search

shichaoy / cube_slam

CubeSLAM: Monocular 3D Object Detection and SLAM
Other
850 stars 233 forks source link

cuboid_box_size, heading_angle, center for the detected cuboid. #25

Closed N-G17 closed 4 years ago

N-G17 commented 4 years ago

Hye shichao, I am using detect_3d_cuboid (C++ version) for single image cuboid detection. I wish to save the cuboid_box_size, heading_angle and center for the detected cuboid in order to compute 3D IoU for the detected object in the test image. Can you please suggest the changes to be made in the code?

shichaoy commented 4 years ago

hi @N-G17 the output of detection function is class object defined in https://github.com/shichaoy/cube_slam/blob/1687e7cca6e77c96a507655c8dd6c1e7653535ae/detect_3d_cuboid/include/detect_3d_cuboid/detect_3d_cuboid.h#L15 pos/scale/rotY defines the cuboid center position/cuboid 3D size/heading, all in ground frame, which can fully define the cuboid's 3D pose. You can save them to txt then evaluate.

N-G17 commented 4 years ago

Thank you for your response @shichaoy. Yes, I figured that out after going through the code again. Thanks.