ycb-scripts

Scripts to generate and process point clouds in YCB dataset.

Usage

Download Dataset

    python ycb_downloader.py

Generate Clouds From RGB-D Images

    python ycb_generate_point_cloud.py

Transform Clouds to Unified Camera Coordinate System

    python ycb_transform_point_cloud.py

Denoise Transformed Clouds

    python ycb_filter_point_cloud.py

After processing, all point clouds are denoised and transformed to the coordinate system of camera "NP5". It is helpful for object grasp pose generation.