Search is not available for this dataset
label
int64 125
250
| x
float64 -0.58
0.59
| y
float64 -0.08
0.34
| z
float64 -0.66
-0.1
| w
float64 0.01
0.05
| h
float64 0.01
0.05
| l
float64 0.01
0.05
| roll
float64 -3.13
3.14
| pitch
float64 -1.49
1.3
| yaw
float64 -3.13
3.14
|
|---|---|---|---|---|---|---|---|---|---|
250 | 0.041569 | 0.035799 | -0.346011 | 0.038893 | 0.037037 | 0.040214 | 1.164423 | -0.436067 | 1.580949 |
125 | -0.319388 | 0.013278 | -0.327071 | 0.00955 | 0.011135 | 0.011145 | 1.07776 | 0.451189 | 2.911464 |
125 | -0.059012 | -0.063561 | -0.128312 | 0.01 | 0.008791 | 0.009561 | -0.991034 | -0.680101 | -0.39064 |
250 | -0.080828 | 0.023371 | -0.32282 | 0.030753 | 0.035858 | 0.035891 | -1.220396 | -0.436588 | 1.560415 |
250 | -0.075521 | -0.055024 | -0.160961 | 0.02697 | 0.031447 | 0.031476 | -2.273903 | -0.44648 | 1.562365 |
125 | -0.020615 | 0.005285 | -0.291096 | 0.014769 | 0.014064 | 0.01527 | 1.130042 | 0.05658 | 3.114925 |
125 | 0.091132 | 0.052204 | -0.375994 | 0.038884 | 0.043347 | 0.039358 | 0.871206 | -0.433574 | 1.579253 |
250 | 0.023067 | -0.081412 | -0.110835 | 0.028542 | 0.027181 | 0.029511 | 1.833287 | -0.808115 | 2.350471 |
250 | -0.00227 | -0.00488 | -0.255364 | 0.038791 | 0.0341 | 0.037086 | 1.660881 | -0.440923 | 1.581804 |
250 | -0.132734 | 0.029953 | -0.33688 | 0.036833 | 0.034857 | 0.037455 | -0.937941 | -0.4341 | 1.561884 |
250 | -0.054594 | 0.056531 | -0.397346 | 0.031989 | 0.030463 | 0.033075 | -0.901485 | -0.43381 | 1.562128 |
250 | 0.041569 | 0.035799 | -0.346011 | 0.038893 | 0.037037 | 0.040214 | 1.164423 | -0.436067 | 1.580949 |
125 | -0.319388 | 0.013278 | -0.327071 | 0.00955 | 0.011135 | 0.011145 | 1.07776 | 0.451189 | 2.911464 |
125 | -0.059012 | -0.063561 | -0.128312 | 0.01 | 0.008791 | 0.009561 | -0.991034 | -0.680101 | -0.39064 |
250 | -0.080828 | 0.023371 | -0.32282 | 0.030753 | 0.035858 | 0.035891 | -1.220396 | -0.436588 | 1.560415 |
250 | -0.075521 | -0.055024 | -0.160961 | 0.02697 | 0.031447 | 0.031476 | -2.273903 | -0.44648 | 1.562365 |
125 | -0.020615 | 0.005285 | -0.291096 | 0.014769 | 0.014064 | 0.01527 | 1.130042 | 0.05658 | 3.114925 |
125 | 0.091132 | 0.052204 | -0.375994 | 0.038884 | 0.043347 | 0.039358 | 0.871206 | -0.433574 | 1.579253 |
250 | 0.023067 | -0.081412 | -0.110835 | 0.028542 | 0.027181 | 0.029511 | 1.833287 | -0.808115 | 2.350471 |
250 | -0.00227 | -0.00488 | -0.255364 | 0.038791 | 0.0341 | 0.037086 | 1.660881 | -0.440923 | 1.581804 |
250 | -0.132734 | 0.029953 | -0.33688 | 0.036833 | 0.034857 | 0.037455 | -0.937941 | -0.4341 | 1.561884 |
250 | -0.054594 | 0.056531 | -0.397346 | 0.031989 | 0.030463 | 0.033075 | -0.901485 | -0.43381 | 1.562128 |
250 | 0.35649 | 0.15848 | -0.404902 | 0.038893 | 0.037037 | 0.040214 | 1.163208 | -0.53901 | 1.581519 |
125 | -0.004467 | 0.134131 | -0.388377 | 0.00955 | 0.011135 | 0.011145 | 0.967693 | 0.425341 | 2.864712 |
125 | 0.004234 | 0.108427 | -0.352473 | 0.01 | 0.008791 | 0.009561 | 1.026088 | 0.076261 | 3.095468 |
