2D 仿射运动表示
每个物体、每个时刻用 6 个数 描述运动，取代 160×160×2 的稠密光流场。 下面每一行展示：这 6 个数长什么样、它渲染出的光流场、以及与真值的差距。色轮与项目其余部分一致（亮度上限 16px）。
y' = c·x + (1 + d)·y + ty — 光流 = (x'−x, y'−y)；参数全零即恒等变换，光流严格为 0
collide h5test_collide_pilot_it2_collision_assorted_targets_box_0001_4e4b8059a88f
A strong horizontal impulse is applied to a cyan sphere. A black cone and other rigid objects are initially at rest nearby. Continue their motion under gravity, friction, and contact forces. Static camera.
残差 0.531 px · 3 个实例 · 126 个数 vs 稠密光流的 358,400 个 · 压缩 2844×
| 物体 | 像素 | 平均位移 | 平移 (px) | 旋转 | 主/次轴缩放 | 原始 6 个数 |
|---|---|---|---|---|---|---|
| #2 | 91 | 22.6 | +103.2, -4.6 | +97.8° | 1.122 / 0.788 | -1.1301, -1.1128, +0.7788, -1.1285, +1.2905, -0.0579 |
contain h5test_contain_pilot-containment-bowl_0001_59e029b50309
A strong horizontal impulse is applied to a cyan sphere near a bowl; a orange sphere is also present in the setup. Continue all motion under gravity, friction, and rigid-body contact without changing object identity. Static camera.
残差 0.014 px · 6 个实例 · 252 个数 vs 稠密光流的 358,400 个 · 压缩 1422×
| 物体 | 像素 | 平均位移 | 平移 (px) | 旋转 | 主/次轴缩放 | 原始 6 个数 |
|---|---|---|---|---|---|---|
| #2 | 84 | 55.4 | -37.0, -19.5 | +33.9° | 0.754 / 0.651 | -0.3678, -0.4077, +0.3753, -0.4657, -0.4631, -0.2441 |
| #3 | 42 | 33.9 | -31.2, -10.5 | -17.3° | 0.864 / 0.521 | -0.2637, +0.0525, -0.3601, -0.4143, -0.3896, -0.1318 |
| #4 | 74 | 33.9 | -32.6, -9.9 | -9.3° | 0.805 / 0.762 | -0.2090, +0.1138, -0.1389, -0.2442, -0.4069, -0.1237 |
| #6 | 4041 | 0.0 | -0.0, -0.0 | -0.0° | 1.000 / 1.000 | +0.0000, +0.0000, +0.0000, -0.0000, -0.0000, -0.0000 |
| #1 | 3197 | 0.0 | -0.0, -0.0 | -0.0° | 1.000 / 1.000 | -0.0000, +0.0000, -0.0000, +0.0000, -0.0000, -0.0000 |
| #5 | 222 | 0.0 | -0.0, +0.0 | -0.0° | 1.000 / 1.000 | -0.0000, -0.0000, -0.0000, +0.0000, -0.0000, +0.0000 |
dominoes h5test_dominoes_pilot_dominoes_0mid_d3chairs_o1plants_tdwroom_0001_74da2c2dd9b3
A gentle horizontal impulse is applied to an end pink cube beside a row of about 5 upright block-like objects. Continue the chain under gravity and rigid-body contact. Static camera.
