Krispin/ffp
FoundationPose paired synthetic renders Each scene row contains two synchronized views and per-object pose, mask ID, bounding box, visibility, and occlusion annotations. Depth is stored as the original float32 NPY bytes; RGB and uint32 instance masks are stored as PNG bytes. Matrices use row-major flattened arrays and canonical column-vector names (camera_from_world and world_from_object). Raw source transforms are retained alongside them. The assets tables contain stable source… See the full description on the dataset page: https://huggingface.co/datasets/Krispin/ffp.
FoundationPose paired synthetic renders
Each scene row contains two synchronized views and per-object pose, mask ID, bounding box, visibility, and occlusion annotations. Depth is stored as the original float32 NPY bytes; RGB and uint32 instance masks are stored as PNG bytes. Matrices use row-major flattened arrays and canonical column-vector names (camera_from_world and world_from_object). Raw source transforms are retained alongside them.
The assets tables contain stable source identifiers only. The render archives reference external USD geometry and do not include reusable mesh assets.