Closed shanice-l closed 2 years ago
Yes, you can use object poses in camera coordinates instead of world coordinates. Please note that you will have to swap variables ii
and jj
in the input to projective_transform
, MoBA
and BA
accordingly. If you're using the Modified BD-PnP approach, you'll also need to invert the pose input to renderer
.
We use world coordinates since this is the format expected by the BOP benchmark.
Oops, I understood it. You wrote P = K^(-1)KP in your code, and it's a little bit confusing.
Hi authors!
Thanks for your great work! I've noticed that you used the object poses in the world coordinates. Could you please tell me your consideration? Can I replace it with object poses in camera coordinates?
RSVP.