Description for CYT_Dataset This dataset consists of five parts(RGBImages,DepthImages,SegImages,BaseandOrien and PointCloud)
RGBImages: 100000 512*512 PNG files,containing color information. Generated by PyBullet Synthetic Camera Rendering.
DepthImages: 100000 512*512 PNG files,containing depth information. Generated by PyBullet Synthetic Camera Rendering.
SegImages: 100000 512*512 PNG files,containing segmetation information. Segmentation Images automaticly generated by PyBullet
BaseandOrien: 100000 .csv files,containing base and orientation information for each object.
Pointcloud: 100000 .ply files,containing colorful 3D point cloud information,generated from DepthImages and RGBImages.