Annotated SYMSOL II extension dataset from the paper "Symmetry-induced ambiguity in orientation estimation from RGB images"

This is the annotated SYMSOL II extension from the paper "Symmetry-Induced ambiguity in orientation estimation from RGB images". Contained are 45000 training images and 5000 test images for both marked cylinder and marked tetrahedron objects. Test images are annotated with full symmetry sets. Training images are annotated only with the groundtruth orientation.<br><br>Data is separated into two directories: "/train/" and "/test/" holding training data and test data respectively. Both directories are further subdivided into "/cylO/" and "/tetX/" directories for the marked cylinder and marked tetrahedron respectively.<br>Annotations are stored as lists of numpy arrays in pickle files (.pkl). The annotation for a given image is stored at the corresponding index in the annotation list. In the training data, each image is annotated with a single 3x3 ground truth rotation matrix. In the test data, each image is annotated with an Nx3x3 array of rotation matrices, where N is the number of rotations in the symmetry set. Continuous symmetry sets for the marked cylinder are sampled at a 1-degree angular resolution.<br>本数据集为论文《RGB图像方位估计中的对称诱导歧义》（"Symmetry-Induced ambiguity in orientation estimation from RGB images"）中提出的带标注SYMSOL II扩展数据集。该数据集包含标记圆柱（marked cylinder）与标记四面体（marked tetrahedron）两类物体的训练图像45000张、测试图像5000张。其中，测试图像附带完整对称集的标注，训练图像仅标注地面真值（ground truth）方位。 数据集分为/train/与/test/两个目录，分别存放训练数据与测试数据。两类目录均进一步划分为/cylO/与/tetX/子目录，分别对应标记圆柱与标记四面体。 标注以NumPy数组（numpy array）列表的形式存储于pickle文件（.pkl）中，单张图像的标注存储于标注列表的对应索引位置。在训练数据中，每张图像仅标注一个3×3的地面真值旋转矩阵；在测试数据中，每张图像标注一个N×3×3的旋转矩阵数组，其中N为对称集中旋转操作的总数。标记圆柱的连续对称集以1度的角分辨率进行采样。