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j96w / DenseFusion

"DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion" code repository
https://sites.google.com/view/densefusion
MIT License
1.08k stars 301 forks source link

symmetry objects #180

Closed Ixion46 closed 3 years ago

Ixion46 commented 3 years ago

Hey @j96w , thanks for your great work. I finaly get really good results. I still have one question left : What kind of symmetry is meant in the dataset.py file in ycb? self.symmetry_obj_idx = [12, 15, 18, 19, 20]

I dont get why the bleach cleanser is a symmetrical object and the sugar-box or a can not? I hope you can help me with that. Best Regards Ixion

j96w commented 3 years ago

Hi, so to be honest, the definition of symmetry objects are from prior works like PoseCNN. I'm not sure about the exact definition but I think they have taken the texture and color into consideration. For some objects like the sugar-box, you can tell which surface (front or back) is visible in the camera image by its testure.