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Huhb3D Industrial-Grade Dataset Delivery Checklist
Generated: 2026-05-31 13:39:27
Dataset: Huhb3D-Test-Precision-v4
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SECTION 1: MANDATORY FILE STRUCTURE
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Huhb3D-{version}/
|-- dataset_metadata.json [REQUIRED] Dataset-level metadata
|-- LICENSE [REQUIRED] CC-BY-4.0
|-- README.txt [REQUIRED] Usage instructions
|-- precision_test_report.txt [REQUIRED] Precision verification report
|-- delivery_checklist.txt [REQUIRED] This checklist
|
|-- {object_name}/ [REQUIRED] One directory per object
| |-- scene_camera.json [REQUIRED] BOP camera intrinsics per frame
| |-- scene_gt.json [REQUIRED] BOP 6DoF ground truth per frame
| |-- label_legend.txt [REQUIRED] Feature type label mapping
| |
| |-- rgb/ [REQUIRED] RGB images
| | |-- rgb_{frame:04d}.png 800x600, 24-bit RGB
| |
| |-- depth/ [REQUIRED] Depth maps
| | |-- depth_{frame:04d}.png 800x600, 16-bit uint16, mm units
| | |-- depth_{frame:04d}.npy numpy uint16, mm units
| |
| |-- mask/ [REQUIRED] Semantic segmentation masks
| | |-- mask_{frame:04d}.png 800x600, RGB encoding
| |
| |-- mask_instance/ [REQUIRED] Instance segmentation masks
| | |-- instance_{frame:04d}.png 800x600, RGB=InstanceID,FeatureType,FeatureIdx
| |
| |-- coco_annotations.json [REQUIRED] COCO semantic format
| |-- coco_instance_annotations.json [REQUIRED] COCO instance format
| |
| |-- yolo_labels/ [REQUIRED] YOLO detection + segmentation
| | |-- labels/
| | | |-- {frame:04d}.txt YOLO bbox format
| | |-- seg_labels/
| | | |-- {frame:04d}.txt YOLO segmentation format
| |
| |-- yolo_instance_labels/ [REQUIRED] YOLO instance labels
| | |-- {frame:04d}.txt YOLO instance format
| |
| |-- dataset_report.json [OPTIONAL] Quality assessment report
| |-- dataset_report.html [OPTIONAL] HTML quality report
|
|-- models/ [REQUIRED] 3D model files
| |-- {object_name}.stl [REQUIRED] STL mesh for rendering
| |-- {object_name}.step [OPTIONAL] STEP CAD model
SECTION 2: MANDATORY METADATA - dataset_metadata.json
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{
"dataset_name": "Huhb3D",
"version": "1.0.0",
"license": "CC-BY-4.0",
"description": "6DoF Pose Estimation + Instance Segmentation + STEP Topology GT",
"created_date": "YYYY-MM-DD",
"model_unit": "mm",
"coordinate_convention": "OpenCV (Y-down, Z-forward)",
"image_width": 800,
"image_height": 600,
"fov_degrees": 45.0,
"camera_radius_mm": 800.0,
"near_plane_mm": 40.0,
"far_plane_mm": 16000.0,
"depth_format": "uint16 PNG",
"depth_unit": "mm",
"depth_scale": 1.0,
"num_objects": 20,
"num_frames_per_object": 10,
"total_images": 200,
"objects": [
{
"name": "flange",
"model_file": "models/flange.stl",
"step_file": "models/flange.step",
"category": "industrial_flange",
"bounding_box_mm": [100, 100, 20],
"num_vertices": 1234,
"num_triangles": 2468
}
],
"feature_types": [
{"id": 0, "name": "FreeSurface"},
{"id": 1, "name": "HorizontalPlane"},
{"id": 2, "name": "LateralPlane_X"},
{"id": 3, "name": "LateralPlane_Z"},
{"id": 4, "name": "NearHorizontal"},
{"id": 5, "name": "NearLateral_X"},
{"id": 6, "name": "NearLateral_Z"},
{"id": 7, "name": "Degenerate"},
{"id": 8, "name": "ConvexFeature_Bolt"},
{"id": 9, "name": "ConcaveFeature_Hole"},
{"id": 10, "name": "Flange"},
{"id": 11, "name": "Boss"}
],
"generation_pipeline": {
"cad_kernel": "OpenCASCADE (LGPL-2.1)",
"cad_library": "cadquery 2.x (Apache-2.0)",
"rendering_engine": "OpenGL 3.3 Core",
"compiler": "MSVC 19.x",
"depth_formula": "(near*far)/(far - z_buf*(far-near))",
"coordinate_transform": "OpenGL->OpenCV Y/Z sign flip"
}
}
SECTION 3: MANDATORY METADATA - scene_camera.json (per frame)
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Each frame MUST contain:
{
"cam_K": [fx, 0, cx, 0, fy, cy, 0, 0, 1], // 3x3 row-major
"depth_scale": 1.0, // depth PNG = mm * depth_scale
"cam_R_w2c": [...], // 3x3 row-major, world-to-camera rotation
"cam_t_w2c": [tx, ty, tz] // 3x1, world-to-camera translation (mm)
}
Validation rules:
- fx MUST equal fy (square pixel)
- cx MUST equal imageWidth / 2
- cy MUST equal imageHeight / 2
- depth_scale MUST be 1.0 (depth PNG already stores mm)
- cam_R_w2c MUST be valid rotation matrix (det = 1.0)
SECTION 4: MANDATORY METADATA - scene_gt.json (per frame)
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Each frame MUST contain a list of objects:
[
{
"cam_R_m2c": [...], // 3x3 row-major, model-to-camera rotation
