Method, apparatus, and storage medium of generating data set containing RGBD image of robot hand and 3D pose of 21 key points on hand by game engine

A data generation apparatus, comprising:

• a model import module configured to import a robot model by using a game engine;
• a camera simulation module configured to simulate an RGBD (Red, Green, Blue, Depth) camera by a scene capture component in the game engine;
• a joint control module configured to control a human hand of the imported robot model to move within a field of view of the RGBD camera;
• an image acquisition control module configured to acquire RGBD image data using the RGBD camera;
• and
• a data generation module configured to generate an annotated data set with coordinate of a key point according to the RGBD image data and coordinate information of the 3D pose of the key point;
• the camera simulation module is configured to capture a scene by using the scene capture component to obtain image data;
• render the image data to a texture render target;
• select a capture data source to recombine color image data and depth image data in the image data to obtain recombined image data;
• and perform channel isolation of color image data and unit unified processing of depth image data of the recombined image data so as to simulate an RGBD camera.