| ================================================================================ | |
| Huhb3D Industrial-Grade Dataset Delivery Checklist | |
| Generated: 2026-05-31 13:39:27 | |
| Dataset: Huhb3D-Test-Precision-v4 | |
| ================================================================================ | |
| SECTION 1: MANDATORY FILE STRUCTURE | |
| -------------------------------------------------------------------------------- | |
| 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 | |
| -------------------------------------------------------------------------------- | |
| { | |
| "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) | |
| -------------------------------------------------------------------------------- | |
| 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) | |
| -------------------------------------------------------------------------------- | |
| 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 | |
| -------------------------------------------------------------------------------- | |
| 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 | |
| -------------------------------------------------------------------------------- | |
| 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 | |
| -------------------------------------------------------------------------------- | |
| 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 | |
| -------------------------------------------------------------------------------- | |
| 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 | |
| -------------------------------------------------------------------------------- | |
| [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 | |
| -------------------------------------------------------------------------------- | |
| [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 | |
| -------------------------------------------------------------------------------- | |
| [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 | |
| ================================================================================ | |
| END OF DELIVERY CHECKLIST | |
| ================================================================================ |