| pretty_name: Label Factory RGB-D Dataset 0007 | |
| license: other | |
| tags: | |
| - image | |
| - video | |
| - 3d | |
| - rgb-d | |
| # ABC-iRobotics/Hand_Tools: dataset 0007 | |
| Metric RGB-D scene dataset generated with the Label Factory workflow. | |
| The files for this capture are stored below the `0007/` directory so | |
| multiple numbered datasets can coexist in this repository. | |
| ## Contents | |
| - 325 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 `0007/sam6d_scene/annotations.json` and | |
| `0007/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. | |