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---
language:
- en
tags:
- robotics
---
## EgoPAT3Dv2
### Dataset introduction
There are **11 scenes** contained in the EgoPAT3Dv2 dataset, corresponding to folders 1 through 11. Each scene folder contains 2 to 6 video folders, and each video folder contains an **RGB** folder, a **depth** folder, a **point cloud** folder and a **transformation matrices** folder. (Please ignore other folders or files inside the zip file.) The annotations (ground truth) and transformation matrices (the same as the transformation matrices above) are included in the annotation_transformation.hdf5 file. We use HDF5 to organize the dataset in the experiment, and the dataloader in the GitHub repo is also written correspondingly.
### Dataset folder hierarchy
```bash
Dataset/
├── 1 # scene 1
├── 1.1.zip -> 1.1 # video 1 in scene 1
├── d2rgb # depth files
├── color # rgb files
├── pointcloud # point cloud files
└── transformation # transformation matrices
├── 1.2.zip -> 1.2 # share the same structure as 1.1
├── ...
└── 1.4.zip -> 1.4
├── 2/ # all scene/video directories share the same structure as above
└── ...
.
.
.
└── 11
```
## Construct HDF5 dataset file
Since 50GB is the hard limit for single file size in huggingface, please use [make_RGB_dataset.py](https://huggingface.co./datasets/ai4ce/EgoPAT3Dv2/blob/main/make_RGB_dataset.py) to construct the HDF5 file on your own.
1. Download all zipped files. Unzip them and keep RGB("color" in the folder) folder in each video folder only.
2. Run `make_RGB_dataset.py` after step 1. |