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NVlabs / Deep_Object_Pose

Deep Object Pose Estimation (DOPE) – ROS inference (CoRL 2018)
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Some questions regarding automatic labeling using NViSII #292

Open ArghyaChatterjee opened 1 year ago

ArghyaChatterjee commented 1 year ago

Hi,

I have 2 questions. They are:

  1. During data generation, we also generate depth.exr and seg.exr files. Do we need them for training purpose or they are just there for visualization purpose? If we don't need them, then how to stop generating them during automatic label generation process?

  2. Inside the json files created automatically using NViSII, they contain the distractors pose as well as the pose of the object to be detected. Do we need the distractors pose inside that file for training purpose or they are just there. If we don't need them, how to disable generating them from the beginning ?

Thanks in advance.

TontonTremblay commented 1 year ago

segmentation: https://github.com/NVlabs/Deep_Object_Pose/blob/master/scripts/nvisii_data_gen/single_video_pybullet.py#L584-L592 depth: https://github.com/NVlabs/Deep_Object_Pose/blob/master/scripts/nvisii_data_gen/single_video_pybullet.py#L613-L621 Wrap this https://github.com/NVlabs/Deep_Object_Pose/blob/master/scripts/nvisii_data_gen/single_video_pybullet.py#L394-L396 with a if, pass to the method something like to_be_included and set it to false for these objects: https://github.com/NVlabs/Deep_Object_Pose/blob/master/scripts/nvisii_data_gen/single_video_pybullet.py#L408

ArghyaChatterjee commented 1 year ago

@TontonTremblay , thanks. BTW, do I need the poses of these distractors during training ?

TontonTremblay commented 1 year ago

you do not, so in the above you can remove them from the list. If the above text is unclear, please let me know.

On Mon, Apr 3, 2023 at 8:53 AM Arghya Chatterjee @.***> wrote:

@TontonTremblay https://github.com/TontonTremblay , thanks. BTW, do I need the poses of these distractors during training ?

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