125 | -0.034509 | 0.031043 | -0.199055 | 0.029629 | 0.026046 | 0.028327 | 2.489829 | -0.55091 | 1.577881 |
125 | 0.032213 | 0.030805 | -0.216819 | 0.010527 | 0.009254 | 0.010064 | 0.538518 | -0.924991 | -2.213059 |
250 | 0.234092 | 0.143734 | -0.383111 | 0.030753 | 0.035858 | 0.035891 | -1.219152 | -0.539531 | 1.559831 |
250 | 0.239399 | 0.049121 | -0.230165 | 0.02697 | 0.031447 | 0.031476 | -2.272887 | -0.549424 | 1.561879 |
125 | 0.294306 | 0.122484 | -0.353414 | 0.014769 | 0.014064 | 0.01527 | 1.026982 | 0.05354 | 3.109248 |
125 | 0.406052 | 0.177879 | -0.43304 | 0.038884 | 0.043347 | 0.039358 | 0.870195 | -0.536519 | 1.579725 |
250 | 0.31265 | 0.108701 | -0.318915 | 0.038791 | 0.0341 | 0.037086 | 1.659559 | -0.543865 | 1.58243 |
250 | 0.182186 | 0.151726 | -0.396419 | 0.036833 | 0.034857 | 0.037455 | -0.936875 | -0.537045 | 1.561386 |
250 | 0.260326 | 0.184377 | -0.453834 | 0.031989 | 0.030463 | 0.033075 | -0.900448 | -0.536754 | 1.561644 |
250 | 0.32149 | 0.074228 | -0.434838 | 0.038893 | 0.037037 | 0.040214 | 1.164769 | -0.404754 | 1.580808 |
125 | -0.039467 | 0.052311 | -0.415203 | 0.00955 | 0.011135 | 0.011145 | 1.111755 | 0.458105 | 2.926394 |
125 | -0.069509 | -0.024507 | -0.213785 | 0.029629 | 0.026046 | 0.028327 | 2.490866 | -0.41665 | 1.577398 |
125 | -0.002787 | -0.027121 | -0.231358 | 0.010527 | 0.009254 | 0.010064 | 0.694217 | -1.027362 | -2.342284 |
250 | 0.204399 | -0.010756 | -0.247036 | 0.02697 | 0.031447 | 0.031476 | -2.274192 | -0.415166 | 1.562486 |
125 | 0.483638 | 0.099486 | -0.517111 | 0.01 | 0.008791 | 0.009561 | 0.288096 | 1.143419 | 1.885597 |
125 | 0.371052 | 0.089687 | -0.46532 | 0.038884 | 0.043347 | 0.039358 | 0.871494 | -0.402261 | 1.579136 |
250 | 0.27765 | 0.036407 | -0.342962 | 0.038791 | 0.0341 | 0.037086 | 1.661257 | -0.40961 | 1.581649 |
250 | 0.147186 | 0.068671 | -0.425528 | 0.036833 | 0.034857 | 0.037455 | -0.938244 | -0.402787 | 1.562007 |
250 | 0.28649 | 0.101676 | -0.416905 | 0.038893 | 0.037037 | 0.040214 | 1.165972 | -0.289354 | 1.580398 |
125 | -0.074467 | 0.082165 | -0.394876 | 0.00955 | 0.011135 | 0.011145 | 1.238891 | 0.479529 | 2.983903 |
125 | -0.065766 | 0.06613 | -0.353735 | 0.01 | 0.008791 | 0.009561 | 1.276415 | 0.085288 | 3.115771 |
125 | 0.185908 | 0.03521 | -0.187019 | 0.01 | 0.008791 | 0.009561 | -1.173127 | -0.728026 | -0.272544 |
125 | -0.104509 | 0.029052 | -0.185953 | 0.029629 | 0.026046 | 0.028327 | 2.491662 | -0.301247 | 1.577118 |
125 | -0.037787 | 0.024432 | -0.203108 | 0.010527 | 0.009254 | 0.010064 | 0.873502 | -1.103808 | -2.499384 |
250 | 0.164092 | 0.092772 | -0.392146 | 0.030753 | 0.035858 | 0.035891 | -1.22198 | -0.289875 | 1.560979 |
250 | 0.169399 | 0.038882 | -0.220566 | 0.02697 | 0.031447 | 0.031476 | -2.275193 | -0.299765 | 1.562837 |
125 | 0.448638 | 0.117291 | -0.501539 | 0.01 | 0.008791 | 0.009561 | 0.401844 | 1.251271 | 1.991674 |
125 | 0.224306 | 0.079518 | -0.358119 | 0.014769 | 0.014064 | 0.01527 | 1.276974 | 0.05987 | 3.12349 |
