the object's center in json file is not correct.
kaixin-bai opened this issue · 3 comments
the output of the "location" in json file is not the center of the object's coordinate system.
normally the "location" should be the center of the object's model, the "cuboid_centroid" should be the center of the 3D bounding box, if the object is not aligned, these two should not be the same. I find that in #24 you mentioned that you have re-aligned the ycb models, what if i don't want to re-aligned the models' coordinate system. And i also find that in SIDOD dataset the "location" and "cuboid_centroid" are not same. Could you please tell me how to fix this? Thanks a lot!
000000.json
"class": "YellowSaltCube_5k_tex", "instance_id": 5, "visibility": 1, "location": [ 18.916999816894531, -9.5825004577636719, 55.503200531005859 ], "quaternion_xyzw": [ -0.33019998669624329, 0.78210002183914185, -0.17749999463558197, -0.49779999256134033 ], "pose_transform": [ [ -0.66149997711181641, -0.6062999963760376, -0.44130000472068787, 0 ], [ -0.28630000352859497, -0.33970001339912415, 0.89590001106262207, 0 ], [ 0.6930999755859375, -0.71899998188018799, -0.051100000739097595, 0 ], [ 18.916999816894531, -9.5825004577636719, 55.503200531005859, 1 ] ], "cuboid_centroid": [ 18.916999816894531, -9.5825004577636719, 55.503200531005859 ], "projected_cuboid_centroid": [ 444.0421142578125, 172.16169738769531 ]
@kaixin-bai Hi, how did you solve this?
@kaixin-bai Hi, how did you solve this?
@juanmed I move the center of the objects to the center of the 3D bounding box, and convert the final output rotation from left- to right-handed coordinate system, then everything works fine.