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Click-to-Model Online RGB-D Data

Online RGB-D captures and processing outputs from Click-to-Model, a pipeline for interactive object segmentation, single-object reconstruction, metric scale recovery, and 6D object pose tracking.

本数据集包含 Click-to-Model 在线采集的 RGB-D 图像、分割掩码、三维重建结果、跟踪输出和相机参数。每个原始一级目录独立打包,可以按实验选择下载。

Self data / 新采集 RGB-D 数据

Two Intel RealSense D415 captures recorded on 2026-10-19, added under self_data/: 2,054 aligned RGB-D pairs, 4,118 original files, 1,132,432,222 bytes (1.13 GB). 两组数据均保留完整原始文件,并提供逐帧 RGB/深度预览与对照视频。

Capture RGB-D pairs Original size Camera duration Frame viewer Video Full original data
221738 1,283 709.61 MB 44.37 s Browse frames Play MP4 Download ZIP
221847 771 422.82 MB 25.86 s Browse frames Play MP4 Download ZIP

Each frame viewer contains every saved frame, with RGB and a colorized depth image. RGB previews are JPEG copies; depth previews use a fixed 0–5 m Turbo scale (black = invalid, values above 5 m clipped for display). ZIP archives contain the lossless original RGB PNG and uint16 depth PNG in millimeters; convert depth to meters with depth_mm / 1000.0.

Videos show RGB and aligned depth side by side at 15 fps; playback uses recorded camera timestamps, including gaps. Native images are 640 × 480; the camera was configured for 30 fps. Video and viewer images are browsing derivatives.

逐帧预览包含全部保存帧;深度彩色图仅用于显示,定量计算请使用 ZIP 中的原始深度 PNG。视频依据记录的相机时间戳播放。两组采集数据没有物体分割、网格或姿态标注,masks/README.txt 与 mesh/README.txt 是原始占位说明。

Capture 221738

RGB and depth preview 221738

Capture 221847

RGB and depth preview 221847

Self-data documentation and checksums

RGB previews / RGB 视频预览

Browse 21 RGB videos and 9 single-frame previews before choosing an experiment ZIP. 每段预览都对应下表中的独立下载包。

Videos cover the full saved RGB frame sequence, encoded at 640 × 480 and 15 fps for browser playback. Timing follows the nominal camera FPS in each experiment's camera_params.json; it is not a measurement of wall-clock capture duration. These compressed, silent previews are for browsing; use the ZIP archives for original RGB-D data.

视频由已保存的原始 RGB 帧按顺序合成,供浏览选择;只有单帧的实验显示图片,没有 RGB 帧的实验标记为无预览。点击 Play MP4 可直接播放,也可展开下方各实验的内嵌播放器。

