D3Fields Compatible Dataset Info (with Segmentation)
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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.