search

NVlabs / Deep_Object_Pose

Deep Object Pose Estimation (DOPE) – ROS inference (CoRL 2018)
Other
1.03k stars 287 forks source link

Weird output #359

Closed joansaurina closed 5 months ago

joansaurina commented 5 months ago

Hello. I am running inference with mustard_60.pth and the detected cubes get this strange form. Do you know why is that? Could it be due to camera parameters?

3-Figure1-1 4-Figure3-1

Thanks, Joan

TontonTremblay commented 5 months ago

I think it is using the new model of cuboid3d, @nv-jeff made some changes to the repo, I had a "if" statement in the new inference code to use the old cuboid3d description. Maybe the update removed the if. It has been a while, https://github.com/NVlabs/Deep_Object_Pose/blob/c9f5aafd3f9f329ffc1ee922d2aa00f49d0a5c07/common/cuboid.py#L81 maybe this is the condition that is causing issues.

nv-jeff commented 5 months ago

I introduced a bug into common/utils.py during refactoring; the cuboid was drawn using the wrong vertex ordering. This has been fixed in checkin https://github.com/NVlabs/Deep_Object_Pose/commit/2e021c5f05727cbd5da47330a9c5ca37ef74fee5