Data Set: Evaluation of Domain Randomization Techniques for Transfer Learning - Part 0

Transfer Learning Data Set:
The total data set contains 1.44m synthetic images and 10k real-world images of size 299x224.

Due to file size limitation, the data set is split into two sets. This data set (part 0: DOI 10.5281/zenodo.2581311) contains the real-world images and the synthetic images of perspective 00. The second part (part 1: DOI 10.5281/zenodo.2581469) contains perspective 01 and 10 of the synthetic images.

1. 10k real world images
    the filename labels the image:
        -first 6 digits represent the id.
        -8. digit labels the grasp: 0 -> no grasp, 1 -> grasp
        -10. digit is empty (reserved for 2nd perspective)
        -12. digit labels the graspbox: 0 -> green box, 1 -> yellow box
        -14. digit labels the distractors : 0 -> no distractors, 1 -> distractors
        -c in the end stands for acolor image, d is reserved for depth (not in use).
    
2. 1.44m synthetic images
    the folder labels the enabled technique:
        -first 2 digits label the perspective:  00 -> standard, 01 -> shake, 10 -> random
        -3. digit labels the graspbox: 0 -> defaul green box, 1 -> random box
        -4. digit labels the distractors: 0 -> no distractors, 1 -> distractors
        -5. digit labels the lighting: 0 -> default lighting, 1 -> random lighting
        -6. digit labels the mesh randomization: 0 -> default mesh color, 1 -> random mesh color
        
    the filename consists of 3 parts:
        -first 6 digits represent the id.
        -8. digit labels the grasp: 0 -> no grasp, 1 -> grasp
        -10.-15. digit equals the folder name and represents the enabled technique
        -c in the end stands for a color image, d is reserved for depth (not in use).