/cam01_az177.2_el33.5_zdepth.exr | arr_003/depth/cam01_az177.2_el33.5_euclidean.exr | arr_003/normals/cam01_az177.2_el33.5_worldspace.exr | arr_003/normals/cam01_az177.2_el33.5_camspace.exr | arr_003/masks/cam01_az177.2_el33.5_combined.exr | [
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"D_ROSE_773_II_hvInJwJ5HUD",
"B075YQ8QSD",
"加曽利EⅣ式深鉢（佐倉市宮内井戸作遺跡）企1 観察記録3Dモデル",
"Neolithic House, Skara Brae, Orkney",
"Bifidus_Balance_FOS",
"B07B4MMTYW"
] | [
"diorama",
"health",
"elevationapi",
"ganesha",
"",
"gray bar stools",
"zephyr",
"world",
"",
"Recliner"
] | [
"1->2:adjacent/same_level/east_of",
"1->3:far/same_level/south_of",
"1->4:adjacent/same_level/south_of",
"1->5:near/above/east_of",
"1->6:adjacent/above/north_of",
"1->7:near/same_level/north_of",
"1->8:adjacent/same_level/south_of",
"1->9:near/same_level/south_of",
"1->10:near/same_level/east_of",
... | |
scene_004_arr_003_cam01_az93.3_el57.1 | scene_004 | scene_004_arr_003 | arr_003 | cam01_az93.3_el57.1 | 1 | 93.300003 | 57.099998 | scene_004.zip | arr_003/rgb/cam01_az93.3_el57.1.png | arr_003/depth/cam01_az93.3_el57.1_zdepth.exr | arr_003/depth/cam01_az93.3_el57.1_euclidean.exr | arr_003/normals/cam01_az93.3_el57.1_worldspace.exr | arr_003/normals/cam01_az93.3_el57.1_camspace.exr | arr_003/masks/cam01_az93.3_el57.1_combined.exr | [
"arr_003/masks/cam01_az93.3_el57.1_obj001.exr",
"arr_003/masks/cam01_az93.3_el57.1_obj002.exr",
"arr_003/masks/cam01_az93.3_el57.1_obj003.exr",
"arr_003/masks/cam01_az93.3_el57.1_obj004.exr",
"arr_003/masks/cam01_az93.3_el57.1_obj005.exr",
"arr_003/masks/cam01_az93.3_el57.1_obj006.exr",
"arr_003/masks/c... | arr_003/metadata.json | arr_003/scene_graph.json | arr_003/scene.blend | arr_003/colmap/cameras.txt | arr_003/colmap/images.txt | arr_003/colmap/points3D.txt | 512 | 512 | 4 | 10 | 90 | 365.605896 | 365.605896 | 70 | 70 | [
-35.27684020996094,
-15.26386833190918,
54.733612060546875
] | [
1,
2,
3,
4,
5,
6,
7,
8,
9,
10
] | [
"Smithsonian Eurypterid Diorama",
"Health Potion",
"C4228 Sivas: Kallerimi",
"Ganesha (photogrammetry)",
"D_ROSE_773_II_hvInJwJ5HUD",
"B075YQ8QSD",
"加曽利EⅣ式深鉢（佐倉市宮内井戸作遺跡）企1 観察記録3Dモデル",
"Neolithic House, Skara Brae, Orkney",
"Bifidus_Balance_FOS",
"B07B4MMTYW"
] | [
"diorama",
"health",
"elevationapi",
"ganesha",
"",
"gray bar stools",
"zephyr",
"world",
"",
"Recliner"
] | [
"1->2:adjacent/same_level/east_of",
"1->3:far/same_level/south_of",
"1->4:adjacent/same_level/south_of",
"1->5:near/above/east_of",
"1->6:adjacent/above/north_of",
"1->7:near/same_level/north_of",
"1->8:adjacent/same_level/south_of",
"1->9:near/same_level/south_of",
"1->10:near/same_level/east_of",
... | |
