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CITATION.cff

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+cff-version: 1.2.0
+message: "If you use this dataset, please cite it as below."
+title: "Huhb3D: Industrial-Grade Synthetic Precision Benchmark for 6DoF Pose Estimation"
+type: dataset
+authors:
+  - name: "Huhb3D"
+version: 1.0.0
+date-released: 2026-05-31
+license: CC-BY-4.0
+repository-code: "https://huggingface.co/datasets/huhb3d/precision-benchmark"
+keywords:
+  - 6DoF
+  - pose-estimation
+  - instance-segmentation
+  - depth-estimation
+  - BOP
+  - COCO
+  - YOLO
+  - synthetic
+  - industrial
+  - precision-benchmark

LICENSE

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+Creative Commons Attribution 4.0 International
+==============================================
+
+Dataset License: CC-BY-4.0
+Full text: https://creativecommons.org/licenses/by/4.0/
+
+Commercial Use: ALLOWED
+Attribution Required: YES
+
+Data Producer: 
+Generation Date: 2026-05-31 04:12:25 UTC
+
+IMPORTANT:
+1. This license applies to the GENERATED DATASET (images, masks, annotations).
+2. Input 3D models were generated by parametric CAD scripts (original works, CC0).
+3. No third-party copyrighted material was used in the production pipeline.
+4. The generated data is an original work of the rendering pipeline.
+
+ATTRIBUTION (if required):
+  . (2026). Creative Commons Attribution 4.0 International Dataset.
+  Licensed under CC-BY-4.0.

