How to use the depth RGB camera as input to obtain Pose information？

[tony-hj]

Thanks for your excellent work, I have no experience in posture detection. I want to apply this great method to my robot. How can I deploy it?run_demo.py can already work in my docker.Think you very much!!

[tony-hj]

The readme mentions that this work can use a model-free setting and a small number of reference images to perform pose recognition. How can this be achieved?

[wenbowen123]

you can refer to here for model-free setup. When you run on your own object, you just make your data the same format as the example.

[wenbowen123]

this requires you to get poses for the ref images yourself. Another simpler way is to use bundlesdf. It will auto compute poses and mesh.

[tony-hj]

@wenbowen123 Thanks for you answer. I have make the dataset on my own object, I got rgb image , Depth and mask. depth_enhanced could get from depth and mask, But I have no idea how to get cam_in_ob? It seems like the last one i need to work.This is what i make. This your work need. Many place are different, Could you tell me how to make it like your work need.

[tony-hj]

I am now making a similar Linmod dataset format to this tutorial: https://gitee.com/Tong--Yuan/6-do-f_-linemod_datasets_making/raw/master/%E4%BD%8D%E5%A7%BF%E8%A7%A3%E7%AE%97%E6%95%B0%E6%8D%AE%E9%9B%86-Linemod%E6%95%B0%E6%8D%AE%E9%9B%86%E5%88%B6%E4%BD%9C%E6%96%B9%E6%B3%95(Linemod_preprocessed).pdf

[jingchenlu]

@tony-hj Do you know how to get cam_in_ob? Using bundleSDF is slow and the model will be incomplete

[tony-hj]

@jingchenlu I'm sorry，I haven't fixed this yet