---
license: cc-by-nc-sa-4.0
---

# XYZ Industrial Bin-picking Dataset (XYZ-IBD)
[Project page](https://xyz-ibd.github.io/XYZ-IBD/)

# Download via command line

To download the data and extract it into BOP format via command line simply execute:

```
export SRC=https://huggingface.co/datasets/bop-benchmark
wget $SRC/xyzibd/resolve/main/xyzibd_base.zip         # Base archive with camera parameters, etc
wget $SRC/xyzibd/resolve/main/xyzibd_models.zip       # 3D object models
wget $SRC/xyzibd/resolve/main/xyzibd_val.zip          # Validation images
wget $SRC/xyzibd/resolve/main/xyzibd_test_all.zip     # All test images part 1 
wget $SRC/xyzibd/resolve/main/xyzibd_train_pbr.zip    # PBR training images part 1
wget $SRC/xyzibd/resolve/main/xyzibd_train_pbr.z01    # PBR training images part 2

7z x xyzibd_base.zip             # Contains folder "xyzibd"
7z x xyzibd_models.zip -oxyzibd     # Unpacks to "xyzibd"
7z x xyzibd_val.zip -oxyzibd        # Unpacks to "xyzibd"
7z x xyzibd_test_all.zip -oxyzibd   # Unpacks to "xyzibd"
7z x xyzibd_train_pbr.zip -oxyzibd  # Unpacks to "xyzibd"
```

# Structure of the dataset

```
├── camera_photoneo.json
├── camera_realsense.json
├── camera_xyz.json
├── models
├── models_eval
├── test
├── test_targets_bop19.json
├── test_targets_bop24.json
├── test_targets_multiview_bop25.json
├── train_pbr
├── val
│   └── 000000
│       ├── depth_photoneo
│       ├── depth_realsense
│       ├── depth_xyz
│       ├── gray_photoneo
│       ├── gray_xyz
│       ├── mask_photoneo
│       ├── mask_realsense
│       ├── mask_visib_photoneo
│       ├── mask_visib_realsense
│       ├── mask_visib_xyz
│       ├── mask_xyz
│       ├── rgb_realsense
│       ├── scene_camera_photoneo.json
│       ├── scene_camera_realsense.json
│       ├── scene_camera_xyz.json
│       ├── scene_gt_info_photoneo.json
│       ├── scene_gt_info_realsense.json
│       ├── scene_gt_info_xyz.json
│       ├── scene_gt_photoneo.json
│       ├── scene_gt_realsense.json
│       └── scene_gt_xyz.json
```