Yinlin Hu

The bug has been fixed very early at commit edda7d48ecf67954414923bc94f05ea036e1a9c3

Great job. Thanks for the update. @tsenst

You can use the python package 'trimesh' to get the 3D bounding box of a 3D mesh. The shape 8x8x3 means 8 objects each has 8 3D corners.

We only use the central objects in LINEMOD, and generate 20K sample images from the central objects by random combinations.

2D reprojections of the mesh vertex according to the pose can tell you ground truth segmentations.

Just use the label of the nearest pixel, to generate a rough segmentation.

We will release an enhanced version of our method with the training code. (maybe in months)