---
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.