Question about the Instance Segmentation data format

[lorjul]

Steps to Reproduce

Run any generation job:

screen python -m infinigen.datagen.manage_jobs --output_folder outputs/my_dataset --num_scenes 1 --pipeline_configs local_256GB.gin monocular.gin blender_gt.gin indoor_background_configs.gin --configs singleroom.gin --pipeline_overrides get_cmd.driver_script='infinigen_examples.generate_indoors' manage_datagen_jobs.num_concurrent=16 --overrides compose_indoors.restrict_single_supported_roomtype=True 

What version of the code were you using?

d55e297

Additional context

What are the numbers in the generated Instance Segmentation .npy files? I checked the docs about Instance Segmentation, but I still don't fully understand it. The InstanceSegmentation.npy contains values that look like ids. But why do we then need 3 channels? And what do the ids refer to? In the docs it says the instance id is defined in Objects_XXXX_XX_XX.json, but I don't see any reference to those ids in the JSON file.