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F2Wang / ObjectDatasetTools

Tools to create pixel-wise object masks, bounding box labels (2D and 3D) and 3D object model (PLY triangle mesh) for object sequences filmed with an RGB-D camera. This project prepares training and testing data for various deep learning projects such as 6D object pose estimation projects singleshotpose, as well as object detection and instance segmentation projects.
MIT License
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long RECORD_LENGTH generate invalid .ply file #27

Closed MrLuer closed 4 years ago

MrLuer commented 4 years ago

I want to make a big dataset, so I set the RECORD_LENGTH a big value(300), the step 4 generate a invalid ply file like picture below. may be some parameter need to be adjust? mesh

F2Wang commented 4 years ago

Hi, sorry about that, but I think a big RECORD_LENGTH will generally cause a bad final alignment (not to mention an extremely long processing time), as my code performs pose graph optimization only with the neighboring frames (no global loop closure), so errors will accumulate as the record length gets longer.

MrLuer commented 4 years ago

thank you for reply， My purpose is for the robot to grab the target, so the data set must cover as many shooting angles as possible, which determines that there must be a large RECORD_LENGTH . So is there any other way to achieve my purpose？