Add Label Factory dataset card

.gitattributes

@@ -58,3 +58,8 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+objects/stl/Pliers.stl filter=lfs diff=lfs merge=lfs -text
+objects/stl/Rachet.stl filter=lfs diff=lfs merge=lfs -text
+objects/stl/Screwdriver.stl filter=lfs diff=lfs merge=lfs -text
+reconstruction/mvs_filtered_metric.ply filter=lfs diff=lfs merge=lfs -text
+sam6d_scene/annotations.json filter=lfs diff=lfs merge=lfs -text

README.md

@@ -1,3 +1,31 @@
 ---
-license: gpl-3.0
+pretty_name: Label Factory RGB-D Dataset 0007
+license: other
+tags:
+- image
+- video
+- 3d
+- rgb-d
 ---
+
+# ABC-iRobotics/Hand_Tools
+
+Metric RGB-D scene dataset generated with the Label Factory workflow.
+
+## 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 `sam6d_scene/annotations.json` and
+`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.

camera.json

@@ -0,0 +1,55 @@
+{
+  "cam_K": [
+    629.7631119151068,
+    0.0,
+    628.969863892731,
+    0.0,
+    629.2809648957766,
+    396.9844199781708,
+    0.0,
+    0.0,
+    1.0
+  ],
+  "distortion": [
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0
+  ],
+  "distortion_names": [
+    "k1",
+    "k2",
+    "p1",
+    "p2",
+    "k3"
+  ],
+  "image_width": 1280,
+  "image_height": 800,
+  "depth_scale": 1.0,
+  "depth_unit": "millimetre",
+  "source": "ChArUco RGB calibration",
+  "depth_alignment": "depth_to_color",
+  "realsense_native_depth_scale_m": 0.0010000000474974513,
+  "realsense_factory_color_K": [
+    629.5587158203125,
+    0.0,
+    629.1307373046875,
+    0.0,
+    628.94921875,
+    397.4704895019531,
+    0.0,
+    0.0,
+    1.0
+  ],
+  "device_name": "RealSense D455",
+  "device_serial": "117122250338",
+  "images_undistorted": true,
+  "source_distortion": [
+    -0.05574646680511885,
+    0.06033258924654541,
+    -0.0009787117550594325,
+    -0.0008455298875612041,
+    -0.016069386930673082
+  ]
+}