Example: experiment 31

Download experiment 31 ZIP · Browse all experiment previews

Preview index

Experiment RGB preview Saved RGB frames Preview length ZIP size Download
1 No saved RGB frames / 无 RGB 帧 0 — 0.00 MB Download ZIP
2 No saved RGB frames / 无 RGB 帧 0 — 0.00 MB Download ZIP
3 Single RGB frame experiment 3
Single frame / 单帧
1 — 13.40 MB Download ZIP
4 Single RGB frame experiment 4
Single frame / 单帧
1 — 21.22 MB Download ZIP
5 Single RGB frame experiment 5
Single frame / 单帧
1 — 22.32 MB Download ZIP
6 Single RGB frame experiment 6
Single frame / 单帧
1 — 12.50 MB Download ZIP
7 Single RGB frame experiment 7
Single frame / 单帧
1 — 6.19 MB Download ZIP
8 Single RGB frame experiment 8
Single frame / 单帧
1 — 35.82 MB Download ZIP
9 Single RGB frame experiment 9
Single frame / 单帧
1 — 99.97 MB Download ZIP
10 Single RGB frame experiment 10
Single frame / 单帧
1 — 79.51 MB Download ZIP
11 No saved RGB frames / 无 RGB 帧 0 — 23.54 MB Download ZIP
12 No saved RGB frames / 无 RGB 帧 0 — 21.16 MB Download ZIP
13 RGB experiment 13
▶ Play MP4
509 17.0 s 363.70 MB Download ZIP
14 RGB experiment 14
▶ Play MP4
383 12.8 s 248.43 MB Download ZIP
15 RGB experiment 15
▶ Play MP4
693 11.5 s 487.61 MB Download ZIP
16 Single RGB frame experiment 16
Single frame / 单帧
1 — 0.65 MB Download ZIP
17 RGB experiment 17
▶ Play MP4
345 5.7 s 245.74 MB Download ZIP
18 RGB experiment 18
▶ Play MP4
1,621 27.0 s 1139.51 MB Download ZIP
19 RGB experiment 19
▶ Play MP4
616 10.3 s 438.76 MB Download ZIP
20 No saved RGB frames / 无 RGB 帧 0 — 16.49 MB Download ZIP
21 RGB experiment 21
▶ Play MP4
1,876 31.3 s 1298.78 MB Download ZIP
22 RGB experiment 22
▶ Play MP4
2,233 37.2 s 1425.28 MB Download ZIP
23 RGB experiment 23
▶ Play MP4
1,556 25.9 s 1009.32 MB Download ZIP
24 RGB experiment 24
▶ Play MP4
1,170 19.5 s 762.26 MB Download ZIP
25 RGB experiment 25
▶ Play MP4
1,999 33.3 s 1282.76 MB Download ZIP
26 No saved RGB frames / 无 RGB 帧 0 — 21.84 MB Download ZIP
27 RGB experiment 27
▶ Play MP4
1,626 27.1 s 939.18 MB Download ZIP
28 No saved RGB frames / 无 RGB 帧 0 — 7.71 MB Download ZIP
29 No saved RGB frames / 无 RGB 帧 0 — 7.68 MB Download ZIP
30 RGB experiment 30
▶ Play MP4
1,708 28.5 s 1102.18 MB Download ZIP
31 RGB experiment 31
▶ Play MP4
2,527 42.1 s 1877.78 MB Download ZIP
32 RGB experiment 32
▶ Play MP4
699 11.7 s 470.48 MB Download ZIP
33 RGB experiment 33
▶ Play MP4
1,703 28.4 s 1134.64 MB Download ZIP
34 RGB experiment 34
▶ Play MP4
1,891 31.5 s 1398.34 MB Download ZIP
35 RGB experiment 35
▶ Play MP4
350 5.9 s 281.06 MB Download ZIP
36 RGB experiment 36
▶ Play MP4
1,316 21.9 s 1006.00 MB Download ZIP
experiment_20260924_live RGB experiment experiment_20260924_live
▶ Play MP4
2,594 86.5 s 2064.79 MB Download ZIP
experiment_60fps_20260924_5BfwpH No saved RGB frames / 无 RGB 帧 0 — 139.51 MB Download ZIP
experiment_fixed_mask_20260924_WclKQ4 RGB experiment experiment_fixed_mask_20260924_WclKQ4
▶ Play MP4
764 25.5 s 682.15 MB Download ZIP
experiment_fixed_mask_20260924_zBqm7M No saved RGB frames / 无 RGB 帧 0 — 10.78 MB Download ZIP
hardware_smoke_20260924 No saved RGB frames / 无 RGB 帧 0 — 1.10 MB Download ZIP

Per-experiment video players / 按实验播放

Expand an experiment to play its RGB preview and download the matching archive. 展开对应实验即可播放并下载。

Experiment 13 · 509 RGB frames · 17.0 s

Download 13.zip · Open MP4

Experiment 14 · 383 RGB frames · 12.8 s

Download 14.zip · Open MP4

Experiment 15 · 693 RGB frames · 11.5 s

Download 15.zip · Open MP4

Experiment 17 · 345 RGB frames · 5.7 s

Download 17.zip · Open MP4

Experiment 18 · 1,621 RGB frames · 27.0 s

Download 18.zip · Open MP4

Experiment 19 · 616 RGB frames · 10.3 s

Download 19.zip · Open MP4

Experiment 21 · 1,876 RGB frames · 31.3 s

Download 21.zip · Open MP4

Experiment 22 · 2,233 RGB frames · 37.2 s

Download 22.zip · Open MP4

Experiment 23 · 1,556 RGB frames · 25.9 s

Download 23.zip · Open MP4

Experiment 24 · 1,170 RGB frames · 19.5 s

Download 24.zip · Open MP4

Experiment 25 · 1,999 RGB frames · 33.3 s

Download 25.zip · Open MP4

Experiment 27 · 1,626 RGB frames · 27.1 s

Download 27.zip · Open MP4

Experiment 30 · 1,708 RGB frames · 28.5 s

Download 30.zip · Open MP4

Experiment 31 · 2,527 RGB frames · 42.1 s

Download 31.zip · Open MP4

Experiment 32 · 699 RGB frames · 11.7 s

Download 32.zip · Open MP4

Experiment 33 · 1,703 RGB frames · 28.4 s

Download 33.zip · Open MP4

Experiment 34 · 1,891 RGB frames · 31.5 s

Download 34.zip · Open MP4

Experiment 35 · 350 RGB frames · 5.9 s

Download 35.zip · Open MP4

Experiment 36 · 1,316 RGB frames · 21.9 s

Download 36.zip · Open MP4

Experiment experiment_20260924_live · 2,594 RGB frames · 86.5 s

Download experiment_20260924_live.zip · Open MP4

Experiment experiment_fixed_mask_20260924_WclKQ4 · 764 RGB frames · 25.5 s

Download experiment_fixed_mask_20260924_WclKQ4.zip · Open MP4

Preview metadata and file mapping: previews/manifest.json. Preview checksums: previews/SHA256SUMS.

