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thodan / bop_toolkit

A Python toolkit of the BOP benchmark for 6D object pose estimation.
http://bop.felk.cvut.cz
MIT License
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annotation tool issue #89

Open hongaway opened 1 year ago

hongaway commented 1 year ago

Hi, I have some problems when I try to annotate my own dataset (collected rgb and depth images from Astra pro camera). The pointcloud of the scene become very small, and when I want to zoom in to the scene, the pointcloud disappeared. Is there any method to fix this? Thanks a lot.

截圖 2023-05-16 下午5 56 21
AnasIbrahim commented 11 months ago

Hi, sorry for the late answer. If you haven't figured it out yet. You can change the default viewpoint in the tool script. Currently, the default viewpoint is behind (-z axis) the center of the point cloud. I will add functionality to change the default viewpoint soon.

Ethan-Zhu-code commented 3 months ago

I encountered the same issue due to an incorrect depth_scale unit in scene_camera.json of my dataset, causing the rendered point cloud to be too small and clipped when the camera moved closer. I used the depth_scale from the Realsense2 SDK, which is approximately 0.00025. The depth_scale in the code was divided by 1000, so multiplying the depth_scale in my scene_camera.json by 1000, I obtained the correct results.