| # Meta Structure | |
| -- scene_id | |
| -- pcd_average_distance | |
| -- frames: | |
| -- frame id: | |
| -- rgb_intrinsic | |
| -- camera_pose | |
| -- T_gravity | |
| -- frame id: | |
| -- rgb_intrinsic | |
| -- camera_pose | |
| -- T_gravity | |
| ... | |
| -- objects: | |
| -- object id: | |
| -- frame id: | |
| -- camera_box_2d_rend | |
| -- camera_center | |
| -- camera_scale | |
| -- camera_yaw | |
| -- camera_R | |
| ... | |
| ... | |