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], + [ + 31.4499, + -15.962, + -165.9 + ], + [ + -31.4499, + 49.85, + -165.9 + ], + [ + 31.4499, + 49.85, + -165.9 + ], + [ + -31.4499, + -15.962, + 160 + ], + [ + 31.4499, + -15.962, + 160 + ], + [ + -31.4499, + 49.85, + 160 + ], + [ + 31.4499, + 49.85, + 160 + ] + ] +] \ No newline at end of file diff --git a/README.txt b/README.txt new file mode 100644 index 0000000000000000000000000000000000000000..813145dd2395aa3321e82b714b8ac5d3ac165a20 --- /dev/null +++ b/README.txt @@ -0,0 +1,57 @@ +POQUITO Dataset that accompanies the paper: +"Tiny Satellites, Big Challenges: A Feasibility Study of Machine Vision Pose Estimation for PocketQubes during Conjunctions" +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 + |---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). + +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, + title={Tiny Satellites, Big Challenges:A Feasibility Study of Machine Vision Pose Estimation for PocketQubes during Conjunctions}, + author={Niki Sajjad and Andrew Price and Mehran Mirshams and Mathieu Salzmann}, + journal={}, + year={}, + volume={}, + number={}, + pages={}, + doi={} +} \ No newline at end of file diff --git a/Testing/scene_camera.json b/Testing/scene_camera.json new file mode 100644 index 0000000000000000000000000000000000000000..a2f5ae31351f5beedb982e32d36bdb3438218f4e --- /dev/null +++ b/Testing/scene_camera.json @@ -0,0 +1,56688 @@ +{ + "1": { + "cam_K": [ + 586706.44, + 0.0, + 512.0, + 0.0, + 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