This page provides the training data for both *real* and *simulated* scenes and also describes the format of the data sets.
- Simulated data:
- BHAM office desks
- Real-world data:
- KTH office desks
Data format¶
The training data is described in JSON (http://en.wikipedia.org/wiki/JSON), a human-readable text format to transmit data objects consisting of key:value pairs.
Mandatory data structures¶
The file contains a list of scenes whereby each scene is represented by at least the following data structures:
scene_id, a unique identifier for the sceneobjects, list of object IDs for objects that are present in the scence. The IDs are used as a key to retrieve the information about an object from all other data structures. The ID is not consistent across different scenes.type, a dictionary for ID:type pairs denotes the type of an object.position, a dictionary for ID:position pairs. The position is given in the coordinate frame of the table, whereby the bottom-left corner of the table resembles the origin.orientation, a dictionary for ID:orientation pairs. The orientation is represented as a quaternion in the reference frame of the table.bbox, a dictionary for ID:bbox pairs. The bounding box (bbox) is given by eight points (x,y,z) in the reference frame of the table.
Optional data structures¶
In addition to the above mentioned data structures, a scene description might contain more information. This additional information depends on the origin of the data.
For the *real-world* data, a scene description also includes the following data:
front-face, a dictionary for ID:front-face pairs. The front-face is a subset of the bounding box, denoting the intrinsic front face of an object.tableID, a unique ID for the table. This ID is identical across scenes.tableType, a type description of the table. Examples include: StudentDesk,ProfessorDesk, and StaffDesk.date, the date and time when the data collection took place. The format is as follows:YYYY:MM:DD HH:MM. This timestamp is identical for all scenes collected in a single data collection run.
For the *simulated* data, a scene description also includes the following data:
tablePose, the position and orientation of the table in the world frame.cameraPose, the position and orientation of the camera view in the world frame.
Example¶
The following example includes the mandatory data structures for one scene.
[
{
"scene_id": "scene1",
"type": {
"monitor": "Monitor",
"cup": "Cup",
"keyboard": "Keyboard",
"pencil": "Pencil",
"telephone": "Telephone",
"pc": "PC"
},
"orientation": {
"monitor": [
0.9989563872446908,
0.0,
0.0,
0.04567424200832827
],
"cup": [
0.6135444651092773,
0.0,
0.0,
0.7896601733237981
],
"keyboard": [
0.9960360851196927,
0.0,
0.0,
0.08895008229021645
],
"pencil": [
-0.6901722579088913,
0.0,
0.0,
0.7236451163470551
],
"telephone": [
0.9998801896319474,
0.0,
0.0,
0.015479224191834938
],
"pc": [
0.9996278322010864,
0.0,
0.0,
0.02727997597060249
]
},
"position": {
"monitor": [
0.2808067798614502,
0.8186612129211426,
0.2287198305130005
],
"cup": [
0.29055213928222656,
1.423274040222168,
0.0857805609703064
],
"keyboard": [
0.6437058448791504,
0.8054618835449219,
0.02877497673034668
],
"pencil": [
0.8851318359375,
0.7548675537109375,
0.0085601806640625
],
"telephone": [
0.6974833011627197,
0.4091925621032715,
0.0903427004814148
],
"pc": [
0.3361496925354004,
0.384305477142334,
0.24617063999176025
]
},
"bbox": {
"monitor": [
[
0.17071890830993652,
0.5517492294311523,
0.004999995231628418
],
[
0.17071890830993652,
0.5517492294311523,
0.45243966579437256
],
[
0.12404227256774902,
1.0611200332641602,
0.45243966579437256
],
[
0.12404227256774902,
1.0611200332641602,
0.004999995231628418
],
[
0.43757128715515137,
0.576202392578125,
0.004999995231628418
],
[
0.43757128715515137,
0.576202392578125,
0.45243966579437256
],
[
0.39089465141296387,
1.0855731964111328,
0.45243966579437256
],
[
0.39089465141296387,
1.0855731964111328,
0.004999995231628418
]
],
"cup": [
[
0.3886749744415283,
1.3467788696289062,
0.004999995231628418
],
[
0.3886749744415283,
1.3467788696289062,
0.16656112670898438
],
[
0.24104976654052734,
1.309129238128662,
0.16656112670898438
],
[
0.24104976654052734,
1.309129238128662,
0.004999995231628418
],
[
0.3400545120239258,
1.5374188423156738,
0.004999995231628418
],
[
0.3400545120239258,
1.5374188423156738,
0.16656112670898438
],
[
0.1924293041229248,
1.4997692108154297,
0.16656112670898438
],
[
0.1924293041229248,
1.4997692108154297,
0.004999995231628418
]
],
"keyboard": [
[
0.5719075202941895,
0.5088963508605957,
0.004999995231628418
],
[
0.5719075202941895,
0.5088963508605957,
0.05254995822906494
],
[
0.4729793071746826,
1.0583620071411133,
0.05254995822906494
],
[
0.4729793071746826,
1.0583620071411133,
0.004999995231628418
],
[
0.8144323825836182,
0.5525617599487305,
0.004999995231628418
],
[
0.8144323825836182,
0.5525617599487305,
0.05254995822906494
],
[
0.7155041694641113,
1.102027416229248,
0.05254995822906494
],
[
0.7155041694641113,
1.102027416229248,
0.004999995231628418
]
],
"pencil": [
[
0.8866786956787109,
0.8634657859802246,
0.004999995231628418
],
[
0.8866786956787109,
0.8634657859802246,
0.012120306491851807
],
[
0.8938477039337158,
0.863126277923584,
0.012120306491851807
],
[
0.8938477039337158,
0.863126277923584,
0.004999995231628418
],
[
0.877265453338623,
0.6647830009460449,
0.004999995231628418
],
[
0.877265453338623,
0.6647830009460449,
0.012120306491851807
],
[
0.8844344615936279,
0.6644434928894043,
0.012120306491851807
],
[
0.8844344615936279,
0.6644434928894043,
0.004999995231628418
]
],
"telephone": [
[
0.630591869354248,
0.35100269317626953,
-0.012934625148773193
],
[
0.630591869354248,
0.35100269317626953,
0.15775072574615479
],
[
0.6271209716796875,
0.4630756378173828,
0.15775072574615479
],
[
0.6271209716796875,
0.4630756378173828,
-0.012934625148773193
],
[
0.7880260944366455,
0.3558783531188965,
-0.012934625148773193
],
[
0.7880260944366455,
0.3558783531188965,
0.15775072574615479
],
[
0.784555196762085,
0.46795129776000977,
0.15775072574615479
],
[
0.784555196762085,
0.46795129776000977,
-0.012934625148773193
]
],
"pc": [
[
0.11110544204711914,
0.2659010887145996,
0.004999935626983643
],
[
0.11110544204711914,
0.2659010887145996,
0.4873412847518921
],
[
0.0995481014251709,
0.4774947166442871,
0.4873412847518921
],
[
0.0995481014251709,
0.4774947166442871,
0.004999935626983643
],
[
0.5727512836456299,
0.29111623764038086,
0.004999935626983643
],
[
0.5727512836456299,
0.29111623764038086,
0.4873412847518921
],
[
0.5611939430236816,
0.5027098655700684,
0.4873412847518921
],
[
0.5611939430236816,
0.5027098655700684,
0.004999935626983643
]
]
},
"objects": [
"monitor",
"pc",
"keyboard",
"pencil",
"telephone",
"cup"
]
}
]
Original page: https://github.com/strands-project/strands_qsr/wiki/Data-sets