Closed HsiaoTsan closed 4 years ago
Hi HsiaoTsan,
thank you and sorry for my late reply.
This is within the iterative depth refinement (ICP) and happens when they are not enough matches between the rendered model and the scene.
Does it occur every time?
How is the output if you run your code without the ICP, i.e. setting icp = False
in you eval config?
What is the value in your training cfg for vertex_scale?
Hi Martin,
thank you for your reply and sorry I'm late.
It happens to all TejaniDB object 'milk', no estimated pose will be rendered into the scene image.
It happens every time. If I set the icp = False
the output is as normal as TLESS datasets.
the vertex_scale is 1 in the training cfg, as the point cloud .ply file is already in millimeter.
I have not worked in TejaniDB dataset for a while, you may close this issue if you want to.
Thank you.
Thank you for your brilliant masterpiece and making it open-sourced. I have successfully trained AAE on TejaniDB object "milk", when I run
ae_eval
, the code warns menot enough visible points
, then the image shown does not render the estimation object. I checked the code it is in auto_pose/eval/icp_utils.py, line 265.It seems that the number of real depth points is not enough. I have changed the if statement to
len(real_depth_pts) < len(synthetic_pts)/800.
, but the warning still exists. What should I do? Thank you in advance!