README.md

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+---
+license: cc-by-4.0
+task_categories:
+  - object-detection
+  - image-segmentation
+  - depth-estimation
+language:
+  - en
+tags:
+  - 6dof
+  - pose-estimation
+  - instance-segmentation
+  - depth-estimation
+  - bop
+  - coco
+  - yolo
+  - synthetic
+  - industrial
+  - computer-vision
+  - precision-benchmark
+size_categories:
+  - n<1K
+---
+
+# Huhb3D-Precision-Benchmark v1.0
+
+**Industrial-Grade Synthetic Precision Benchmark for 6DoF Pose Estimation**
+
+## Why This Dataset?
+
+Huhb3D is NOT a training dataset. It is a **precision benchmark** designed to verify the accuracy upper bound of 6DoF pose estimation algorithms.
+
+| Metric | Huhb3D | YCB-Video | T-LESS |
+|--------|--------|-----------|--------|
+| Reprojection Error | **0.0144 px** | 2-5 px | 1-3 px |
+| Rotation Orthogonality (det-1) | **0.000001** | ~0.001 | ~0.001 |
+| Square Pixel (fx==fy) | **Exact** | Approximate | Approximate |
+
+If your algorithm cannot achieve sub-pixel accuracy on Huhb3D, it will not achieve it on real data either.
+
+## Quick Start
+
+```python
+from code_templates.huhb3d_utils import load_depth, display_depth, load_camera_intrinsics, load_pose_gt
+
+# Load depth (CRITICAL: use IMREAD_UNCHANGED!)
+depth = load_depth("flange/depth/depth_0001.png")  # -> uint16, mm units
+
+# Display depth (must normalize first!)
+display_depth(depth)
+
+# Load camera intrinsics
+K, depth_scale = load_camera_intrinsics("flange/scene_camera.json", frame_id=1)
+
+# Load 6DoF ground truth
+R_m2c, t_m2c = load_pose_gt("flange/scene_gt.json", frame_id=1)
+
+# Verify reprojection
+import numpy as np
+p_obj = np.array([0, 0, 0])
+p_cam = R_m2c @ p_obj + t_m2c
+u = K[0,0] * p_cam[0] / p_cam[2] + K[0,2]
+v = K[1,1] * p_cam[1] / p_cam[2] + K[1,2]
+print(f"Object origin projects to ({u:.1f}, {v:.1f})")
+```
+
+## Key Features
+
+- **Sub-pixel GT precision**: 0.0144px mean reprojection error (140x better than YCB-Video)
+- **Triple format output**: BOP + COCO + YOLO — no conversion needed
+- **16-bit depth maps**: uint16 PNG in mm units, ROS 16UC1 compliant
+- **Instance + feature segmentation**: 12 feature types per object (unique to Huhb3D)
+- **20 industrial parts**: bearings, flanges, gears, connectors, brackets, etc.
+- **Verified**: 1379 automated checks, 0 data errors
+
+## Critical Usage Notes
+
+| Operation | CORRECT | WRONG |
+|-----------|---------|-------|
+| Read depth | `cv2.imread(path, cv2.IMREAD_UNCHANGED)` | `cv2.IMREAD_GRAYSCALE` (99.7% error!) |
+| Display depth | `cv2.normalize(depth, None, 0, 255, NORM_MINMAX, CV_8U)` then `imshow` | Direct `imshow(uint16)` -> BLACK |
+| cv_bridge | `encoding="16UC1"` | `encoding="mono8"` -> truncation |
+| Blender coords | `R_blender = R_opencv @ diag(1,-1,-1)` | Direct use -> wrong orientation |
+
+## Objects (20)
+
+| ID | Name | Category | Depth Range (mm) |
+|----|------|----------|-----------------|
+| 1 | bearing_block | bearing | 770-801 |
+| 2 | bearing_medium | bearing | 770-803 |
+| 3 | bearing_small | bearing | 779-801 |
+| 4 | connector_housing | connector | 778-805 |
+| 5 | coupling | coupling | 775-796 |
+| 6 | flange | flange | 750-795 |
+| 7 | flange_large | flange | 730-795 |
+| 8 | flange_medium | flange | 750-797 |
+| 9 | flange_small | flange | 765-812 |
+| 10 | gear | gear | 773-797 |
+| 11 | gear_large | gear | 752-794 |
+| 12 | gear_medium | gear | 773-796 |
+| 13 | gear_small | gear | 782-810 |
+| 14 | heat_sink | heat_sink | 754-844 |
+| 15 | hex_bolt | bolt | 791-799 |
+| 16 | l_bracket | bracket | 784-812 |
+| 17 | mounting_plate | plate | 745-806 |
+| 18 | pipe_tee | pipe | 776-811 |
+| 19 | step_shaft | shaft | 780-797 |
+| 20 | valve_body | valve | 759-838 |
+
+## Known Limitations
+
+- **Synthetic only**: Sim2Real gap exists (no real sensor noise in base data)
+- **10 frames/object**: Sufficient for precision benchmarking, NOT for training
+- **Single object scenes**: No occlusion GT
+- **Solid background**: No texture diversity in base data
+
+## License
+
+CC-BY-4.0 — Commercial use permitted with attribution.
+
+## Citation
+
+```bibtex
+@dataset{huhb3d_v1,
+  title={Huhb3D: Industrial-Grade Synthetic Precision Benchmark for 6DoF Pose Estimation},
+  author={Huhb3D},
+  year={2026},
+  version={1.0.0},
+  license={CC-BY-4.0},
+  url={https://huggingface.co/datasets/huhb3d/precision-benchmark}
+}
+```

