facebook/ShapeR-Evaluation

ShapeR Evaluation Dataset

We introduce a new dataset of in-the-wild sequences with paired posed multi-view images, SLAM point clouds, and individually complete 3D shape annotations for 178 objects across 7 diverse scenes. In contrast to existing real-world 3D reconstruction datasets which are either captured in controlled setups or have merged object and background geometries or incomplete shapes, this dataset is designed to capture real-world challenges like occlusions, clutter, and variable resolution and viewpoints to enable realistic, in-the-wild evaluation.

Project Page | Paper | Video | HF-Model | HF Evaluation Dataset

Usage

Clone the repository and follow the INSTALL.md instructions to install the required dependencies.

Examples

The dataset contains 178 objects across seven casually-captured recordings from distinct cluttered scenes annotated high quality 3D geometry. It covers a wide range of categories, from large objects like furniture to smaller items such as remotes, toasters, and tools. For each sequence, we provide multi-view images, calibrated camera parameters, SLAM point clouds, and machine-generated object captions. Each annotated object also includes a complete reference mesh generated using internal image-to-3D modeling methods under ideal conditions, which we manually refined and realigned for geometric and pose consistency.

Data Format

ShapeR Evaluation Dataset contains preprocessed samples from Aria glasses captures, where each sample is a pickle file with point clouds, multi-view images, camera parameters, text captions, and ground truth meshes.

For a detailed walkthrough of the data format, see the explore_data.ipynb notebook which includes:

• Complete pickle file structure with all keys and their dimensions
• Interactive 3D visualization of point clouds and meshes
• Camera position visualization
• Image and mask grid displays
• DataLoader usage examples for both SLAM and RGB variants
• Explanation of view selection strategies

License

ShapeR evaluation dataset is licensed under CC-BY-NC. See LICENSE for details.