scene_004_arr_003_cam02_az279.6_el59.2 | scene_004 | scene_004_arr_003 | arr_003 | cam02_az279.6_el59.2 | 2 | 279.600006 | 59.200001 | scene_004.zip | arr_003/rgb/cam02_az279.6_el59.2.png | arr_003/depth/cam02_az279.6_el59.2_zdepth.exr | arr_003/depth/cam02_az279.6_el59.2_euclidean.exr | arr_003/normals/cam02_az279.6_el59.2_worldspace.exr | arr_003/normals/cam02_az279.6_el59.2_camspace.exr | arr_003/masks/cam02_az279.6_el59.2_combined.exr | [
"arr_003/masks/cam02_az279.6_el59.2_obj001.exr",
"arr_003/masks/cam02_az279.6_el59.2_obj002.exr",
"arr_003/masks/cam02_az279.6_el59.2_obj003.exr",
"arr_003/masks/cam02_az279.6_el59.2_obj004.exr",
"arr_003/masks/cam02_az279.6_el59.2_obj005.exr",
"arr_003/masks/cam02_az279.6_el59.2_obj006.exr",
"arr_003/m... | arr_003/metadata.json | arr_003/scene_graph.json | arr_003/scene.blend | arr_003/colmap/cameras.txt | arr_003/colmap/images.txt | arr_003/colmap/points3D.txt | 512 | 512 | 4 | 10 | 90 | 365.605896 | 365.605896 | 70 | 70 | [
-27.731937408447266,
-82.97158813476562,
57.149200439453125
] | [
1,
2,
3,
4,
5,
6,
7,
8,
9,
10
] | [
"Smithsonian Eurypterid Diorama",
"Health Potion",
"C4228 Sivas: Kallerimi",
"Ganesha (photogrammetry)",
"D_ROSE_773_II_hvInJwJ5HUD",
"B075YQ8QSD",
"加曽利EⅣ式深鉢（佐倉市宮内井戸作遺跡）企1 観察記録3Dモデル",
"Neolithic House, Skara Brae, Orkney",
"Bifidus_Balance_FOS",
"B07B4MMTYW"
] | [
"diorama",
"health",
"elevationapi",
"ganesha",
"",
"gray bar stools",
"zephyr",
"world",
"",
"Recliner"
] | [
"1->2:adjacent/same_level/east_of",
"1->3:far/same_level/south_of",
"1->4:adjacent/same_level/south_of",
"1->5:near/above/east_of",
"1->6:adjacent/above/north_of",
"1->7:near/same_level/north_of",
"1->8:adjacent/same_level/south_of",
"1->9:near/same_level/south_of",
"1->10:near/same_level/east_of",
... | |
scene_004_arr_003_cam03_az259.1_el43.5 | scene_004 | scene_004_arr_003 | arr_003 | cam03_az259.1_el43.5 | 3 | 259.100006 | 43.5 | scene_004.zip | arr_003/rgb/cam03_az259.1_el43.5.png | arr_003/depth/cam03_az259.1_el43.5_zdepth.exr | arr_003/depth/cam03_az259.1_el43.5_euclidean.exr | arr_003/normals/cam03_az259.1_el43.5_worldspace.exr | arr_003/normals/cam03_az259.1_el43.5_camspace.exr | arr_003/masks/cam03_az259.1_el43.5_combined.exr | [
"arr_003/masks/cam03_az259.1_el43.5_obj001.exr",
"arr_003/masks/cam03_az259.1_el43.5_obj002.exr",
"arr_003/masks/cam03_az259.1_el43.5_obj003.exr",
"arr_003/masks/cam03_az259.1_el43.5_obj004.exr",
"arr_003/masks/cam03_az259.1_el43.5_obj005.exr",
"arr_003/masks/cam03_az259.1_el43.5_obj006.exr",
"arr_003/m... | arr_003/metadata.json | arr_003/scene_graph.json | arr_003/scene.blend | arr_003/colmap/cameras.txt | arr_003/colmap/images.txt | arr_003/colmap/points3D.txt | 512 | 512 | 4 | 10 | 90 | 365.605896 | 365.605896 | 70 | 70 | [
-41.52289962768555,
-92.76848602294922,
42.394798278808594
] | [
1,
2,
3,
4,
5,
6,
7,
8,
9,
10
] | [
"Smithsonian Eurypterid Diorama",
"Health Potion",
"C4228 Sivas: Kallerimi",
