Update README.txt

README.txt

@@ -4,45 +4,55 @@ Niki Sajjad, Andrew Price, Mehran Mirshams and Mathieu Salzmann
 September 2024
 
 The dataset formatting is adapted from the BOP format. 
-The dataset is organized into subsets: Distance, Testing, Training, Trajectories and Validation.
-Distance contains images of the POQUITO target centred on the image. The distance from the camera to the POQUITO is slowly increased.
-Testing, Training and Validation contain rgb images with various post processing affects applied.
-    -foc- camera depth of field (focal) blur applied as Gaussian blurring.
-    -mot- motion blur applied with custom XiaolinWu filter kernels.
-    -earth- images of the Earth inserted into the background.
-Trajectories contains 5 conjunction trajectories simulated in STK. 
-The trajectory cases contain proportional focal and motion blur. The Gaussian std is indicated as rgb_foc > 0.45. The motion blur kernel size is indicated as rgb_mot > 5.
 
 The dataset is organized as:
 POQUITO_Dataset
-|---subset1
-    |---rgb_X
-    |---rgb_Y
-    |---mask_visib
-    |---scene_gt.json
-    |---scene_camera.json
-|---subset2
-    |--- ...
-|---Earth_Background
+|---1_Distance_Check_Data
+    |---Training
+    |---Validation
+    |---Testing
+|---2_Performance_Check_Data
+    |---Training
+    |---Validation
+    |---Testing
+        |---1_Stationary_cases
+        |---2_Sequential_Trajectories
+            |---Trajectory1
+            |---Trajectory2
+            |---Trajectory3
+            |---Trajectory4
+            |---Trajectory5           
+|---3_Satellite_Model
+    |---POQUITO_bbox.json
+    |---POQUITO.ply
+|---4_Earth_Background
     |---real_Earth_images
     |---real_Earth_images_cropped
     |---rendered_Earth_images
-|---POQUITO_bbox.json
-|---POQUITO.ply 
 |---README.txt
 
-Where rgb_X contains the rendered rgb images of the object with postprocessing X applied.
-rgb_X and rgb_Y images have the same ground truth pose.
-mask_visib contains masks of the visible target.
-scene_gt.json contains the subset's ground truth 6D pose annotations (this file is applicable for all rgb_X, rgb_Y and mask_visib).
-scene_camera.json contains the subset's camera intrinsics (this file is applicable for all rgb_X, rgb_Y and mask_visib).
+[1] Contains images of the POQUITO target centred on the image. The distance from the camera to the POQUITO is slowly increased.
+
+[2] Contains rgb images with various post processing affects applied.
+    -foc- camera depth of field (focal) blur applied as Gaussian blurring.
+    -mot- motion blur applied with custom XiaolinWu filter kernels.
+    -earth- images of the Earth inserted into the background.
+  Testing contains two separate cases, <1_Stationary_cases> and <2_Sequential_Trajectories>
+    /Testing/1_Stationary_cases/ is similar to Training and <Validation
+    /Testing/2_Sequential_Trajectories/ contains 5 trajectories, the motion blur and focal blur included in these trajectories is physically proportional and is labeled.
+      Ex. /2_Performance_Check_Data/Testing/2_Sequential_Trajectories/Trajectory1/rgb_foc/0.45 contains images with a Gaussian blur std of 0.45 applied.
+      Ex. /2_Performance_Check_Data/Testing/2_Sequential_Trajectories/Trajectory1/rgb_motEarth/15 contains images with Earth background and a motion blur kernel of 15 applied.
+
+[3] Contains the POQUITO CAD file and POQUITO_bbox.json which contains 8 xyz points [millimetres] defining the bounding box of POQUITO.
+
+[4] Contains the Earth background images inserted during post processing to 2_Performance_Check_Data
+
+rgb folders contain the images
+mask_visib folders contain masks indicating the visible portion of the target
+scene_gt.json contains the ground truth pose annotations for images in the associated directory.
+scene_camera.json contains the camera intrinsics for images in the associated directory. Note we use the same camera intrinsics for the entire dataset. 
 
-The Earth_Background folder contains the Earth images used for inserting as backgrounds into the rgb_earth cases.
-The real images were taken from publicly available sources.
-The rendered images were rendered in Blender with a custom built Earth model.
 
-The POQUITO_bbox.json contains 3d points defining the bounding box of the POQUITO in millimetres.
-The POQUITO.ply contains the 3D model used for rendering of the dataset.
 
 If you use this dataset, please consider citing our work.
 @article{POQUITO_Sajjad2024,