| --- |
| pretty_name: Label Factory RGB-D Dataset 0000 |
| license: other |
| tags: |
| - image |
| - video |
| - 3d |
| - rgb-d |
| configs: |
| - config_name: depth_estimation |
| data_files: |
| - split: train |
| path: "*/data/depth_estimation/train-*.parquet" |
| - config_name: instance_segmentation |
| data_files: |
| - split: train |
| path: "*/data/instance_segmentation/train-*.parquet" |
| - config_name: object_pose_estimation |
| data_files: |
| - split: train |
| path: "*/data/object_pose_estimation/train-*.parquet" |
| --- |
| |
| # ABC-iRobotics/Hand_Tools: dataset 0000 |
| |
| Metric RGB-D scene dataset generated with the Label Factory workflow. |
| The files for this capture are stored below the `0000/` directory so |
| multiple numbered datasets can coexist in this repository. |
| |
| ## Training configurations |
| |
| - `depth_estimation`: RGB input, metric depth target, intrinsics and depth units |
| - `instance_segmentation`: RGB input, instance-mask target, boxes and annotations |
| - `object_pose_estimation`: RGB-D input, masks, camera transforms and object poses |
|
|
| ## Contents |
|
|
| - 318 RGB frames and aligned metric depth maps |
| - Metric camera calibration and world-coordinate camera poses |
| - Metric reconstructed point cloud |
| - 4 posed object instances with per-frame masks |
| - STL models used for pose estimation |
|
|
| Depth images are stored in millimetres. Pose conventions and coordinate-system |
| metadata are recorded in `0000/sam6d_scene/annotations.json` and |
| `0000/reconstruction/metric_alignment/camera_poses_metric.json`. |
|
|
| ## Limitations |
|
|
| Annotations are automatically generated and must be independently reviewed for |
| the intended downstream use. Reconstruction, depth-alignment, segmentation and |
| pose-estimation errors may remain. |
|
|
