Occ-Linemod initial results

[YangHai-1218]

Hi, this is a great work.
As you metioned in the paper, you did experiments on Occ-Linemod, using the pvnet results as the initial pose. Can you please share the pvnet initial result? Any format is okay, Thanks.

[sh8]

Thank you for your interest in our work!

The link is in README.md but let me put it here just in case! The files of [0-9]{4}.npy contain the initial poses (x_ini is the key name). https://drive.google.com/drive/u/1/folders/1ufM_-qkQqqWUY0H0PV1fQGL1GYluksKz

Best regards,
Shun

[YangHai-1218]

Sorry to bother you again.
But I am a little confused by the initial poses. It is very different from the ground truth. For example, for ape in frame 1, the provided initial pose is [-1.1688580e-01, 1.1876651e+00, 1.7402347e+00, 1.7772609e-02, 7.4241700e-04, 1.1550709e-02], but the ground truth is {"cam_R_m2c": [0.79796083, 0.6023787, -0.02630684, 0.38035542, -0.53676251, -0.7533023, -0.46784284, 0.59102839, -0.65733923], "cam_t_m2c": [183.63633301, -131.49685045, 1147.30061109], "obj_id": 1}.
I know the first three number is the rotation angles, but I can't see the relationship between the last three number and the cam_t_m2c.
Could you please explain a little bit for me? Thanks!

[yangxingjian]

@YangHai-1218 Hello, are you able to figure out the relation between x[3:] and the cam_t_m2c?