Data and examples数据与示例
This chapter introduces dataset sources and model resources, then RGB-D input formats and basic single-frame examples. The examples cover the integrated 2D-to-6D pipeline, localization with known instance counts, detection with unknown counts, and custom data. Depth and mesh coordinates use meters; camera intrinsics K use pixels.
本章先介绍数据集来源和模型资源，再说明 RGB-D 输入格式及单帧基础示例。示例涵盖 2D 到 6D 的一体化流程、实例数量已知的定位、数量未知的检测及自定义数据接入。深度与网格坐标使用米，相机内参 K 使用像素单位。
环境配置统一见安装。后续章节介绍检测器与位姿接口；完整实验、视频及结果分析集中在应用案例。
Environment configuration is described in Installation. General detector and pose interfaces follow in their own chapters; Application cases collects complete experiments, videos and result analyses.