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meiqua / pose_refine

cuda icp for 6D pose estimation
BSD 2-Clause "Simplified" License
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Question about your CUDA render part #1

Closed Guptajakala closed 5 years ago

Guptajakala commented 5 years ago

Dear author, this repo is really cool! I have a question about your CUDA render part. I saw the function "render_triangle" seems to render tri-mesh. So: 1) Is the output Z-buffer of the rendered image? 2) In readme, you mentioned it can run "render handreds poes of a ply model at once". Is it possible to extend the code to render multiple object in each scene, and render all scenes at same time? Thank you for such amazing work!

meiqua commented 5 years ago
  1. Yes, Z-buffer only.
  2. Yes, but unlike same object in different poses, different objects may have different num of triangles. So you may need some skills like cuda stream to render them at once.