bearing_block/camera_poses.json

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+{
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+    "fov_degrees": 45.2586,
+    "near_plane": 40,
+    "far_plane": 16000,
+    "image_width": 800,
+    "image_height": 600
+  },
+  "2": {
+    "position": [-421.234, 559.963, -385.931],
+    "target": [0, 0, 0],
+    "rotation": [0.775379, -2.31249],
+    "view_matrix": [-0.675534, 0.51612, -0.526568, 0, 0, 0.714156, 0.699987, 0, 0.737329, 0.472865, -0.482437, 0, -0, 3.05176e-05, -799.962, 1],
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+    "fov_degrees": 44.0072,
+    "near_plane": 40,
+    "far_plane": 16000,
+    "image_width": 800,
+    "image_height": 600
+  },
+  "3": {
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+    "fov_degrees": 43.0899,
+    "near_plane": 40,
+    "far_plane": 16000,
+    "image_width": 800,
+    "image_height": 600
+  },
+  "4": {
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+    "target": [0, 0, 0],
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+    "fov_degrees": 43.0727,
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+    "image_height": 600
+  },
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+    "fov_degrees": 46.5484,
+    "near_plane": 40,
+    "far_plane": 16000,
+    "image_width": 800,
+    "image_height": 600
+  },
+  "6": {
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+    "near_plane": 40,
+    "far_plane": 16000,
+    "image_width": 800,
+    "image_height": 600
+  },
+  "8": {
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+    "rotation": [-0.523664, -0.478989],
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+    "image_width": 800,
+    "image_height": 600
+  },
+  "9": {
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+    "fov_degrees": 46.1177,
+    "near_plane": 40,
+    "far_plane": 16000,
+    "image_width": 800,
+    "image_height": 600
+  },
+  "10": {
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+    "target": [0, 0, 0],
+    "rotation": [-1.11976, -1.96237],
+    "view_matrix": [-0.381641, -0.831878, -0.402902, 0, 0, 0.435894, -0.899998, 0, 0.924311, -0.343476, -0.166355, 0, -7.62939e-06, 2.28882e-05, -800.005, 1],
+    "projection_matrix": [1.89632, 0, 0, 0, 0, 2.52842, 0, 0, 0, 0, -1.00501, -1, 0, 0, -80.2005, 0],
+    "fov_degrees": 43.1579,
+    "near_plane": 40,
+    "far_plane": 16000,
+    "image_width": 800,
+    "image_height": 600
+  }
+}

bearing_block/coco_annotations.json

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+{
+  "info": {
+    "description": "Huhb3D Synthetic Data - COCO Format",
+    "version": "1.0",
+    "contributor": "Huhb3D Synthetic Data Generator"
+  },
+  "licenses": [
+    {
+      "id": 1,
+      "name": "CC-BY-4.0",
+      "url": "https://creativecommons.org/licenses/by/4.0/"
+    }
+  ],
+  "categories": [
+    {
+      "id": 0,
+      "name": "FreeSurface",
+      "supercategory": "surface"
+    },
+    {
+      "id": 1,
+      "name": "HorizontalPlane",
+      "supercategory": "surface"
+    },
+    {
+      "id": 2,
+      "name": "LateralPlane_X",
+      "supercategory": "surface"
+    },
+    {
+      "id": 3,
+      "name": "LateralPlane_Z",
+      "supercategory": "surface"
+    },
+    {
+      "id": 4,
+      "name": "NearHorizontal",
+      "supercategory": "surface"
+    },
+    {
+      "id": 5,
+      "name": "NearLateral_X",
+      "supercategory": "surface"
+    },
+    {
+      "id": 6,
+      "name": "NearLateral_Z",
+      "supercategory": "surface"
+    },
+    {
+      "id": 7,
+      "name": "Degenerate",
+      "supercategory": "surface"
+    },
+    {
+      "id": 8,
+      "name": "ConvexFeature_Bolt",
+      "supercategory": "surface"
+    },
+    {
+      "id": 9,
+      "name": "ConcaveFeature_Hole",
+      "supercategory": "surface"
+    },
+    {
+      "id": 10,
+      "name": "Flange",
+      "supercategory": "surface"
+    },
+    {
+      "id": 11,
+      "name": "Boss",
+      "supercategory": "surface"
+    }
+  ],
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bearing_block/gt_6dof.json

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+{
+  "description": "6DoF Ground Truth - Object poses per frame",
+  "frame_count": 10,
+  "object_count": 1,
+  "frames": [
+    {
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+      "objects": [
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+      ]
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+    {
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+      "objects": [
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+        {"obj_id": 1, "name": "primary_object", "translation": [-0, -3.05176e-05, 799.962], "rotation_euler": [2.55674, 0.829108, -3.14159], "rotation_quaternion": [-0.116113, 0.876439, -0.26386, -0.385682], "scale": 1, "rotation_matrix_3x3": [-0.675534, -5.90571e-08, 0.737329, -0.407064, 0.833792, -0.372948, -0.614778, -0.552079, -0.563255]}
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+      ]
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+    {
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+      ]
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+    {
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+      ]
+    }
+  ]
+}

