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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

Question for custom dataset #189

Closed luigifaticoso closed 3 years ago

luigifaticoso commented 3 years ago

Hello, I tried to use some real data for my dataset and attempted to use the LabelFusionel dataset tool but didn't manage to install all the dependencies because of a problem and another. Is there any recent way to label real RGBD data using an intel real sense camera? Thank you

nihar0602 commented 3 years ago

Hi @luigifaticoso were you able to figure this out?

luigifaticoso commented 3 years ago

@nihar0602 yes, I have investigated more and found this tool https://github.com/F2Wang/ObjectDatasetTools useful for my case. Hope this can help you out.

nihar0602 commented 3 years ago

Thank you for the response. I tried using that but was not able to create a proper 3D part on that. Can you elaborate on how you created 3D CAD/OBJ?MESH File and how did you create the dataset? Was it only synthetic or was it having real images? How did you created ground truth and passed into the network?

luigifaticoso commented 3 years ago

Thank you for the response.

I tried using that but was not able to create a proper 3D part on that.

Can you elaborate on how you created 3D CAD/OBJ?MESH File and how did you create the dataset?

I already had my model in 3D, but only mesh, I have then sampled some points on it to create the pointcloud using cloud compare. After that, I created the 3D scene using ObjectDatasetTools and aligned my pointcloud to the corresponding one in the reconstructed scene and used that to obtain the pose matrix.

Was it only synthetic or was it having real images?

I used both synthetic and real images.

How did you created ground truth and passed into the network?

By using ObjectDatasetTools and https://github.com/ethnhe/raster_triangle

I know it takes a bit to get it right, for me the whole process of collecting data and data cleaning until the model took me more than 1 month.

nihar0602 commented 3 years ago

@luigifaticoso Thank You for your response. I have sent you an email regarding this more in detail. Can you help me out there. Your help is much much appreciated, again thanks!

chengm0-0 commented 3 years ago

@luigifaticoso 谢谢您的回复。 我已经给您发送了一封有关此邮件的详细信息。 你能帮我吗 非常感谢您的帮助，再次感谢！

Hi, how did you create your dataset?