125 | 0.336052 | 0.113522 | -0.448964 | 0.038884 | 0.043347 | 0.039358 | 0.872495 | -0.28686 | 1.578797 |
250 | 0.24265 | 0.074686 | -0.321285 | 0.038791 | 0.0341 | 0.037086 | 1.662563 | -0.294211 | 1.581199 |
250 | 0.112186 | 0.097228 | -0.407017 | 0.036833 | 0.034857 | 0.037455 | -0.9393 | -0.287386 | 1.562365 |
250 | 0.190326 | 0.11468 | -0.470719 | 0.031989 | 0.030463 | 0.033075 | -0.902806 | -0.287095 | 1.562596 |
250 | 0.25149 | 0.046014 | -0.431348 | 0.038893 | 0.037037 | 0.040214 | 1.166271 | -0.259213 | 1.580317 |
125 | -0.109467 | 0.027176 | -0.408742 | 0.00955 | 0.011135 | 0.011145 | 1.272524 | 0.48403 | 2.999488 |
125 | -0.100766 | 0.012387 | -0.367136 | 0.01 | 0.008791 | 0.009561 | 1.306658 | 0.086027 | 3.118359 |
125 | 0.150908 | -0.013494 | -0.199564 | 0.01 | 0.008791 | 0.009561 | -1.21229 | -0.73576 | -0.24637 |
125 | -0.139509 | -0.019617 | -0.198313 | 0.029629 | 0.026046 | 0.028327 | 2.49186 | -0.271106 | 1.577062 |
125 | -0.072787 | -0.024752 | -0.21532 | 0.010527 | 0.009254 | 0.010064 | 0.929067 | -1.121261 | -2.549221 |
250 | 0.129092 | 0.03786 | -0.406333 | 0.030753 | 0.035858 | 0.035891 | -1.222286 | -0.259735 | 1.561063 |
250 | 0.134399 | -0.010834 | -0.233206 | 0.02697 | 0.031447 | 0.031476 | -2.275442 | -0.269624 | 1.562907 |
125 | 0.413639 | 0.059072 | -0.516415 | 0.01 | 0.008791 | 0.009561 | 0.444593 | 1.278532 | 2.032443 |
125 | 0.355237 | 0.011687 | -0.349849 | 0.011202 | 0.009847 | 0.01071 | 1.648386 | -0.278406 | 1.730088 |
125 | 0.189306 | 0.025637 | -0.371922 | 0.014769 | 0.014064 | 0.01527 | 1.307166 | 0.060388 | 3.125305 |
125 | 0.301053 | 0.056888 | -0.46375 | 0.038884 | 0.043347 | 0.039358 | 0.872745 | -0.256719 | 1.578731 |
250 | 0.20765 | 0.021918 | -0.334959 | 0.038791 | 0.0341 | 0.037086 | 1.662887 | -0.264071 | 1.581109 |
250 | 0.077186 | 0.041866 | -0.421331 | 0.036833 | 0.034857 | 0.037455 | -0.939563 | -0.257245 | 1.562436 |
250 | 0.155326 | 0.05739 | -0.48553 | 0.031989 | 0.030463 | 0.033075 | -0.903062 | -0.256954 | 1.562664 |
250 | 0.21649 | 0.189781 | -0.38559 | 0.038893 | 0.037037 | 0.040214 | 1.163296 | -0.531887 | 1.581474 |
125 | -0.144467 | 0.165551 | -0.368892 | 0.00955 | 0.011135 | 0.011145 | 0.975221 | 0.427277 | 2.867825 |
125 | -0.135766 | 0.140104 | -0.332806 | 0.01 | 0.008791 | 0.009561 | 1.033224 | 0.076588 | 3.096013 |
125 | 0.115908 | 0.070048 | -0.178396 | 0.01 | 0.008791 | 0.009561 | -0.880461 | -0.640579 | -0.45852 |
125 | -0.174509 | 0.063814 | -0.17884 | 0.029629 | 0.026046 | 0.028327 | 2.489888 | -0.543787 | 1.577851 |
125 | -0.107787 | 0.06345 | -0.196603 | 0.010527 | 0.009254 | 0.010064 | 0.545662 | -0.930683 | -2.218776 |
250 | 0.094092 | 0.175192 | -0.363694 | 0.030753 | 0.035858 | 0.035891 | -1.219243 | -0.532408 | 1.559878 |
250 | 0.099399 | 0.08167 | -0.210079 | 0.02697 | 0.031447 | 0.031476 | -2.272962 | -0.542301 | 1.561918 |
125 | 0.378639 | 0.225267 | -0.463996 | 0.01 | 0.008791 | 0.009561 | 0.212863 | 1.021204 | 1.819032 |
