Data downloader¶

We provide a data downloader script that downloads and prepares the data.

You can run as:

python -m data_downloader.data_asset_download --split <split> --download_dir <download_dir> --download_only_one_video_sequence --dataset_assets <identifier list of data assets to download>

where the supported arguments are:

--split <split>: Specify the split of the data. This argument can be train_val_set, test_set or custom.
--download_dir <download_dir>: Specify the path where the downloaded data will be stored.
--download_only_one_video_sequence: (Optional) Specify whether to download only one video sequence (the longest video will be downloaded). By omitting this flag, all the available video sequences for each scene will be downloaded.
--dataset_assets <identifier list of data assets to download>: Specify the identifier list of the data assets to download. See the table below for the supported data asset identifiers. You can specify the data assets to download as --dataset_assets <identifier-1> <identifier-2> ... <identifier-n>

Below you can find a list with the supported data asset identifiers. To download the desired data assets, add the corresponding identifiers after the --dataset_assets argument. You can find a detailed description of each data asset at Dataset > Data assets and File structure.

Data asset identifier	Filename	Description
laser_scan_5mm	<visit_id>_laser_scan.ply	Combined Faro laser scan downsampled with a voxel size of 5mm
crop_mask	<visit_id>_crop_mask.npy	Binary mask to crop extraneous points from the combined laser scan
annotations	annotations.json	functional interactive element annotations
descriptions	descriptions.json	natural language task descriptions
motions	motions.json	motion annotations
lowres_wide	lowres_wide/	low res. RGB frames of the wide camera
lowres_wide_intrinsics	lowres_wide_intrinsics/	camera intrinsics for the low res. frames
lowres_depth	lowres_depth/	low res. depth maps
hires_wide	hires_wide/	high res. RGB frames of the wide camera
hires_wide_intrinsics	hires_wide_intrinsics	camera intrinsics for the high res. frames
hires_depth	hires_depth/	high res. depth maps
lowres_poses	lowres_poses.traj	ARKit camera poses in the ARKit coordinate system
hires_poses	hires_poses.traj	COLMAP camera poses in the laser scan coordinate system
vid_mov	<video_id>.mov	video captured with the iPad camera in .mov format
vid_mp4	<video_id>.mp4	video captured with the iPad camera in .mp4 format
arkit_mesh	<video_id>_arkit_mesh.ply	ARKit 3D mesh reconstruction of the scene
transform	<video_id>_transform.npy	4x4 transformation matrix that registers the Faro laser scan to the ARKit coordinate system

Download the train/val sets¶

To download the scenes in the train/val sets, you can run:

python -m data_downloader.data_asset_download --split train_val_set --download_dir data/ --dataset_assets <identifier list of data assets to download>

where <identifier list of data assets to download> should be substituted with the identifiers of the data assets you want to download. For example, to download the combined laser scan, the high resolution RGB frames, depth maps, camera intrinsics and poses, you can run:

python -m data_downloader.data_asset_download --split train_val_set --download_dir data/ --dataset_assets laser_scan_5mm hires_wide hires_depth hires_wide_intrinsics hires_poses

You can also add --download_only_one_video_sequence, if you want to download only one video sequence for each scene. This option will reduce the storage needed and the download time.

Download the test set¶

Similarly, to download the scenes in the test set, you can run:

python -m data_downloader.data_asset_download --split test_set --download_dir data/ --dataset_assets <identifier list of data assets to download>

where <identifier list of data assets to download> should be substituted with the identifiers of the data assets you want to download.

To download only one video sequence for each scene, you can add --download_only_one_video_sequence.

Download selected scenes¶

Download a set of selected scenes:

To download only a set of selected scenes, you can create a custom .csv file by following the same format (e.g., check here). Specifically, the first column should specify the visit_id and the second column the video_id. For example:

visit_id,video_id
420683,42445137
421013,42444703
421015,42444789
...

To download the data, you can run:

python -m data_downloader.data_asset_download --split custom --video_id_csv <path to the .csv file> --download_dir data/ --dataset_assets <identifier list of data assets to download>

The video_id column will be used only if the desired data assets to download are related to the video sequence.

Download a single selected scene:

To download a single selected scene, you can run:

python -m data_downloader.data_asset_download --split custom --download_dir data/ --visit_id <visit_id of the desired scene> --video_id <video_id of the desired video sequence> --dataset_assets <identifier list of data assets to download>