| D3Fields Compatible Dataset Info (with Segmentation) | |
| ================================================== | |
| format: d3fields_compatible_with_segmentation | |
| num_frames: 20 | |
| num_cameras: 2 | |
| fixed_cameras_only: True | |
| fixed_camera_indices: [0, 1] | |
| rgb_shape: (20, 2, H, W, 3) | |
| depth_format: PNG RGB | |
| color_format: PNG RGB | |
| segmentation_format: PNG 16-bit grayscale (segmentation IDs) | |
| camera_params_format: numpy [fx, fy, cx, cy] | |
| camera_extrinsics_format: numpy 4x4 world-to-camera (static) | |
| total_episodes: 1 | |
| storage_structure: camera_X/color/*.png, camera_X/depth/*.png, camera_X/masks/*.png | |
| note: Hand cameras excluded due to time-varying extrinsics. Segmentation masks saved as 16-bit PNG. | |