公开数据集统一放在 root/datasets 路径下，大家可以通过复制/软链接进行调用哦！
LINEMOD是一个RGB+D数据集，它已经成为6D姿态估计事实上的标准基准。该数据集包含15个对象序列。每个物体序列中的图像包含多个物体，但只有一个物体被标注为ground-truth类标签、边界框和6D姿态。数据集还提供了相机固有矩阵。 The datasets include 3D object models and training and test RGB-D images annotated with ground-truth 6D object poses and intrinsic camera parameters. The 3D object models were created manually or using KinectFusion-like systems for 3D surface reconstruction. The training images show individual objects from different viewpoints and are either captured by an RGB-D/Gray-D sensor or obtained by rendering of the 3D object models. The test images were captured in scenes with graded complexity, often with clutter and occlusion.
The datasets are provided in the BOP format. The BOP toolkit expects all datasets to be stored in the same folder, each dataset in a subfolder named with the base name of the dataset (e.g. "lm", "lmo", "tless").