ransac_voting_layer_v3 generate wrong keypoints even using the ground truth vertex field

zju3dv / clean-pvnet

Code for "PVNet: Pixel-wise Voting Network for 6DoF Pose Estimation" CVPR 2019 oral

Apache License 2.0

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ransac_voting_layer_v3 generate wrong keypoints even using the ground truth vertex field #293

Open jonbakerfish opened 11 months ago

jonbakerfish commented 11 months ago

I'm training on my own dataset. I found ransac_voting_layer_v3 generate wrong 2d keypoints even using the ground truth vertex in the __getitem__ function of lib/datasets/custom/pvnet.py. However, using the ransac_voting_layer can generate correct results. Could you help explain why this happen?