Format
Data Format
TRansPose folder includes all of the data for TRansPose dataset.
In models folder,
3D CAD models of the object set.
All objects are denoted by category, number, and material (Glass (G) and Others (P))
obj_<category>_<sub-category>_<object-number>_<material type>
ex) obj_C_01_01_G, obj_C_01_02_P, obj_H_01_01_G, obj_T_02_10_G, obj_N_03_01_P
object_label.json - a dictionary paired with the ID and name of objects.
In sequences folder,
All of the sequential data is provided according to the sequence index.
Extrinsic calibration parameters ()are provided in extrinsic.json
In each sequence folder,
Sensor data is separated depending on the sensor type.
Extrinsic calibration parameters are provided in extrinsic.json
Vision sensor system's poses relative to the base of the robot manipulator are provided as World2EEs.json
all image data, including RGB, depth, TIR image, and object mask, are provided as .png extension.
The intrinsic parameters of each sensor are provided in camera_info.json
Pose Annotation
These annotation files are paired with corresponding image data using file indexing number.
A label file includes the object name, object ID, 6D object poses, bounding-box, and corresponding mask image file.