special objects

[trungpham2606]

Hi @lvwj19 According to your paper, I have a question that can the model work well in case of symmetric objects like cube or rectangular prism ? (where the pose will be defined according to the top and bottom of the object, same shape but different color or texture).

[lvwj19]

If there is a colored point cloud, you can define G as an identity matrix and the object will be treated as asymmetric. If the point cloud has no color and the shape is symmetrical, define G as a symmetrical treatment.

[trungpham2606]

@lvwj19 If i want to use pprnetplus, what should it be the value of conf_head in loss_weights ?

[lvwj19]

loss_weights = { 'trans_head': 200.0/1000.0, # implicit convert mm to m by deviding 1000 'rot_head': 200.0, 'vis_head': 50.0, 'conf_head': 10.0 }

[trungpham2606]

@lvwj19 How can I define the G identity matrix for color point cloud ?