YCB objects

[hongsukchoi]

Hi, your work is inspiring me a lot.

I found that you are using different a pointcloud from the original data for YCB objects. How did you get it?

Did you random sample from the original point cloud?

[stevenlsw]

Hi, hongsukchoi, we use the provided YCB CAD object models when testing object pose during inference. We project the mesh vertices onto the image to get key-points.

[hongsukchoi]

@stevenlsw

But the number of points is different. The original YCB CAD models have much more dense vertices and faces. How did you sample from them?

[stevenlsw]

I download from here https://rse-lab.cs.washington.edu/projects/posecnn/, are you using the same source?

[hongsukchoi]

Oh, why are there different YCB object download links?

I used below link.

http://ycb-benchmarks.s3-website-us-east-1.amazonaws.com/

Thank you for your clarification.