patch linemod
prerequisite
pysixd
files: params/ pysixd/ t_less_toolkit/ tools/
copied from sixd_toolkit
deal with model reading/rendering, datasets reading and evaluation
dataset
get dataset under top level folder folder using following cmd
wget -r -np -nH --cut-dirs=1 -R index.html http://ptak.felk.cvut.cz/6DB/public/library
install opencv3 with contrib rgbd module
install pybind11
install open3d(for icp)
pip3 install -r requirements.txt
steps
in target folder:
mkdir build
cd build/
cmake ..
make
in top level folder, if use pybind:
pip3 install target_folder/
python3 patch_linemod_test.py
how to evaluate
patch_linemod_test.py, 57-66, select dataset & mode, train & test
tools/eval_calc_errors.py, 19-27, select dataset, run
tools/eval_loc.py, 180-186, select dataset, run
Results are saved to top_level_folder/eval
current results
| dataset | score |
|---|---|
| linemod | 0.84833333 |
| linemod occlusion | 0.56717325 |
| tejani | 0.98666667 |
| doumanoglou | 0.93000000 |
| tless | 0.56176800 |
| rutgers | 0.29055516 |
| tudlight | 0.58000000 |
| Average | 0.68064200 |
BOP: Benchmark for 6D Object Pose Estimation