Contents

  • 95,964 original files across 41 experiment directories.
  • 20,763,886,414 bytes uncompressed (20.76 GB; 19.34 GiB).
  • 28,188 RGB images and 28,188 depth images; 28,188 filenames match within their respective experiment directories.
  • All source files are preserved inside 41 ZIP archives. PNG and MP4 files are stored without additional compression; other files use lossless DEFLATE compression.
  • sequences.csv: per-experiment inventory, archive sizes, and archive SHA256 hashes.
  • files.csv: every original file's relative path, size, SHA256, and containing archive.
  • dataset_summary.json: machine-readable overall statistics.
  • SHA256SUMS: checksums for the release files.

The dataset viewer displays the experiment and file inventories. The actual RGB-D data and processing outputs are in the ZIP archives. The viewer split named inventory is a listing, not a training/evaluation partition.

Download

This repository distributes original structured files in ZIP archives. Download and extract the archives before using them with the original application.

pip install -U huggingface_hub
hf download Mingwei000/click-to-model-data-online --repo-type dataset --local-dir click-to-model-data-online --exclude "previews/*"
cd click-to-model-data-online
sha256sum -c SHA256SUMS
python - <<'PY'
from pathlib import Path
from zipfile import ZipFile
for archive in sorted(Path("archives").glob("*.zip")):
    with ZipFile(archive) as zf:
        zf.extractall(".")
PY

To download one experiment:

hf download Mingwei000/click-to-model-data-online archives/31.zip --repo-type dataset --local-dir click-to-model-data-online

Each archive extracts under data_online/<experiment>/, retaining the original directory layout. Allow approximately 42 GB of free space when keeping both the archives and all extracted data.

File conventions

The project documents the following conventions; consult the per-experiment metadata when interpreting a recording:

data_online/<experiment>/
├── rgb/                       RGB images
├── depth/                     depth images
├── masks/                     segmentation masks and click prompts
│   ├── rgb/                   archived initialization RGB image, when present
│   └── depth/                 archived initialization depth image, when present
├── mesh/                      meshes, point clouds, and reconstruction diagnostics
├── debug/
│   ├── ob_in_cam/             tracker-produced per-frame poses, when present
│   └── tracking.mp4           tracking visualization, when present
├── cam_K.txt                  camera intrinsic matrix
└── camera_params.json         camera parameters and depth scale

Depth PNG values are converted to meters using the experiment's camera_params.json depth_scale. The project describes mesh/model.obj as a centered metric model, with units in meters. Files elsewhere under mesh/ may represent intermediate outputs in other frames; use their metadata and named transforms.

Scope and limitations

  • The collection contains experimental runs of different completeness. In particular, 1/ and 2/ contain camera parameters only. Directory count is not a count of complete sequences or unique objects.
  • Segmentation, reconstructed geometry, and tracking poses are pipeline outputs. This release does not establish them as independently verified ground-truth annotations.
  • No train/validation/test split or quantitative annotation-quality audit is supplied.
  • The ZIP archives are a file-preserving snapshot; no filtering, relabeling, or image conversion was applied to the original files. The RGB preview videos and posters are separately generated browsing derivatives.

Data license

A separate dataset reuse license has not yet been specified. Public availability alone does not establish reuse terms. The software repository's license is not automatically applied to these captured data and generated outputs; contact the dataset owner to clarify reuse permissions.

Experiment inventory

Directory Files RGB Depth Original GB Download
1 2 0 0 0.0000 1.zip
2 2 0 0 0.0000 2.zip
3 315 1 1 0.0331 3.zip
4 1,297 1 1 0.0489 4.zip
5 747 1 1 0.0508 5.zip
6 316 1 1 0.0216 6.zip
7 753 1 1 0.0144 7.zip
8 1,711 1 1 0.0407 8.zip
9 4,289 1 1 0.1045 9.zip
10 1,510 1 1 0.0843 10.zip
11 15 0 0 0.0451 11.zip
12 15 0 0 0.0424 12.zip
13 1,543 509 509 0.3846 13.zip
14 1,166 383 383 0.2596 14.zip
15 2,094 693 693 0.5034 15.zip
16 4 1 1 0.0007 16.zip
17 1,051 345 345 0.2631 17.zip
18 4,878 1,621 1,621 1.1498 18.zip
19 1,866 616 616 0.4488 19.zip
20 16 0 0 0.0329 20.zip
21 5,646 1,876 1,876 1.3165 21.zip
22 6,717 2,233 2,233 1.4438 22.zip
23 4,686 1,556 1,556 1.0314 23.zip
24 3,528 1,170 1,170 0.7820 24.zip
25 6,015 1,999 1,999 1.2930 25.zip
26 16 0 0 0.0455 26.zip
27 4,896 1,626 1,626 0.9625 27.zip
28 15 0 0 0.0164 28.zip
29 15 0 0 0.0163 29.zip
30 5,142 1,708 1,708 1.1107 30.zip
31 7,599 2,527 2,527 1.8905 31.zip
32 2,115 699 699 0.4899 32.zip
33 5,127 1,703 1,703 1.1525 33.zip
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