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liuyuan-pal / Gen6D

[ECCV2022] Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Images
GNU General Public License v3.0
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Please, how to calculate the accuracy on our custom dataset especially on our test video ? Thank you. #55

Open AmokraneIlhem opened 1 year ago

liuyuan-pal commented 1 year ago

You have to annotate the ground-truth pose for evaluation. I did it by COLMAP retrieving the relative poses and then manually selecting points to register the reference sequence with the query sequence.

AmokraneIlhem commented 1 year ago

@liuyuan-pal Can you please explain me more how to use colmap to annotate the ground-truth pose for evaluation.

liuyuan-pal commented 1 year ago

You may need to label at least 3 points on two images from the query sequence and two images from the reference sequence Then, you can use triangulate to compute the 3D coordinates of these 3 points in the coordinate system of the query sequence and their coordinates in the coordinate system of the reference sequence. Then, you can compute the similarity transformation from these 3 points. In this case, this similarity transformation will align two sequences and you can known the labelled pose, which is regarded as gt poses.

AmokraneIlhem commented 1 year ago

@liuyuan-pal
Are the steps you mentioned, i.e., triangulation and similarity transformation already implemented in the code, or do I have to implement them myself?

liuyuan-pal commented 1 year ago

You can implement it yourself, triangulation would be done by an opencv function while estimating similarity transformation would be an SVD decomposition.

AmokraneIlhem commented 1 year ago

@liuyuan-pal Can we use cloudCompare to label these points or are there other tools to do so? can you give me please the steps to follow to use the colmap .

1gjjuser1 commented 1 year ago

@AmokraneIlhem Can we use cloudCompare to label these points or are there other tools to do so? can you give me please the steps to follow to use the colmap . Hello collaborators, may I ask, have you successfully tested the accuracy on your own data set?

EvdoTheo commented 1 year ago

Hello @liuyuan-pal, does the "compute_align_poses.py" script calculate the accuracy of the object's pose? If yes, can I use it for custom objects?