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Object pose of HOPE-Video #1
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Hi @Jing-lun, thanks for spotting this. I think the issue is an error in camera extrinsics for HOPE-Video where the translation units appear to be in meters, while object poses are in cm. I'll confirm this and update the files later today. |
Hi @swtyree, thanks for your prompt reply and let me know! I tested again and even though I make the units consistent, the 3D pose still cannot be matched. I tested the pose of Mac&Cheese model in the first and the last view in scene_0000, and below is my calculation.
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Okay, thanks for the update. Have you confirmed that this issue is only with HOPE-Video and not HOPE-Image? |
Well, all the objects in the HOPE-Image folder stay still and have no translation and rotation (I think the only difference in HOPE-Image is the lighting condition), so I cannot use the same way to check if the object pose in the world frame is the same or not. |
I think I figured out the issues:
To project a pose from camera to world coordinates, use this for now:
I'll update the documentation in the README, and I may upload a new version with more explicit key names in the json files. But I'll need to do that at a later time. Thanks again for reaching out with the issue! |
Thanks a lot @swtyree! Now the poses are matched! |
Thanks! I'm going to reopen the issue until I can get a new version of the annotations uploaded to Google Drive. |
Hi @swtyree @Uio96 @sbirchfield,
Thanks for sharing the HOPE cad models and dataset!
My question is, when I try to project object pose back to the world frame from different scenes, I found that their pose in world frame are not the same, which means the pose has some errors. So is this error acceptable?
Thanks.
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