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microsoft / singleshotpose

This research project implements a real-time object detection and pose estimation method as described in the paper, Tekin et al. "Real-Time Seamless Single Shot 6D Object Pose Prediction", CVPR 2018. (https://arxiv.org/abs/1711.08848).
MIT License
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large angle error #126

Open SonOfCoding opened 4 years ago

SonOfCoding commented 4 years ago

Hi, I use 4 points of the bounding box instead of 8 corners of the bounding box, however, the result of angle error is quite large, can you please help me? thank you.

Mean corner error is 3.517548 Acc using 5 px 2D Projection = 38.19% Acc using 0.0206 vx 3D Transformation = 11.62% Acc using 5 cm 5 degree metric = 10.38% Translation error: 1.006226, angle error: 86.523460

this is the RT_gt [[-0.91614909 0.0401858 -0.39881818 -0.00622895] [-0.35522173 0.37957597 0.85424798 0.01674163] [ 0.18571044 0.92428739 -0.33347331 -0.00494086]] this is the Rt_pr [[-0.18261105 -0.97553928 -0.12237779 -0.09470953] [ 0.43204533 0.0321874 -0.90127732 -0.03472728] [ 0.88317045 -0.21745595 0.41559941 1.18669785]]

banannakn commented 4 years ago

I got the same problem with 8 corners. I think there might be a bug in the code