How to get the data /pred_3d_obje_matched_tracked_txt/frame_id_3d_cuboids.txt?

[GuaguaguaLiu]

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?

[MinaHenein]

I have the same question, any luck? I guess these should be saved by detect_cuboid code, however currently it does not.

[shichaoy]

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.

[GuaguaguaLiu]

Thank you for your reply!

[lin-fangzhou]

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?