"Ganesha (photogrammetry)",
"D_ROSE_773_II_hvInJwJ5HUD",
"B075YQ8QSD",
"加曽利EⅣ式深鉢（佐倉市宮内井戸作遺跡）企1 観察記録3Dモデル",
"Neolithic House, Skara Brae, Orkney",
"Bifidus_Balance_FOS",
"B07B4MMTYW"
] | [
"diorama",
"health",
"elevationapi",
"ganesha",
"",
"gray bar stools",
"zephyr",
"world",
"",
"Recliner"
] | [
"1->2:adjacent/same_level/east_of",
"1->3:far/same_level/south_of",
"1->4:adjacent/same_level/south_of",
"1->5:near/above/east_of",
"1->6:adjacent/above/north_of",
"1->7:near/same_level/north_of",
"1->8:adjacent/same_level/south_of",
"1->9:near/same_level/south_of",
"1->10:near/same_level/east_of",
... | |
scene_006_arr_001_cam00_az317.5_el57.1 | scene_006 | scene_006_arr_001 | arr_001 | cam00_az317.5_el57.1 | 0 | 317.5 | 57.099998 | scene_006.zip | arr_001/rgb/cam00_az317.5_el57.1.png | arr_001/depth/cam00_az317.5_el57.1_zdepth.exr | arr_001/depth/cam00_az317.5_el57.1_euclidean.exr | arr_001/normals/cam00_az317.5_el57.1_worldspace.exr | arr_001/normals/cam00_az317.5_el57.1_camspace.exr | arr_001/masks/cam00_az317.5_el57.1_combined.exr | [
"arr_001/masks/cam00_az317.5_el57.1_obj001.exr",
"arr_001/masks/cam00_az317.5_el57.1_obj002.exr",
"arr_001/masks/cam00_az317.5_el57.1_obj003.exr",
"arr_001/masks/cam00_az317.5_el57.1_obj004.exr",
"arr_001/masks/cam00_az317.5_el57.1_obj005.exr",
"arr_001/masks/cam00_az317.5_el57.1_obj006.exr",
"arr_001/m... | arr_001/metadata.json | arr_001/scene_graph.json | arr_001/scene.blend | arr_001/colmap/cameras.txt | arr_001/colmap/images.txt | arr_001/colmap/points3D.txt | 512 | 512 | 4 | 7 | 42 | 365.605896 | 365.605896 | 70 | 70 | [
2.0271897315979004,
-1.9756628274917603,
4.98374605178833
] | [
1,
2,
3,
4,
5,
6,
7
] | [
"Belas 32_09.12.2019",
"B073G8Q637",
"Blue Dog",
"Sword And Shield",
"B071J7Q6DW",
"споменик НОБ, Јошаница",
"16927- Units1-3"
] | [
"house",
"foot ottoman",
"polycam",
"medieval",
"Ottoman",
"ww2",
"trusses"
] | [
"1->2:near/same_level/north_of",
"1->3:far/same_level/north_of",
"1->4:near/same_level/west_of",
"1->5:far/same_level/north_of",
"1->6:adjacent/above/north_of",
"1->7:adjacent/same_level/north_of",
"2->1:near/same_level/south_of",
"2->3:adjacent/same_level/west_of",
"2->4:near/same_level/west_of",
... | |
scene_006_arr_001_cam01_az157.9_el41.2 | scene_006 | scene_006_arr_001 | arr_001 | cam01_az157.9_el41.2 | 1 | 157.899994 | 41.200001 | scene_006.zip | arr_001/rgb/cam01_az157.9_el41.2.png | arr_001/depth/cam01_az157.9_el41.2_zdepth.exr | arr_001/depth/cam01_az157.9_el41.2_euclidean.exr | arr_001/normals/cam01_az157.9_el41.2_worldspace.exr | arr_001/normals/cam01_az157.9_el41.2_camspace.exr | arr_001/masks/cam01_az157.9_el41.2_combined.exr | [
"arr_001/masks/cam01_az157.9_el41.2_obj001.exr",
"arr_001/masks/cam01_az157.9_el41.2_obj002.exr",