bearing_block/label_legend.txt

@@ -0,0 +1,21 @@
+# Semantic Label Color Legend
+# Category -> (R, G, B) in 0-255 range
+
+0 FreeSurface 127 127 127
+1 HorizontalPlane 0 0 255
+2 LateralPlane_X 0 255 0
+3 LateralPlane_Z 255 0 0
+4 NearHorizontal 255 255 0
+5 NearLateral_X 255 0 255
+6 NearLateral_Z 0 255 255
+7 Degenerate 255 127 0
+8 ConvexFeature_Bolt 127 0 255
+9 ConcaveFeature_Hole 0 127 255
+10 Flange 204 204 0
+11 Boss 0 204 102
+
+# Instance Segmentation Encoding
+# Pixel (R, G, B) = (InstanceID, FeatureTypeID, FeatureIndex)
+# InstanceID: unique per object in scene (1-255)
+# FeatureTypeID: semantic category (0-11)
+# FeatureIndex: instance index within that feature type

bearing_block/scene_camera.json

@@ -0,0 +1,72 @@
+{
+  "1": {
+    "cam_K": [719.666, 0.0, 400, 0.0, 719.666, 300, 0.0, 0.0, 1.0],
+    "depth_scale": 1,
+    "model_unit": "mm",
+    "cam_R_w2c": [-4.31192e-06, 0, -1, 0.900017, -0.435854, -3.8808e-06, -0.435854, -0.900017, 1.87937e-06],
+    "cam_t_w2c": [1.16415e-10, -5.83501e-09, 800.034]
+  },
+  "2": {
+    "cam_K": [742.391, 0.0, 400, 0.0, 742.391, 300, 0.0, 0.0, 1.0],
+    "depth_scale": 1,
+    "model_unit": "mm",
+    "cam_R_w2c": [-0.675534, 0, 0.737329, -0.51612, -0.714156, -0.472865, 0.526568, -0.699987, 0.482437],
+    "cam_t_w2c": [-0, -3.05176e-05, 799.962]
+  },
+  "3": {
+    "cam_K": [759.846, 0.0, 400, 0.0, 759.846, 300, 0.0, 0.0, 1.0],
+    "depth_scale": 1,
+    "model_unit": "mm",
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+    "depth_scale": 1,
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+    "depth_scale": 1,
+    "model_unit": "mm",
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+    "depth_scale": 1,
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+    "cam_t_w2c": [1.52588e-05, 0, 799.975]
+  },
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+    "depth_scale": 1,
+    "model_unit": "mm",
+    "cam_R_w2c": [-0.381641, 0, 0.924311, 0.831878, -0.435894, 0.343476, 0.402902, 0.899998, 0.166355],
+    "cam_t_w2c": [-7.62939e-06, -2.28882e-05, 800.005]
+  }
+}

bearing_block/scene_gt.json

@@ -0,0 +1,32 @@
+{
+  "1": [
+    {"obj_id": 1, "cam_R_m2c": [-4.31192e-06, 0, -1, 0.900017, -0.435854, -3.8808e-06, -0.435854, -0.900017, 1.87937e-06], "cam_t_m2c": [1.16415e-10, -5.83501e-09, 800.034]}
+  ],
+  "2": [
+    {"obj_id": 1, "cam_R_m2c": [-0.675534, 0, 0.737329, -0.51612, -0.714156, -0.472865, 0.526568, -0.699987, 0.482437], "cam_t_m2c": [-0, -3.05176e-05, 799.962]}
+  ],
+  "3": [
+    {"obj_id": 1, "cam_R_m2c": [0.996167, 0, -0.0874691, 0.0437355, -0.866019, 0.498094, -0.07575, -0.50001, -0.8627], "cam_t_m2c": [-3.8147e-06, 0, 799.977]}
+  ],
+  "4": [
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+  ],
+  "5": [
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+  ],
+  "6": [
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+  ],
+  "7": [
+    {"obj_id": 1, "cam_R_m2c": [-0.965701, 0, 0.259656, 0.0778831, -0.953956, 0.28966, 0.2477, 0.299948, 0.921236], "cam_t_m2c": [-0, -1.52588e-05, 800.024]}
+  ],
+  "8": [
+    {"obj_id": 1, "cam_R_m2c": [0.887461, -0, 0.460882, 0.230467, -0.865993, -0.443781, 0.39912, 0.500057, -0.768535], "cam_t_m2c": [-0, 0, 799.983]}
+  ],
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+  ],
+  "10": [
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+  ]
+}