125 | 0.320237 | 0.134774 | -0.316346 | 0.011202 | 0.009847 | 0.01071 | 1.59834 | -0.547249 | 1.750353 |
125 | 0.154306 | 0.154153 | -0.333847 | 0.014769 | 0.014064 | 0.01527 | 1.034111 | 0.053769 | 3.10963 |
125 | 0.266053 | 0.20898 | -0.413865 | 0.038884 | 0.043347 | 0.039358 | 0.870269 | -0.529396 | 1.579688 |
250 | 0.17265 | 0.140616 | -0.299251 | 0.038791 | 0.0341 | 0.037086 | 1.659655 | -0.536742 | 1.582381 |
250 | 0.042186 | 0.183089 | -0.37706 | 0.036833 | 0.034857 | 0.037455 | -0.936953 | -0.529922 | 1.561426 |
250 | 0.120326 | 0.21533 | -0.434705 | 0.031989 | 0.030463 | 0.033075 | -0.900524 | -0.529631 | 1.561683 |
250 | 0.18149 | 0.110909 | -0.416612 | 0.038893 | 0.037037 | 0.040214 | 1.165159 | -0.368409 | 1.580661 |
125 | -0.179467 | 0.08972 | -0.396193 | 0.00955 | 0.011135 | 0.011145 | 1.151494 | 0.465553 | 2.944103 |
125 | -0.170766 | 0.070485 | -0.356447 | 0.01 | 0.008791 | 0.009561 | 1.197109 | 0.082982 | 3.109103 |
125 | 0.080908 | 0.026495 | -0.192693 | 0.01 | 0.008791 | 0.009561 | -1.073156 | -0.704233 | -0.338208 |
125 | -0.209509 | 0.020272 | -0.192117 | 0.029629 | 0.026046 | 0.028327 | 2.491125 | -0.380304 | 1.577298 |
125 | -0.142787 | 0.017022 | -0.209583 | 0.010527 | 0.009254 | 0.010064 | 0.745413 | -1.05286 | -2.386444 |
250 | 0.059092 | 0.100078 | -0.392634 | 0.030753 | 0.035858 | 0.035891 | -1.221148 | -0.36893 | 1.56071 |
250 | 0.064399 | 0.032806 | -0.225845 | 0.02697 | 0.031447 | 0.031476 | -2.274517 | -0.378821 | 1.562611 |
125 | 0.343639 | 0.13316 | -0.499749 | 0.01 | 0.008791 | 0.009561 | 0.317482 | 1.177828 | 1.91255 |
125 | 0.285237 | 0.067905 | -0.339339 | 0.011202 | 0.009847 | 0.01071 | 1.629723 | -0.386174 | 1.736185 |
125 | 0.119306 | 0.084178 | -0.35976 | 0.014769 | 0.014064 | 0.01527 | 1.197794 | 0.058253 | 3.118814 |
125 | 0.231053 | 0.12525 | -0.447636 | 0.038884 | 0.043347 | 0.039358 | 0.871819 | -0.365916 | 1.579015 |
250 | 0.162987 | 0.009866 | -0.17405 | 0.028542 | 0.027181 | 0.029511 | 1.898842 | -0.758888 | 2.304182 |
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Straw6D
About The Project
This repository provides a synthetic dataset for 6DoF pose and 3D size estimation of strawberries. It was generated in Ignition Gazebo simulator: (a) Each generated strawberry is random, encompassing variations in plant shape, the distribution of strawberries on the plant, and the size, ripeness, and pose of the strawberries. (b) For each batch of strawberries, different lighting conditions are set to mimic natural lighting variations. (c) The camera randomly selects angles from a reasonable range to capture images. (d) For a given camera angle, the distance between the camera and the strawberries is also adjusted.
The final dataset, named Straw6D, includes RGB images, depth images, 3D bounding box annotations, strawberry instance segmentation masks and point clouds.
Usage
View the Straw6D dataset
python3 visual_datast.py
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