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0000 | 1 | 000001.png | "iVBORw0KGgoAAAANSUhEUgAABQAAAAMgCAIAAADz+lisAAAgAElEQVR4AXTBi6Ik53md53d9/1/d+zADYEAQokgplA+KpNiK7/8(...TRUNCATED) | 1,280 | 800 | [
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0000 | 2 | 000002.png | "iVBORw0KGgoAAAANSUhEUgAABQAAAAMgCAIAAADz+lisAAAgAElEQVR4AXzBi5ok53Wd6W/t/UdkVlUfABAEKEpDnSnJGvv+78O(...TRUNCATED) | 1,280 | 800 | [
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0000 | 3 | 000003.png | "iVBORw0KGgoAAAANSUhEUgAABQAAAAMgCAIAAADz+lisAAAgAElEQVR4AXzBe5Nc2XXe6d+71j4nM6sKQDeA5kWmZP9hUhO0bo7(...TRUNCATED) | 1,280 | 800 | [
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0000 | 4 | 000004.png | "iVBORw0KGgoAAAANSUhEUgAABQAAAAMgCAIAAADz+lisAAAgAElEQVR4AXTBibokyXWd2X8fM4+IO9SAQmEgVCBBtQiBAPV1v//(...TRUNCATED) | 1,280 | 800 | [
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0000 | 5 | 000005.png | "iVBORw0KGgoAAAANSUhEUgAABQAAAAMgCAIAAADz+lisAAAgAElEQVR4AXTBW49kV57e59/7X2tHRGZWZfHM7p5WGyNjdIB8bRj(...TRUNCATED) | 1,280 | 800 | [
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0000 | 6 | 000006.png | "iVBORw0KGgoAAAANSUhEUgAABQAAAAMgCAIAAADz+lisAAAgAElEQVR4AWzB2a5k2Zml12/OtbaZncabIJ3JIJmsKkBXggDVlSB(...TRUNCATED) | 1,280 | 800 | [
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0000 | 7 | 000007.png | "iVBORw0KGgoAAAANSUhEUgAABQAAAAMgCAIAAADz+lisAAAgAElEQVR4AWzBDZdk2V3d6d/+n3MjMrOyXrrVkkGyALPAGmzAY8b(...TRUNCATED) | 1,280 | 800 | [
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0000 | 8 | 000008.png | "iVBORw0KGgoAAAANSUhEUgAABQAAAAMgCAIAAADz+lisAAAgAElEQVR4AXTB65dt53mX6ft+3jlX1a69t062ZFshAYZjIEBCJ5B(...TRUNCATED) | 1,280 | 800 | [
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0000 | 9 | 000009.png | "iVBORw0KGgoAAAANSUhEUgAABQAAAAMgCAIAAADz+lisAAAgAElEQVR4AXzBba9k6Xme5/O8n1VVe/fbzJAUZVt2pNiylW/5GYk(...TRUNCATED) | 1,280 | 800 | [
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End of preview. Expand in Data Studio
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 unitsinstance_segmentation: RGB input, instance-mask target, boxes and annotationsobject_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.
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