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wenbowen123 / iros20-6d-pose-tracking

[IROS 2020] se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domains
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About the rgb map and depth map alignment #35

Closed jinzhiyang1 closed 2 years ago

jinzhiyang1 commented 2 years ago

Hello author, thank you very much for sharing and answering. I have some problems in the process of making the data, and I hope to get your reply

  1. I am also using Azure Kinect sensor to get the rgb map and depth map, but the size and scale of the two images are different. How can I manipulate the Azure Kinect sensor to get the correct rgb map and depth map and align them?
  2. I noticed that the test data has "depth" and "depth_filled", is there any difference between the two files and how do I get them.

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wenbowen123 commented 2 years ago

Hi, 1)we were using their ROS driver. For more details, please check their github page. One thing to note is check your camera's intrinsic params and see if you need to re-train.

2)The depth_filled has been filtered. If you want to test on your own camera's data, follow these steps and you just need the depth image from your camera https://github.com/wenbowen123/iros20-6d-pose-tracking#test-in-the-wild-with-ros