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SBPL-Cruz / perception

PERCH 2.0 : Fast and Accurate GPU-based Perception via Search for Object Pose Estimation
https://sbpl-cruz.github.io/perception/
BSD 3-Clause "New" or "Revised" License
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Fix centroid alignment #90

Closed aditya2592 closed 4 years ago

aditya2592 commented 4 years ago

use min/max or mean whichever does better

aditya2592 commented 4 years ago

Ideally If bounding box is occlusion aware, that should be used and centroid shift should be done without being occlusion aware. In this way the two things would be perfectly aligned for the right rotation

aditya2592 commented 4 years ago

Centroid shift also fails when first render of bleach is outside the image (scene 51, 1966)