How is data/YCB-Video/YCB_vertex.npy generated

cvlab-epfl / segmentation-driven-pose

Segmentation-driven 6D Object Pose Estimation. CVPR 2019.

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How is data/YCB-Video/YCB_vertex.npy generated #11

Closed renxinyang closed 4 years ago

renxinyang commented 4 years ago

Hi, We are trying to render the point-cloud model to the 2D picture. The predicted 6Dpose worked fine with ply generated from YCB_vertex.npy but the result was strange with the ply file from the official website of YCB dataset. Could you explain how you generated YCB_vertex.npy? We have attached the screen shot of two ply files opened in meshlab and it can be seen that they are different. Thank you! Screenshot from 2019-10-15 18-08-37

YinlinHu commented 4 years ago

We just extract the vertex from the official YCB dataset and save them in YCB_vertex.npy for all the 21 objects. This procedure is trivial and just for visualization, yours should also work after some debugging.

renxinyang commented 4 years ago

Ok, thank you.

madhumilan commented 2 years ago

Hi,

Thanks for the explanation. Can you please also tell how to generate data/YCB_bbox.npy. As in, how the 8 points of the 3D bounding box is chosen from the .ply file? Thanks.

Best regards, Madhu