Few questions. about g2l_net HOT 5 CLOSED

Hi @gachiemchiep Thanks for your interest of the paper. The output value of R is the coordinate of 3D bounding box which is a 24D vector in the paper, and the output value of T is [x, y, z]. The labeling process is not available yet, but we use the implementation in this git (https://github.com/thodan/bop_toolkit) to transfer the 3D object model to the scene.

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@DC1991
Thank you for your reply.
I understand the meaning of R. So what is the meaning of [x, y, z] of T?
I will lurk into bop_toolkit to find more detail about creating training dataset.

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@gachiemchiep Sorry for unclear description. [x,y,z] means the 3D coordinate of T which is the translation vector.

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@DC1991 Thank you for your explaination
I'm trying to visualize the detection result.

Is the depth data and RGB use the same coordinate origin? So the [x, y, z] can be understood as:

1. (x, y) = coordinate of detected point in image space
2. z = the value of depth.

Sorry I'm totally loss at understanding the T (translation). Is T the translation value between image and depth ?

from g2l_net.

@gachiemchiep . We use RGB to locate the 2D bounding box of the object, and we transform the depth image to point cloud with known camera parameters. So [x,y,z] is the 3D coordinates of the points.

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