"cam_t_m2c": [tx, ty, tz], // 3x1, model-to-camera translation (mm)
"obj_id": 1 // Object identifier
}
]
Validation rules:
- cam_R_m2c MUST be valid rotation matrix (det = 1.0)
- cam_t_m2c MUST be in mm (same unit as model)
- cam_R_m2c = cam_R_w2c * R_model_to_world (for multi-object)
- cam_t_m2c = cam_R_w2c * t_model_to_world + cam_t_w2c (for multi-object)
SECTION 5: MANDATORY METADATA - Depth Map Specifications
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Format: 16-bit unsigned integer PNG (uint16)
Unit: millimeters (mm)
depth_scale: 1.0 (depth_value_mm = pixel_value * depth_scale)
Zero value: 0 means no depth (background / beyond far plane)
Range: [near_plane_mm, far_plane_mm]
Near plane: cameraRadius * 0.05 (mm)
Far plane: cameraRadius * 20.0 (mm)
Formula: depth_mm = (near * far) / (far - z_buf * (far - near))
z_buf range: [0.0, 1.0] (OpenGL depth buffer value)
Rounding: round(depth_mm + 0.5) -> uint16
Precision: sub-pixel reprojection error < 0.1 px
SECTION 6: MANDATORY METADATA - Instance Mask Encoding
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Format: 24-bit RGB PNG
Encoding: R = Instance ID (1-255)
G = Feature Type ID (0-11)
B = Feature Index within type (0-255)
Background: RGB = (0, 0, 0)
Anti-aliasing: DISABLED during mask rendering (glDisable(GL_MULTISAMPLE))
Feature types: FreeSurface, HorizontalPlane, LateralPlane_X,
LateralPlane_Z, NearHorizontal, NearLateral_X,
NearLateral_Z, Degenerate, ConvexFeature_Bolt,
ConcaveFeature_Hole, Flange, Boss
SECTION 7: MANDATORY METADATA - COCO Annotations
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Semantic (coco_annotations.json):
- Standard COCO format with categories from label_legend.txt
- RLE encoding: background run first, then alternating fg/bg
- Each annotation has: image_id, category_id, segmentation, bbox, area
Instance (coco_instance_annotations.json):
- Standard COCO format with instance-level annotations
- Each annotation has: image_id, category_id, segmentation, bbox, area, iscrowd=0
- category_id maps to object instance (not feature type)
SECTION 8: MANDATORY METADATA - YOLO Labels
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Detection (yolo_labels/labels/):
- Format: class_id cx cy w h (normalized 0-1)
- One .txt file per image
Segmentation (yolo_labels/seg_labels/):
- Format: class_id x1 y1 x2 y2 ... (normalized polygon)
- One .txt file per image
Instance (yolo_instance_labels/):
- Format: class_id cx cy w h (normalized, per instance)
- One .txt file per image
SECTION 9: LEGAL COMPLIANCE CHECKLIST
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[REQUIRED] License: CC-BY-4.0 (permissive, commercial use allowed)
[REQUIRED] 3D models: 100% original, generated by cadquery scripts
[REQUIRED] No third-party copyrighted models used
[REQUIRED] cadquery: Apache-2.0 license (permissive)
[REQUIRED] OpenCASCADE: LGPL-2.1 (dynamic linking OK)
[REQUIRED] No AGPL-3.0 dependencies in data pipeline
[REQUIRED] COCO license field: CC-BY-4.0
[REQUIRED] No watermarks or restrictions in generated data
[REQUIRED] Source code: MIT license
SECTION 10: QUALITY ASSURANCE CHECKLIST
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[PASS] Camera intrinsics: fx == fy (square pixel)
[PASS] Principal point: cx = imageWidth/2, cy = imageHeight/2
[PASS] BOP depth_scale: 1.0
[PASS] Depth range: within industrial inspection range (500-2000mm)
[PASS] Depth-camera consistency: mean depth ~ camera distance
[PASS] Reprojection error: < 0.1 px (sub-pixel)
[PASS] Rotation matrix orthogonality: |det(R) - 1| < 0.001
[PASS] Coordinate convention: OpenCV (Y-down, Z-forward)
[PASS] Instance masks: anti-aliasing disabled, clean edges
[PASS] COCO RLE encoding: standard format (bg_run first)
[PASS] YOLO labels: bbox + segmentation + instance
[PASS] All 20 objects have complete data (RGB + depth + mask + GT)
SECTION 11: DELIVERY VERIFICATION
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[PASS] bearing_block
[PASS] bearing_medium
[PASS] bearing_small
[PASS] connector_housing
[PASS] coupling
[PASS] flange
[PASS] flange_large
[PASS] flange_medium
[PASS] flange_small
[PASS] gear
[PASS] gear_large
[PASS] gear_medium
[PASS] gear_small
[PASS] heat_sink
[PASS] hex_bolt
[PASS] l_bracket
[PASS] mounting_plate
[PASS] pipe_tee
[PASS] step_shaft
[PASS] valve_body
Overall: ALL OBJECTS PASS
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END OF DELIVERY CHECKLIST
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