6D object pose

[hjimin3712]

Thank you for your work.

I was wondering if 6D object pose data is available?

[kelvin34501]

Thank you for your interest in OakInk2 dataset!

Yes. You can find the fields obj_list and obj_transf for objects involved and their transformation matrices in the annotation files. The pose of each part of the articulated object is individually annotated.

Check the annotation part of Dataset Format for more information.