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NVlabs / Deep_Object_Pose

Deep Object Pose Estimation (DOPE) – ROS inference (CoRL 2018)
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Visible Mask - Data generation #384

Open utsavrai opened 2 months ago

utsavrai commented 2 months ago

Often it is required to obtain only the visible portion of the mask for the object and thus removing the mask of distractors. How to achieve this?

TontonTremblay commented 2 months ago

I am not sure I am following, could share an example?

utsavrai commented 2 months ago

Sure, for example in the below case I want ground truth mask of "white watering can" behind the yellow duck, then the output mask should be only the visible portion of the "white watering can". Similarly when segmentation mask is generated then it would be great to have an option which only outputs the visible portion of the object and excluding all the distractor mask. 000065 000065_000001

TontonTremblay commented 2 months ago

https://github.com/owl-project/NVISII/blob/master/examples/09.meta_data_exporting.py#L125-L139 check this out, this is what you want to save, if you look at the code, when we compute the visibility, we move objects and render them around to get percentage.