New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

How to obtain point cloud of object? #27

Open

f-q23 opened this issue Apr 7, 2023 · 1 comment

f-q23 commented Apr 7, 2023

I have seen that you provided the 6D pose of the object, but I need the complete point cloud of the object. Where should I go to get it?

Collaborator

ychao-nvidia commented Apr 7, 2023 •

edited

Loading

If you want the vertices of the object mesh, you can retrieve it once you load the mesh with trimesh (e.g., here):

mesh = trimesh.load(obj_file)
print(mesh.vertices)

You can transform the vertices to another frame with apply_transform(). For example, to transform the vertices to the camera frame here, you can do:

mesh = trimesh.load(obj_file[0])
mesh.apply_transform(np.vstack((pose_y[0], [0.0, 0.0, 0.0, 1.0])))
print(mesh.vertices)

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment