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int64 125
250
| x
float64 -0.58
0.59
| y
float64 -0.08
0.34
| z
float64 -0.66
-0.1
| w
float64 0.01
0.05
| h
float64 0.01
0.05
| l
float64 0.01
0.05
| roll
float64 -3.13
3.14
| pitch
float64 -1.49
1.3
| yaw
float64 -3.13
3.14
|
|---|---|---|---|---|---|---|---|---|---|
250
| 0.041569
| 0.035799
| -0.346011
| 0.038893
| 0.037037
| 0.040214
| 1.164423
| -0.436067
| 1.580949
|
125
| -0.319388
| 0.013278
| -0.327071
| 0.00955
| 0.011135
| 0.011145
| 1.07776
| 0.451189
| 2.911464
|
125
| -0.059012
| -0.063561
| -0.128312
| 0.01
| 0.008791
| 0.009561
| -0.991034
| -0.680101
| -0.39064
|
250
| -0.080828
| 0.023371
| -0.32282
| 0.030753
| 0.035858
| 0.035891
| -1.220396
| -0.436588
| 1.560415
|
250
| -0.075521
| -0.055024
| -0.160961
| 0.02697
| 0.031447
| 0.031476
| -2.273903
| -0.44648
| 1.562365
|
125
| -0.020615
| 0.005285
| -0.291096
| 0.014769
| 0.014064
| 0.01527
| 1.130042
| 0.05658
| 3.114925
|
125
| 0.091132
| 0.052204
| -0.375994
| 0.038884
| 0.043347
| 0.039358
| 0.871206
| -0.433574
| 1.579253
|
250
| 0.023067
| -0.081412
| -0.110835
| 0.028542
| 0.027181
| 0.029511
| 1.833287
| -0.808115
| 2.350471
|
250
| -0.00227
| -0.00488
| -0.255364
| 0.038791
| 0.0341
| 0.037086
| 1.660881
| -0.440923
| 1.581804
|
250
| -0.132734
| 0.029953
| -0.33688
| 0.036833
| 0.034857
| 0.037455
| -0.937941
| -0.4341
| 1.561884
|
250
| -0.054594
| 0.056531
| -0.397346
| 0.031989
| 0.030463
| 0.033075
| -0.901485
| -0.43381
| 1.562128
|
250
| 0.041569
| 0.035799
| -0.346011
| 0.038893
| 0.037037
| 0.040214
| 1.164423
| -0.436067
| 1.580949
|
125
| -0.319388
| 0.013278
| -0.327071
| 0.00955
| 0.011135
| 0.011145
| 1.07776
| 0.451189
| 2.911464
|
125
| -0.059012
| -0.063561
| -0.128312
| 0.01
| 0.008791
| 0.009561
| -0.991034
| -0.680101
| -0.39064
|
250
| -0.080828
| 0.023371
| -0.32282
| 0.030753
| 0.035858
| 0.035891
| -1.220396
| -0.436588
| 1.560415
|
250
| -0.075521
| -0.055024
| -0.160961
| 0.02697
| 0.031447
| 0.031476
| -2.273903
| -0.44648
| 1.562365
|
125
| -0.020615
| 0.005285
| -0.291096
| 0.014769
| 0.014064
| 0.01527
| 1.130042
| 0.05658
| 3.114925
|
125
| 0.091132
| 0.052204
| -0.375994
| 0.038884
| 0.043347
| 0.039358
| 0.871206
| -0.433574
| 1.579253
|
250
| 0.023067
| -0.081412
| -0.110835
| 0.028542
| 0.027181
| 0.029511
| 1.833287
| -0.808115
| 2.350471
|
250
| -0.00227
| -0.00488
| -0.255364
| 0.038791
| 0.0341
| 0.037086
| 1.660881
| -0.440923
| 1.581804
|
250
| -0.132734
| 0.029953
| -0.33688
| 0.036833
| 0.034857
| 0.037455
| -0.937941
| -0.4341
| 1.561884
|
250
| -0.054594
| 0.056531
| -0.397346
| 0.031989
| 0.030463
| 0.033075
| -0.901485
| -0.43381
| 1.562128
|
250
| 0.35649
| 0.15848
| -0.404902
| 0.038893
| 0.037037
| 0.040214
| 1.163208
| -0.53901
| 1.581519
|
125
| -0.004467
| 0.134131
| -0.388377
| 0.00955
| 0.011135
| 0.011145
| 0.967693
| 0.425341
| 2.864712
|
125
| 0.004234
| 0.108427
| -0.352473
| 0.01
| 0.008791
| 0.009561
| 1.026088
| 0.076261
| 3.095468
|
125
| -0.034509
| 0.031043
| -0.199055
| 0.029629
| 0.026046
| 0.028327
| 2.489829
| -0.55091
| 1.577881
|
125
| 0.032213
| 0.030805
| -0.216819
| 0.010527
| 0.009254
| 0.010064
| 0.538518
| -0.924991
| -2.213059
|
250
| 0.234092
| 0.143734
| -0.383111
| 0.030753
| 0.035858
| 0.035891
| -1.219152
| -0.539531
| 1.559831
|
250
| 0.239399
| 0.049121
| -0.230165
| 0.02697
| 0.031447
| 0.031476
| -2.272887
| -0.549424
| 1.561879
|
125
| 0.294306
| 0.122484
| -0.353414
| 0.014769
| 0.014064
| 0.01527
| 1.026982
| 0.05354
| 3.109248
|
125
| 0.406052
| 0.177879
| -0.43304
| 0.038884
| 0.043347
| 0.039358
| 0.870195
| -0.536519
| 1.579725
|
250
| 0.31265
| 0.108701
| -0.318915
| 0.038791
| 0.0341
| 0.037086
| 1.659559
| -0.543865
| 1.58243
|
250
| 0.182186
| 0.151726
| -0.396419
| 0.036833
| 0.034857
| 0.037455
| -0.936875
| -0.537045
| 1.561386
|
250
| 0.260326
| 0.184377
| -0.453834
| 0.031989
| 0.030463
| 0.033075
| -0.900448
| -0.536754
| 1.561644
|
250
| 0.32149
| 0.074228
| -0.434838
| 0.038893
| 0.037037
| 0.040214
| 1.164769
| -0.404754
| 1.580808
|
125
| -0.039467
| 0.052311
| -0.415203
| 0.00955
| 0.011135
| 0.011145
| 1.111755
| 0.458105
| 2.926394
|
125
| -0.069509
| -0.024507
| -0.213785
| 0.029629
| 0.026046
| 0.028327
| 2.490866
| -0.41665
| 1.577398
|
125
| -0.002787
| -0.027121
| -0.231358
| 0.010527
| 0.009254
| 0.010064
| 0.694217
| -1.027362
| -2.342284
|
250
| 0.204399
| -0.010756
| -0.247036
| 0.02697
| 0.031447
| 0.031476
| -2.274192
| -0.415166
| 1.562486
|
125
| 0.483638
| 0.099486
| -0.517111
| 0.01
| 0.008791
| 0.009561
| 0.288096
| 1.143419
| 1.885597
|
125
| 0.371052
| 0.089687
| -0.46532
| 0.038884
| 0.043347
| 0.039358
| 0.871494
| -0.402261
| 1.579136
|
250
| 0.27765
| 0.036407
| -0.342962
| 0.038791
| 0.0341
| 0.037086
| 1.661257
| -0.40961
| 1.581649
|
250
| 0.147186
| 0.068671
| -0.425528
| 0.036833
| 0.034857
| 0.037455
| -0.938244
| -0.402787
| 1.562007
|
250
| 0.28649
| 0.101676
| -0.416905
| 0.038893
| 0.037037
| 0.040214
| 1.165972
| -0.289354
| 1.580398
|
125
| -0.074467
| 0.082165
| -0.394876
| 0.00955
| 0.011135
| 0.011145
| 1.238891
| 0.479529
| 2.983903
|
125
| -0.065766
| 0.06613
| -0.353735
| 0.01
| 0.008791
| 0.009561
| 1.276415
| 0.085288
| 3.115771
|
125
| 0.185908
| 0.03521
| -0.187019
| 0.01
| 0.008791
| 0.009561
| -1.173127
| -0.728026
| -0.272544
|
125
| -0.104509
| 0.029052
| -0.185953
| 0.029629
| 0.026046
| 0.028327
| 2.491662
| -0.301247
| 1.577118
|
125
| -0.037787
| 0.024432
| -0.203108
| 0.010527
| 0.009254
| 0.010064
| 0.873502
| -1.103808
| -2.499384
|
250
| 0.164092
| 0.092772
| -0.392146
| 0.030753
| 0.035858
| 0.035891
| -1.22198
| -0.289875
| 1.560979
|
250
| 0.169399
| 0.038882
| -0.220566
| 0.02697
| 0.031447
| 0.031476
| -2.275193
| -0.299765
| 1.562837
|
125
| 0.448638
| 0.117291
| -0.501539
| 0.01
| 0.008791
| 0.009561
| 0.401844
| 1.251271
| 1.991674
|
125
| 0.224306
| 0.079518
| -0.358119
| 0.014769
| 0.014064
| 0.01527
| 1.276974
| 0.05987
| 3.12349
|
125
| 0.336052
| 0.113522
| -0.448964
| 0.038884
| 0.043347
| 0.039358
| 0.872495
| -0.28686
| 1.578797
|
250
| 0.24265
| 0.074686
| -0.321285
| 0.038791
| 0.0341
| 0.037086
| 1.662563
| -0.294211
| 1.581199
|
250
| 0.112186
| 0.097228
| -0.407017
| 0.036833
| 0.034857
| 0.037455
| -0.9393
| -0.287386
| 1.562365
|
250
| 0.190326
| 0.11468
| -0.470719
| 0.031989
| 0.030463
| 0.033075
| -0.902806
| -0.287095
| 1.562596
|
250
| 0.25149
| 0.046014
| -0.431348
| 0.038893
| 0.037037
| 0.040214
| 1.166271
| -0.259213
| 1.580317
|
125
| -0.109467
| 0.027176
| -0.408742
| 0.00955
| 0.011135
| 0.011145
| 1.272524
| 0.48403
| 2.999488
|
125
| -0.100766
| 0.012387
| -0.367136
| 0.01
| 0.008791
| 0.009561
| 1.306658
| 0.086027
| 3.118359
|
125
| 0.150908
| -0.013494
| -0.199564
| 0.01
| 0.008791
| 0.009561
| -1.21229
| -0.73576
| -0.24637
|
125
| -0.139509
| -0.019617
| -0.198313
| 0.029629
| 0.026046
| 0.028327
| 2.49186
| -0.271106
| 1.577062
|
125
| -0.072787
| -0.024752
| -0.21532
| 0.010527
| 0.009254
| 0.010064
| 0.929067
| -1.121261
| -2.549221
|
250
| 0.129092
| 0.03786
| -0.406333
| 0.030753
| 0.035858
| 0.035891
| -1.222286
| -0.259735
| 1.561063
|
250
| 0.134399
| -0.010834
| -0.233206
| 0.02697
| 0.031447
| 0.031476
| -2.275442
| -0.269624
| 1.562907
|
125
| 0.413639
| 0.059072
| -0.516415
| 0.01
| 0.008791
| 0.009561
| 0.444593
| 1.278532
| 2.032443
|
125
| 0.355237
| 0.011687
| -0.349849
| 0.011202
| 0.009847
| 0.01071
| 1.648386
| -0.278406
| 1.730088
|
125
| 0.189306
| 0.025637
| -0.371922
| 0.014769
| 0.014064
| 0.01527
| 1.307166
| 0.060388
| 3.125305
|
125
| 0.301053
| 0.056888
| -0.46375
| 0.038884
| 0.043347
| 0.039358
| 0.872745
| -0.256719
| 1.578731
|
250
| 0.20765
| 0.021918
| -0.334959
| 0.038791
| 0.0341
| 0.037086
| 1.662887
| -0.264071
| 1.581109
|
250
| 0.077186
| 0.041866
| -0.421331
| 0.036833
| 0.034857
| 0.037455
| -0.939563
| -0.257245
| 1.562436
|
250
| 0.155326
| 0.05739
| -0.48553
| 0.031989
| 0.030463
| 0.033075
| -0.903062
| -0.256954
| 1.562664
|
250
| 0.21649
| 0.189781
| -0.38559
| 0.038893
| 0.037037
| 0.040214
| 1.163296
| -0.531887
| 1.581474
|
125
| -0.144467
| 0.165551
| -0.368892
| 0.00955
| 0.011135
| 0.011145
| 0.975221
| 0.427277
| 2.867825
|
125
| -0.135766
| 0.140104
| -0.332806
| 0.01
| 0.008791
| 0.009561
| 1.033224
| 0.076588
| 3.096013
|
125
| 0.115908
| 0.070048
| -0.178396
| 0.01
| 0.008791
| 0.009561
| -0.880461
| -0.640579
| -0.45852
|
125
| -0.174509
| 0.063814
| -0.17884
| 0.029629
| 0.026046
| 0.028327
| 2.489888
| -0.543787
| 1.577851
|
125
| -0.107787
| 0.06345
| -0.196603
| 0.010527
| 0.009254
| 0.010064
| 0.545662
| -0.930683
| -2.218776
|
250
| 0.094092
| 0.175192
| -0.363694
| 0.030753
| 0.035858
| 0.035891
| -1.219243
| -0.532408
| 1.559878
|
250
| 0.099399
| 0.08167
| -0.210079
| 0.02697
| 0.031447
| 0.031476
| -2.272962
| -0.542301
| 1.561918
|
125
| 0.378639
| 0.225267
| -0.463996
| 0.01
| 0.008791
| 0.009561
| 0.212863
| 1.021204
| 1.819032
|
125
| 0.320237
| 0.134774
| -0.316346
| 0.011202
| 0.009847
| 0.01071
| 1.59834
| -0.547249
| 1.750353
|
125
| 0.154306
| 0.154153
| -0.333847
| 0.014769
| 0.014064
| 0.01527
| 1.034111
| 0.053769
| 3.10963
|
125
| 0.266053
| 0.20898
| -0.413865
| 0.038884
| 0.043347
| 0.039358
| 0.870269
| -0.529396
| 1.579688
|
250
| 0.17265
| 0.140616
| -0.299251
| 0.038791
| 0.0341
| 0.037086
| 1.659655
| -0.536742
| 1.582381
|
250
| 0.042186
| 0.183089
| -0.37706
| 0.036833
| 0.034857
| 0.037455
| -0.936953
| -0.529922
| 1.561426
|
250
| 0.120326
| 0.21533
| -0.434705
| 0.031989
| 0.030463
| 0.033075
| -0.900524
| -0.529631
| 1.561683
|
250
| 0.18149
| 0.110909
| -0.416612
| 0.038893
| 0.037037
| 0.040214
| 1.165159
| -0.368409
| 1.580661
|
125
| -0.179467
| 0.08972
| -0.396193
| 0.00955
| 0.011135
| 0.011145
| 1.151494
| 0.465553
| 2.944103
|
125
| -0.170766
| 0.070485
| -0.356447
| 0.01
| 0.008791
| 0.009561
| 1.197109
| 0.082982
| 3.109103
|
125
| 0.080908
| 0.026495
| -0.192693
| 0.01
| 0.008791
| 0.009561
| -1.073156
| -0.704233
| -0.338208
|
125
| -0.209509
| 0.020272
| -0.192117
| 0.029629
| 0.026046
| 0.028327
| 2.491125
| -0.380304
| 1.577298
|
125
| -0.142787
| 0.017022
| -0.209583
| 0.010527
| 0.009254
| 0.010064
| 0.745413
| -1.05286
| -2.386444
|
250
| 0.059092
| 0.100078
| -0.392634
| 0.030753
| 0.035858
| 0.035891
| -1.221148
| -0.36893
| 1.56071
|
250
| 0.064399
| 0.032806
| -0.225845
| 0.02697
| 0.031447
| 0.031476
| -2.274517
| -0.378821
| 1.562611
|
125
| 0.343639
| 0.13316
| -0.499749
| 0.01
| 0.008791
| 0.009561
| 0.317482
| 1.177828
| 1.91255
|
125
| 0.285237
| 0.067905
| -0.339339
| 0.011202
| 0.009847
| 0.01071
| 1.629723
| -0.386174
| 1.736185
|
125
| 0.119306
| 0.084178
| -0.35976
| 0.014769
| 0.014064
| 0.01527
| 1.197794
| 0.058253
| 3.118814
|
125
| 0.231053
| 0.12525
| -0.447636
| 0.038884
| 0.043347
| 0.039358
| 0.871819
| -0.365916
| 1.579015
|
250
| 0.162987
| 0.009866
| -0.17405
| 0.028542
| 0.027181
| 0.029511
| 1.898842
| -0.758888
| 2.304182
|
End of preview. Expand
in Data Studio
Straw6D
About The Project
This repository provides a synthetic dataset for 6DoF pose and 3D size estimation of strawberries. It was generated in Ignition Gazebo simulator: (a) Each generated strawberry is random, encompassing variations in plant shape, the distribution of strawberries on the plant, and the size, ripeness, and pose of the strawberries. (b) For each batch of strawberries, different lighting conditions are set to mimic natural lighting variations. (c) The camera randomly selects angles from a reasonable range to capture images. (d) For a given camera angle, the distance between the camera and the strawberries is also adjusted.
The final dataset, named Straw6D, includes RGB images, depth images, 3D bounding box annotations, strawberry instance segmentation masks and point clouds.
Usage
View the Straw6D dataset
python3 visual_datast.py
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