Does the dataset provide 3D object bbox?

[karta2155802]

Thanks for the work! Is there any way to get the object bbox with its 8 corners in camera coordinate?

[ychao-nvidia]

We don't provide object 3D bounding boxes in the annotation files. However, you can obtain them with:

1. Computing the canonical bounding box from the object's mesh file (e.g., with min() and max() over the vertices along the x, y, and z axes).
2. Transforming the 8 corners to the camera frame with the object's ground-truth 6D pose.

[karta2155802]

Got it. Thank you very mush!!

[karta2155802]

Hi, I met some problems when projecting the hand and object mesh back to the origin(640x480) image. I used the intrinsics and extrinsics values in DEX_YCB/calibration/intrinsics. Here's one of my result. I think my mesh position is correct in world coordinate. Am I using the right extrinsics?

[ychao-nvidia]

It's hard to tell what went wrong here by looking at the image. We have provided an example for visualizing the hand/object mesh in the image space (see here). Perhaps you can debug by comparing with that example?