"arr_001/masks/cam01_az157.9_el41.2_obj003.exr",
"arr_001/masks/cam01_az157.9_el41.2_obj004.exr",
"arr_001/masks/cam01_az157.9_el41.2_obj005.exr",
"arr_001/masks/cam01_az157.9_el41.2_obj006.exr",
"arr_001/m... | arr_001/metadata.json | arr_001/scene_graph.json | arr_001/scene.blend | arr_001/colmap/cameras.txt | arr_001/colmap/images.txt | arr_001/colmap/points3D.txt | 512 | 512 | 4 | 7 | 42 | 365.605896 | 365.605896 | 70 | 70 | [
-3.060406446456909,
1.070397138595581,
3.950772523880005
] | [
1,
2,
3,
4,
5,
6,
7
] | [
"Belas 32_09.12.2019",
"B073G8Q637",
"Blue Dog",
"Sword And Shield",
"B071J7Q6DW",
"споменик НОБ, Јошаница",
"16927- Units1-3"
] | [
"house",
"foot ottoman",
"polycam",
"medieval",
"Ottoman",
"ww2",
"trusses"
] | [
"1->2:near/same_level/north_of",
"1->3:far/same_level/north_of",
"1->4:near/same_level/west_of",
"1->5:far/same_level/north_of",
"1->6:adjacent/above/north_of",
"1->7:adjacent/same_level/north_of",
"2->1:near/same_level/south_of",
"2->3:adjacent/same_level/west_of",
"2->4:near/same_level/west_of",
... |
End of preview. Expand in Data Studio
GeoRel-100k Subset
This repository contains a reviewer-facing subset of GeoRel-100k. The full
payload is stored in scene_*.zip archives, while data/viewer/train.parquet
provides a lightweight Hugging Face Dataset Viewer split.
Each row in the viewer corresponds to one RGB camera view. The row embeds the RGB preview image and includes structured fields for scene, arrangement, camera pose/intrinsics, object classes, relation triplets, and the archive member paths for the full RGB, depth, normal, mask, COLMAP, scene graph, metadata, and Blender files.
Repository Layout
scene_*.zip: full scene archives for download.data/viewer/train.parquet: compact viewer table used by the Hub Dataset Viewer.scripts/build_viewer_dataset.py: reproducible generator for the viewer Parquet file.
Archive Contents
Each scene archive contains arrangement folders such as arr_001/, arr_002/,
and arr_003/. An arrangement includes:
rgb/*.png: RGB renders.depth/*.exr: z-depth and euclidean depth maps.normals/*.exr: camera-space and world-space normals.masks/*.exr: combined and per-object masks.colmap/*.txt: COLMAP camera, image, and points files.metadata.json: render, camera, and object metadata.scene_graph.json: objects and spatial relation annotations.scene.blend: Blender scene file.
Loading
After pushing to Hugging Face:
from datasets import load_dataset
ds = load_dataset("georel-100k/GeoRel-100k-subset", split="train")
From a local clone:
from datasets import load_dataset
ds = load_dataset(
"parquet",
data_files={"train": "data/viewer/train.parquet"},
split="train",
)
To regenerate the viewer table after updating archives:
python scripts/build_viewer_dataset.py
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