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0001-camchain.yaml

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+cam0:
+  cam_overlaps: [1]
+  camera_model: pinhole
+  distortion_coeffs: [0.10361069500712855, -0.2148477229912779, 0.001513264659998155, -0.002476344872837173]
+  distortion_model: radtan
+  intrinsics: [903.0118940849832, 903.2158406278899, 633.5485368294636, 381.41828087155915]
+  resolution: [1280, 720]
+  rostopic: /camera/rgb/left/image_raw
+cam1:
+  T_cn_cnm1:
+  - [0.9998945887337507, -0.014369669164107327, -0.0020794299873445822, -0.0036012707257716318]
+  - [0.014399698029410164, 0.999780340709445, 0.015228887929277363, 0.03455469146593941]
+  - [0.001860139139947825, -0.015257225796808271, 0.999881871494508, -0.011210949951428937]
+  - [0.0, 0.0, 0.0, 1.0]
+  cam_overlaps: [0]
+  camera_model: pinhole
+  distortion_coeffs: [-0.20923248407260384, 0.16598092518055463, -0.0006163143586288673, 0.0008587344469899001]
+  distortion_model: radtan
+  intrinsics: [1262.0354031860522, 1263.0189428947767, 636.1120772928016, 352.8881203962529]
+  resolution: [1280, 720]
+  rostopic: /camera/e2vid/left/image_raw

README.md

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+---
+license: cc-by-4.0
+task_categories:
+- object-detection
+tags:
+- 6d-pose
+- event-camera
+- novel-object
+- rgbd
+size_categories:
+- 10G<n<100G
+---
+
+# Event6D Dataset (Real-World Capture)
+
+Real-world hand-held capture used as the primary test set in
+[Event6D](https://github.com/mickeykang16/Event6D) (CVPR 2026). With the provided
+checkpoints, our method achieves **mean ADDS 52.79** on this set.
+
+A Prophesee event camera + Intel RealSense RGB-D camera filming 14 daily YCB-style
+objects from random angles/motions.
+
+## Layout
+
+```
+Event6D/
+├── 0001-camchain.yaml        # Kalibr-format intrinsic + extrinsic calibration
+├── test.txt, train.txt       # split lists (sequence frame ranges)
+├── simple_mesh/              # 21 YCB-style object meshes (textured.obj + material)
+└── <object>_<date>/<run>/    # e.g. banana_1101/0003
+    ├── parsed_events/        # raw events as packed .npz per frame (x,y,t,p)
+    ├── rgb/                  # color frames at 30 fps
+    ├── depth_aligned_to_color/
+    ├── depth_aligned_to_event/
+    ├── pose/                 # GT object poses (4, 4, 4): 4 sub-timesteps per file
+    ├── pose_orig/            # only for wine_1101/0001 — original poses before frame-shift fix
+    ├── mask/
+    ├── obj.txt               # object id string (e.g. 011_wine_glass)
+    ├── startend.txt
+    └── aligned_depth_pose.csv
+```
+
+## What's omitted (and how to regenerate)
+
+To keep the dataset under ~25 GB we skipped the precomputed event representations:
+`parsed_voxel_depth*`, `parsed_voxel_recon*`, `parsed_e2vid*`, `event_viz*`, `result_viz`,
+`depth_qual*`. These are caches generated by the data reader on first use — running
+evaluation against this dataset will lazily compute and write them under your local copy,
+adding ~1 GB per sequence (~5-10 min one-time warmup per sequence).
+
+## Per-sequence sub-timestep convention
+
+Each `pose/XXXXXX.npy` has shape `(4, 4, 4)`: four temporally-spaced sub-timesteps of the
+object pose covering the interval `[T_XXXXXX, T_XXXXXX+1)`. `pose[0]` is at the same
+instant as `rgb/XXXXXX.jpg`; `pose[1..3]` are intermediate samples toward the next frame.
+
+The `wine_1101/0001` sequence originally had a one-frame offset (`pose[3]` aligned with
+RGB instead of `pose[0]`); this release ships the corrected (shifted) `pose/` and keeps
+the original under `pose_orig/` for reproducibility.
+
+## Download
+
+```bash
+huggingface-cli download mickeykang/Event6D --repo-type dataset \
+    --local-dir ./data/Event6D
+```
+
+## Citation
+
+Please cite Event6D (CVPR 2026) if you use this dataset.

banana_1101/0003/obj.txt

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+007_banana

banana_1101/0003/startend.txt

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+000120 000420

bowl_1101/0004/obj.txt

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+012_bowl

bowl_1101/0004/startend.txt

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+000162 000422

drill_1101/0000/obj.txt

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+006_power_drill

drill_1101/0000/startend.txt

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+000197 000627

simple_mesh/001_mustard_bottle/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.20000000 0.20000000 0.20000000
+Kd 0.63921569 0.63921569 0.63921569
+Ks 1.00000000 1.00000000 1.00000000
+Ns 0.00000000
+map_Kd material_0.png

simple_mesh/002_pudding_box/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.20000000 0.20000000 0.20000000
+Kd 0.63921569 0.63921569 0.63921569
+Ks 1.00000000 1.00000000 1.00000000
+Ns 0.00000000
+map_Kd material_0.png

simple_mesh/003_pitcher_base/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.20000000 0.20000000 0.20000000
+Kd 0.63921569 0.63921569 0.63921569
+Ks 1.00000000 1.00000000 1.00000000
+Ns 0.00000000
+map_Kd material_0.png

