how to annotate real dataset？

[FANzhaoxin666]

hello！I am trying to build a real dataset for training and testing but i find it is hard to annotate poses of target objects. Can you share some tips on how to annotate real data?

[rcao-hk]

Same question.

[hughw19]

We build an annotation tool for 6D pose but unfortunately we can't opensource it due to internal dependence. For each object, we scan it first. Then we can use its CAD model and our annotation tool to align it in both 2D image and 3D point cloud. For annotating a sequential data, we use the camera poses, which are estimated from the Aruco markers, to propagate object pose. For inaccurate frames, ICP and manual pose alignment can be applied. I believe you should be able to find something similar to our annotation tools online. Best, He

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On Nov 28, 2020, at 10:58 PM, caorui ***@***.***> wrote: Same question. — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#39 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AEXSGHY3ELQF3UFJW6RD5CDSSHWJTANCNFSM4UEPLYYA>.

[rcao-hk]

We build an annotation tool for 6D pose but unfortunately we can't opensource it due to internal dependence. For each object, we scan it first. Then we can use its CAD model and our annotation tool to align it in both 2D image and 3D point cloud. For annotating a sequential data, we use the camera poses, which are estimated from the Aruco markers, to propagate object pose. For inaccurate frames, ICP and manual pose alignment can be applied. I believe you should be able to find something similar to our annotation tools online. Best, He
…
On Nov 28, 2020, at 10:58 PM, caorui @.***> wrote: Same question. — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#39 (comment)>, or unsubscribe https://github.com/notifications/unsubscribe-auth/AEXSGHY3ELQF3UFJW6RD5CDSSHWJTANCNFSM4UEPLYYA.

Thanks for your reply.

Regards,
Rui