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YanjieZe / 3D-Diffusion-Policy

[RSS 2024] 3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations
https://3d-diffusion-policy.github.io
MIT License
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Does data need to be in world frame? #12

Closed dennisushi closed 7 months ago

dennisushi commented 7 months ago

Following the Converstion script, is it strictly necessary to transform the pointcloud to world frame (i.e. we need to do external eye to hand calibration) or not?

YanjieZe commented 7 months ago

Hi, In our experiments, we do calibration to get the camera extrinsics to transform the point cloud into world frames. I think it is ok if you just use depth + intrinsics and do not calibrate (from our experiments it could work also but maybe some performance drop generally)