patch linemod

prerequisite

pysixd

files: params/ pysixd/ t_less_toolkit/ tools/
copied from sixd_toolkit
deal with model reading/rendering, datasets reading and evaluation

dataset

get dataset under top level folder folder using following cmd

wget -r -np -nH --cut-dirs=1 -R index.html http://ptak.felk.cvut.cz/6DB/public/

library

install opencv3 with contrib rgbd module
install pybind11
install open3d(for icp)

pip3 install -r requirements.txt

steps

in target folder:
mkdir build
cd build/
cmake ..
make

in top level folder, if use pybind:
pip3 install target_folder/

python3 patch_linemod_test.py

how to evaluate

patch_linemod_test.py, 57-66, select dataset & mode, train & test
tools/eval_calc_errors.py, 19-27, select dataset, run
tools/eval_loc.py, 180-186, select dataset, run
Results are saved to top_level_folder/eval

current results

dataset	score
linemod	0.84833333
linemod occlusion	0.56717325
tejani	0.98666667
doumanoglou	0.93000000
tless	0.56176800
rutgers	0.29055516
tudlight	0.58000000
Average	0.68064200

BOP: Benchmark for 6D Object Pose Estimation

Chinese blog

meiqua/patch_linemod