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DLR-RM / AugmentedAutoencoder

Official Code: Implicit 3D Orientation Learning for 6D Object Detection from RGB Images
MIT License
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YCB-video dataset #73

Closed federicotomat closed 4 years ago

federicotomat commented 4 years ago

Hi @MartinSmeyer, have you prepared functions to interface with the BOP toolkit for evaluation, in order to test it on YCB-video dataset? Would they be available in case?

MartinSmeyer commented 4 years ago

Hi @federicotomat , I have an interface, but it also interfaces with some internal code.. Do you just need an example how to evaluate with the bop_toolkit or do you want to replicate the bop results for ycbv with the AAEs? IIn the first case I can send you some sample code.

The evaluations numbers are available here: https://bop.felk.cvut.cz/leaderboards/bop19_ycb-v/

In future, I might also provide the scripts for generating those results, but it is basically just stitching together a MaskRCNN with AAEs from this repo.

federicotomat commented 4 years ago

Thanks @MartinSmeyer for the reply,

would it be possible to have the evaluation results carried out on YCB-video for the individual objects? In particular, I am interested in the vsd value calculated with the GT.

MartinSmeyer commented 4 years ago

Alright! So, I have the ycbv predictions in bop csv format:

sundermeyer-vivo_ycbv-test.zip

The online evaluation tool does not output the per object scores. However, you can simply pass the csv files to

https://github.com/thodan/bop_toolkit/blob/master/scripts/eval_bop19.py

to generate the detailed (per-object) results. I hope that helps :)

federicotomat commented 4 years ago

Thank you very much

hiyyg commented 4 years ago

Hi @MartinSmeyer , how do you render with BOP ycbv models? It seems the meshrenderers in this codebase only support meshes with vertex color, but ycbv models are meshes with texture maps. Should I convert the texture maps to vertex color?

MartinSmeyer commented 4 years ago

Yes exactly, I converted the textures to vertex colors

hiyyg commented 4 years ago

@MartinSmeyer May I ask how you converted the textures to vertex colors? I tried it with meshlab but the quality of the converted model was very bad.

federicotomat commented 3 years ago

Hi @hiyyg, if it can come in handy, I have trained on YCB models by changing the renderer with the bop renderer of the bop toolkit. (I tried also with this).

If I remember correctly you need to change only from this part of the code.

An idea of the quality of the results, that I have obtained after 30000 iterations, are shown below (using the cracker-box model): training_images_29999

I take this opportunity to thank @MartinSmeyer again, for his work.