Pigs: A stepwise RGB-D novel pig carcass cutting dataset.

A pig carcass cutting dataset, captured from a bespoke frame structure with 6 intel realsense D415 cameras attached. The data is composed of bags files recorded from the intel’s SDK, which includes RGB-D data and camera intrinsic parameters for each sensor. In addition, five additional JSON files with the transformation matrix for each camera in relation to the left/front camera in the structure, are also provided.

本数据集为生猪胴体切割数据集，采集自搭载6台英特尔实感（Intel RealSense）D415相机的定制框架结构。数据由基于英特尔SDK录制的bags格式文件构成，包含各传感器的RGB-D数据与相机内参。此外，数据集还附带5份额外的JSON文件，用于存储该框架内各相机相对于左侧前置相机的变换矩阵。