helioom/3dvlm-hm3d_subset

HM3D Subset (3DVLM)

A small, fast-to-download slice of HM3D scenes, rendered into a uniform posed-RGB-D format for quick model test-runs. This is a subset of the full set: 100 scenes (randomly sampled, seed 0) out of 779, with all episodes kept for each selected scene. For the complete data, see the full (private) 3dvlm-hm3d.

Contents

100 scenes, one .tar each under hm3d/. Each scene tar holds its episodes (short 5-frame clips, 1–5 per scene → ~5–25 frames per scene). Each episode extracts to its own directory:

00002-FxCkHAfgh7A_ep00/
├── images/            # frame_000000.jpg … frame_000004.jpg (5 RGB frames, 512×512)
├── depth.npy          # (5, 512, 512) float32
├── valid_mask.npy     # (5, 512, 512) bool   — True where depth is valid
├── extrinsics.npy     # (5, 4, 4)     float32 — world→camera (w2c)
├── intrinsics.npy     # (5, 3, 3)     float32 — pinhole K
└── meta.json          # scene_id, frame_ids (parallel to array index), image_size

An episode is a self-contained 5-frame clip with frame-to-frame overlap; treat each as one short posed-RGB-D sequence. The first axis of every array is the frame, matching meta.json's frame_ids and the sorted images/ files.

Conventions

• Coordinate frame: OpenCV (x-right, y-down, z-forward). extrinsics is the world→camera (w2c) matrix; invert it for camera→world.
• Depth: z-depth in metres (distance along the camera z-axis, not Euclidean ray length), returned natively by the simulator. Use valid_mask for valid pixels.
• Intrinsics: fixed — fx=fy=256, cx=cy=255.5 (90° FOV, 512×512).

Quick start

import tarfile, json, numpy as np
from huggingface_hub import hf_hub_download

p = hf_hub_download("helioom/3dvlm-hm3d_subset", "hm3d/00002-FxCkHAfgh7A.tar", repo_type="dataset")
tarfile.open(p).extractall("hm3d/")

ep    = "hm3d/00002-FxCkHAfgh7A_ep00"
meta  = json.load(open(f"{ep}/meta.json"))
depth = np.load(f"{ep}/depth.npy")        # (5, 512, 512)
K     = np.load(f"{ep}/intrinsics.npy")   # (5, 3, 3)
w2c   = np.load(f"{ep}/extrinsics.npy")    # (5, 4, 4)

License

Built on HM3D (Matterport), released for research use only under the Matterport end-user license; the same terms apply to this derived subset. See HM3D.