残差 0.056 px · 7 个实例 · 294 个数 vs 稠密光流的 358,400 个 · 压缩 1219×
| 物体 | 像素 | 平均位移 | 平移 (px) | 旋转 | 主/次轴缩放 | 原始 6 个数 |
|---|---|---|---|---|---|---|
| #3 | 200 | 26.4 | +19.1, +25.5 | +79.3° | 1.077 / 0.297 | -1.0107, -1.0397, +0.3101, -0.7340, +0.2393, +0.3187 |
| #2 | 163 | 7.3 | +6.7, -3.2 | +13.7° | 1.251 / 0.965 | +0.1894, -0.3495, +0.1741, -0.0367, +0.0835, -0.0402 |
| #1 | 633 | 0.0 | +0.0, +0.0 | +0.0° | 1.000 / 1.000 | +0.0000, -0.0000, -0.0000, +0.0000, +0.0000, +0.0000 |
| #7 | 2897 | 0.0 | -0.0, -0.0 | -0.0° | 1.000 / 1.000 | -0.0000, +0.0000, +0.0000, +0.0000, -0.0000, -0.0000 |
| #4 | 184 | 0.0 | +0.0, +0.0 | -0.0° | 1.000 / 1.000 | +0.0000, +0.0000, +0.0000, +0.0000, +0.0000, +0.0000 |
| #5 | 129 | 0.0 | -0.0, +0.0 | +0.0° | 1.000 / 1.000 | -0.0000, +0.0000, +0.0000, +0.0000, -0.0000, +0.0000 |
| #6 | 495 | 0.0 | +0.0, -0.0 | +0.0° | 1.000 / 1.000 | +0.0000, -0.0000, -0.0000, -0.0000, +0.0000, -0.0000 |
drape h5test_drape_test10_0001_b1ef0fd2016c
A cyan square cloth begins suspended above about 3 rigid objects and is released. Continue its fall and deformation under gravity, cloth contact, and self-consistent soft-body dynamics. Static camera.
残差 1.961 px · 6 个实例 · 252 个数 vs 稠密光流的 358,400 个 · 压缩 1422×
| 物体 | 像素 | 平均位移 | 平移 (px) | 旋转 | 主/次轴缩放 | 原始 6 个数 |
|---|---|---|---|---|---|---|
| #6 | 799 | 43.6 | -12.5, +150.3 | +4.0° | 3.351 / 0.753 | -0.2469, -0.2620, +0.0241, +2.3404, -0.1563, +1.8790 |
| #4 | 222 | 0.0 | +0.0, +0.0 | -0.0° | 1.000 / 1.000 | +0.0000, +0.0000, -0.0000, -0.0000, +0.0000, +0.0000 |
| #3 | 295 | 0.0 | +0.0, +0.0 | -0.0° | 1.000 / 1.000 | +0.0000, -0.0000, -0.0000, -0.0000, +0.0000, +0.0000 |
| #5 | 77 | 0.0 | -0.0, +0.0 | +0.0° | 1.000 / 1.000 | -0.0000, -0.0000, +0.0000, +0.0000, -0.0000, +0.0000 |
| #1 | 59 | 0.0 | -0.0, -0.0 | +0.0° | 1.000 / 1.000 | +0.0000, -0.0000, +0.0000, +0.0000, -0.0000, -0.0000 |
drop h5test_drop_pilot_it2_drop_all_bowls_box_0001_e68bc19243c3
A cube begins suspended about 1.6 meters above a bowl and is released from rest. Continue the fall under gravity with realistic impact, bounce, and friction. Static camera.
残差 0.017 px · 3 个实例 · 126 个数 vs 稠密光流的 358,400 个 · 压缩 2844×
| 物体 | 像素 | 平均位移 | 平移 (px) | 旋转 | 主/次轴缩放 | 原始 6 个数 |
|---|---|---|---|---|---|---|
| #2 | 127 | 66.9 | +19.4, +41.0 | -46.6° | 0.900 / 0.514 | -0.3215, +0.5168, -0.5114, -0.7074, +0.2423, +0.5128 |
| #3 | 1304 | 0.1 | +0.0, -0.1 | +0.0° | 1.000 / 0.999 | +0.0003, -0.0005, +0.0001, -0.0006, +0.0000, -0.0009 |
| #1 | 4495 | 0.0 | -0.0, -0.0 | -0.0° | 1.000 / 1.000 | +0.0000, +0.0000, -0.0000, +0.0000, -0.0000, -0.0000 |
link h5test_link_pilot_linking_nl1-5_aNone_bCube_occ1_dis1_tdwroom_0001_f6cc7119e50b
A strong horizontal impulse is applied to a blue sphere beside a chain of 3 ring elements fixed to a cube. Continue the constrained motion under gravity and contact forces. Static camera.