simple_mesh/004_cracker_box/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0.009
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.00000000 0.00000000 0.00000000
+Ns 10.00000500
+map_Kd material_0.009.jpeg

simple_mesh/006_power_drill/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.20000000 0.20000000 0.20000000
+Kd 0.63921569 0.63921569 0.63921569
+Ks 1.00000000 1.00000000 1.00000000
+Ns 0.00000000
+map_Kd material_0.png

simple_mesh/007_banana/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.20000000 0.20000000 0.20000000
+Kd 0.63921569 0.63921569 0.63921569
+Ks 1.00000000 1.00000000 1.00000000
+Ns 0.00000000
+map_Kd material_0.png

simple_mesh/008_apple/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.58823529 0.58823529 0.58823529
+Kd 0.58823529 0.58823529 0.58823529
+Ks 0.00000000 0.00000000 0.00000000
+Ns 10.00000000
+map_Kd material_0.jpeg

simple_mesh/009_extra_large_clamp/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.20000000 0.20000000 0.20000000
+Kd 0.63921569 0.63921569 0.63921569
+Ks 1.00000000 1.00000000 1.00000000
+Ns 0.00000000
+map_Kd material_0.png

simple_mesh/011_wine_glass/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.58823529 0.58823529 0.58823529
+Kd 0.58823529 0.58823529 0.58823529
+Ks 0.90196078 0.90196078 0.90196078
+Ns 100.00000000
+map_Kd material_0.jpeg

simple_mesh/012_bowl/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.58823529 0.58823529 0.58823529
+Kd 0.58823529 0.58823529 0.58823529
+Ks 0.00000000 0.00000000 0.00000000
+Ns 10.00000000
+map_Kd material_0.jpeg

simple_mesh/013_mug/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.58823529 0.58823529 0.58823529
+Kd 0.58823529 0.58823529 0.58823529
+Ks 0.00000000 0.00000000 0.00000000
+Ns 10.00000000
+map_Kd material_0.jpeg

simple_mesh/014_plate/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.58823529 0.58823529 0.58823529
+Kd 0.58823529 0.58823529 0.58823529
+Ks 0.00000000 0.00000000 0.00000000
+Ns 10.00000000
+map_Kd material_0.jpeg

simple_mesh/015_spatula/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

simple_mesh/016_hammer/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

simple_mesh/017_baseball/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.58823529 0.58823529 0.58823529
+Kd 0.58823529 0.58823529 0.58823529
+Ks 0.00000000 0.00000000 0.00000000
+Ns 10.00000000
+map_Kd material_0.jpeg

simple_mesh/018_mouse/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.58823529 0.58823529 0.58823529
+Kd 0.58823529 0.58823529 0.58823529
+Ks 0.00000000 0.00000000 0.00000000
+Ns 10.00000000
+map_Kd material_0.jpeg

simple_mesh/020_large_marker/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.20000000 0.20000000 0.20000000
+Kd 0.75294118 0.75294118 0.75294118
+Ks 1.00000000 1.00000000 1.00000000
+Ns 0.00000000
+map_Kd material_0.jpeg

simple_mesh/021_scissors/material.mtl

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+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

test.txt

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+banana_1101/0003 000120 000420
+bowl_1101/0004 000162 000422
+cracker_1101/0000 000176 000483
+drill_1101/0000 000197	000627
+hammer_1101/0000 000167 000412
+marker_1101/0003 000169 000314
+mouse_1101/0003 000142 000333
+mug_1101/0002 000103 000449
+mustard_1101/0001 000125 000320
+scrub_1101/0001 000105	000380		
+spam_1101/0000 000218 000421
+spatula_1101/0000 000135 000397
+wine_1101/0001 000235 000371
+pitcher_1029/0005 000244 000805

train.txt

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+banana_1101/0000 000133 000473
+banana_1101/0001 000122 000405
+banana_1101/0002 000038 000357
+banana_1101/0004 000109 000389
+bowl_1101/0000 000130 000308
+bowl_1101/0002 000165 000332
+bowl_1101/0003 000167 000332
+clamp_1101/0000 000156 000399
+clamp_1101/0004 000072 000399
+cracker_1101/0001 000122 000387
+cracker_1101/0002 000197 000422
+cracker_1101/0004 000196 000337
+cracker_1101/0005 000117 000278
+drill_1101/0001 000175 000667
+drill_1101/0002 000177 000584
+drill_1101/0003 000167 000330
+hammer_1101/0002 000176 000294
+marker_1101/0004 000103 000303
+marker_1101/0005 000146 000305
+mouse_1101/0001 000140 000396
+mug_1101/0000 000097 000301
+mug_1101/0001 000148 000325
+mustard_1101/0000 000145 000359
+pitcher_1101/0000 000172 000460
+pitcher_1101/0001 000177 000467
+pitcher_1101/0002 000180 000672
+pudding_1101/0000 000162 000312
+pudding_1101/0001 000163 000432
+pudding_1101/0002 000146 000509
+pudding_1101/0003 000219 000489
+scrub_1101/0000 000182 000452
+scrub_1101/0002 000124 000384
+spam_1101/0002 000049 000269
+spatula_1101/0001 000126 000349
+spatula_1101/0003 000152 000412
+wine_1101/0000 000150 000339
+spam_1029/0001 000188 000848