Dataset of Industrial Metal Objects

Load dataset.

from dimo_loader import DimoLoader
from pathlib import Path

dimo_loader = DimoLoader()
dimo_path = Path('...') # Set path to downloaded dataset folder
dimo_ds = dimo_loader.load(dimo_path)

Iterate over part models.

models = dimo_ds['models']

for model in models:
model_id = model['id'] # int
cad = model['cad'] # Path
# additional entries for size, diameter and symmetries

Iterate over scenes for real JAI-GO camera.

real_jaigo_scenes = dimo_ds['real_jaigo']
for scene in real_jaigo_scenes:
scene_id = scene['id'] # str
for image in scene['images']:
img_id = image['id'] # int
img_path = image['path'] # str
camera = image['camera'] # dict with intrinsics and extrinsics
scene_info = image['scene_info']
light = scene_info['light'] Lightmap id
carrier = scene_info['carrier'] Carrier id
parts = scene_info['parts'] Composition type
viewpoint = scene_info['viewpoint'] Viewpoint id
for obj in image['objects']:
obj_id = obj['id'] # int
model_2world = obj['model_2world'] # Object to world, (4,4)
model_2cam = obj['model_2cam'] # Object to camera, (4,4)