残差 0.028 px · 8 个实例 · 336 个数 vs 稠密光流的 358,400 个 · 压缩 1067×
| 物体 | 像素 | 平均位移 | 平移 (px) | 旋转 | 主/次轴缩放 | 原始 6 个数 |
|---|---|---|---|---|---|---|
| #2 | 238 | 20.4 | -17.7, +16.1 | -16.9° | 1.109 / 1.076 | +0.0610, +0.3148, -0.3208, +0.0286, -0.2212, +0.2013 |
| #5 | 46 | 12.9 | -12.9, +4.4 | +2.9° | 1.339 / 0.920 | +0.0262, -0.2393, -0.1264, +0.2307, -0.1615, +0.0548 |
| #6 | 70 | 9.6 | -3.2, +2.5 | -33.0° | 1.416 / 0.916 | -0.0577, +0.8823, -0.3876, +0.0143, -0.0396, +0.0310 |
| #3 | 210 | 9.3 | -8.5, +2.3 | +2.7° | 1.070 / 1.017 | +0.0376, -0.0741, +0.0226, +0.0475, -0.1060, +0.0282 |
| #1 | 5036 | 0.0 | -0.0, -0.0 | -0.0° | 1.000 / 1.000 | -0.0000, +0.0000, +0.0000, +0.0000, -0.0000, -0.0000 |
| #8 | 1449 | 0.0 | +0.0, -0.0 | +0.0° | 1.000 / 1.000 | +0.0000, -0.0000, +0.0000, -0.0000, +0.0000, -0.0000 |
| #7 | 48 | 0.0 | +0.0, +0.0 | -0.0° | 1.000 / 1.000 | +0.0000, +0.0000, -0.0000, +0.0000, +0.0000, +0.0000 |
roll h5test_roll_pilot_it2_rollingSliding_simple_collision_box_0000_0c8f90261a2a
A strong horizontal impulse is applied to a green cylindrical pipe on a surface near a orange cube. Continue the rolling or sliding motion with realistic gravity, friction, and contact. Static camera.
残差 0.324 px · 3 个实例 · 126 个数 vs 稠密光流的 358,400 个 · 压缩 2844×
| 物体 | 像素 | 平均位移 | 平移 (px) | 旋转 | 主/次轴缩放 | 原始 6 个数 |
|---|---|---|---|---|---|---|
| #2 | 208 | 29.5 | +53.7, +25.2 | +87.6° | 1.244 / 0.553 | -0.6324, -0.9996, +0.7958, -1.2919, +0.6719, +0.3153 |
| #1 | 1174 | 0.0 | -0.0, -0.0 | +0.0° | 1.000 / 1.000 | +0.0000, +0.0000, +0.0000, -0.0000, -0.0000, -0.0000 |
support h5test_support_pilot_towers_nb2_fr015_SJ010_mono0_dis0_occ0_tdwroom_0001_7619d81c6fed
A moderate horizontal impulse is applied to a green sphere beside a vertical stack of 2 pentagonal block objects with a cylinder on top. Continue the scene under gravity, support, friction, and rigid-body contact. Static camera.
残差 0.006 px · 5 个实例 · 210 个数 vs 稠密光流的 358,400 个 · 压缩 1707×
| 物体 | 像素 | 平均位移 | 平移 (px) | 旋转 | 主/次轴缩放 | 原始 6 个数 |
|---|---|---|---|---|---|---|
| #2 | 48 | 19.6 | -18.7, +5.6 | +7.7° | 1.131 / 0.890 | +0.1059, -0.1958, +0.0760, -0.1032, -0.2333, +0.0699 |
| #5 | 120 | 4.0 | -1.4, -0.2 | -7.4° | 1.018 / 1.011 | +0.0074, +0.1268, -0.1331, +0.0051, -0.0180, -0.0026 |
| #4 | 385 | 2.8 | -2.8, +0.1 | -0.1° | 1.008 / 1.007 | +0.0067, +0.0019, -0.0021, +0.0080, -0.0356, +0.0013 |
| #3 | 432 | 1.6 | -1.6, +0.1 | -0.3° | 1.010 / 1.004 | +0.0088, +0.0022, -0.0068, +0.0054, -0.0202, +0.0010 |
| #1 | 9970 | 0.0 | +0.0, +0.0 | +0.0° | 1.000 / 1.000 | +0.0000, -0.0000, +0.0000, -0.0000, +0.0000, +0.0000 |