Open GuaguaguaLiu opened 4 years ago
I have the same question, any luck? I guess these should be saved by detect_cuboid code, however currently it does not.
hi I didn't upload the script, but in the matlab cuboid detection https://github.com/shichaoy/matlab_cuboid_detect/blob/master/detect_cuboid.m At the end, the best object is stored in ObjectSets, then its straightforward to save to txt like the following:
frame_pred_object_info_mat = zeros(0,12);
one_obj_info = zeros(0,12); % original 11, now 12, with confidence
for ii=1:size(ObjectSets,1)
if ( size(ObjectSets{ii},1)>0 )
pred_cuboid = ObjectSets{ii}(1); % retrieve the best cuboids from each object sets
one_obj_info(1:3) = pred_cuboid.pos;
one_obj_info(4) = pred_cuboid.rotY;
one_obj_info(5:7) = pred_cuboid.scale; % half width/length/height
one_obj_info(8:11) = pred_cuboid.rect_detect_2d;
one_obj_info(12) = pred_cuboid.confidence_2d_prob;
frame_pred_object_info_mat=[frame_pred_object_info_mat;one_obj_info];
end
end
dlmwrite(save_pred_cuboids_txt_name,frame_pred_object_info_mat,'delimiter','\t','precision',3);
I will update the repo to have this small section. basically not matter which 3D object detection algorithm, you can do something similar to above, save to txt, feed to slam.
Thank you for your reply!
In the mono. launch file, there are these two parameters.
mono.launch # save result param name="whether_save_online_detected_cuboids" value="false" / param name="whether_save_final_optimized_cuboids" value="false" /
What I understand is that setting them to true will save the coordinates of the cube of the object in the SLAM map. But after I set them to true, I still couldn't find any results. Can someone help me?
Hello, shichao, thanks for your great job and open source sharing. When testing the object_orb_slam (run mono_dynamic.launch), the data you provided (kitti (0018)) is required. I see the format of the 3D_cuboids data in /pred_3d_obj_matched_tracked_txt/frame_id_3d_cuboids.txt, i.e., [cuboid_center, yaw, cuboid_scale, [x,y,w,h], prop, truth_id]. I know the the [x,y,w,h] can be provided by YOlO or other detectors, but how should the 'cuboid_center, yaw, cuboid_scale, and truth_id' data be obtained? Can by the detect_3d_cuboid package?