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