ObjectDatasetTools
ObjectDatasetTools copied to clipboard
F2Wang
How to compute matrix transformation from two frames of object ?
How to compute matrix transformation (4x4) from two frames of object as an annotation .npy ?
The relative transforms of all frames in regards to the first frame is saved as transforms.npy
The relative transforms of all frames in regards to the first frame is saved as transforms.npy
Script "compute_gt_poses.py" computes transforms from clouds of points, right ? I want to make pose annotations from keypoints for PVNet. This PVNet needs dataset formed like this: ├── /path/to/dataset │ ├── model.ply │ ├── camera.txt │ ├── rgb/ │ │ ├── 0.jpg │ │ ├── ... │ │ ├── 1234.jpg │ │ ├── ... │ ├── mask/ │ │ ├── 0.png │ │ ├── ... │ │ ├── 1234.png │ │ ├── ... │ ├── pose/ │ │ ├── 0.npy │ │ ├── ... │ │ ├── 1234.npy │ │ ├── ... │ │ └──
Each .npy file contains transoframtion matrix 3x4 (not 4x4). What it can be ? For example file "pose0.npy" for category "cat" looks like this: array([[ 0.0950661 , 0.983309 , -0.155129 , 0.0717302 ], [ 0.741596 , -0.173913 , -0.647911 , -0.14907229], [-0.664076 , -0.0534489 , -0.745752 , 1.0606388 ]], dtype=float32)
Hi, I haven't tried PVnet but it seems like they removed the last [0,0,0,1] column from the homogeneous transformation representation. Instead of saving the transform as it is, saves it as transform[:3]
Were you able to use this repository to create a custom dataset for PVnet successfully ?
Were you able to use this repository to create a custom dataset for PVnet successfully ?
No, I didn't try. I realized that PVNet uses only one class in training and stopped working with PVNet.
Is the content of the first three lines of ‘transforms.npy’ arranged like [R|T] ？
Is the content of the first three lines of ‘transforms.npy’ arranged like [R|T] ？
@Hudson1996 Do you know that now? Is the same thing? Or how to fix it? Please help
@IaroslavS Could you tell me how did you get the camera.txt / diameter.txt / diameter.txt files?
@IaroslavS Could you tell me how did you get the camera.txt / diameter.txt / diameter.txt files?
Hi, I've given up with this repo long ago, it was during one competition.