Pytorch implementation of SOCS: Semantically-aware Object Coordinate Space for Category-Level 6D Object Pose Estimation under Large Shape Variations (link)
visualization of coordinate in NOCS:
visualization of coordinate in SOCS:
pose optimization by SOCS
python -m engine.NFtrain_v5 --per_obj bottle --dataset Real --dataset_dir /nocs_data \
--keypoint_path /nocs_data/keypoint.pkl \
--lr 0.003 \
--aug_bg 0 \
--train_steps 1500 \
--use_deform 1 \
--model_save output/whole_lr0.003_1500_deform