6DPoseAnnotator

An interactive 6 degree-of-freedom pose annotation tool using point cloud processings.

<img src="./data/6DoFAnnotation.gif" width="320px">

Requirements

• open3d==0.11.1
• opencv-python==4.4.0.44

6D pose annotation with mouse and keyboard commands

Type:

$ python 6DoFPoseAnnotator.py

You can use following commands:

• Left click - Translation to the mouse pointer
• "1" - Rotation around roll axis.
• "2" - Rotation around pitch axis.
• "3" - Rotation around yaw axis.
• "i" - Pose refinement by ICP algorithm (Coarse mode).
• "f" - Pose refinement by ICP algorithm (Fine mode).
• "q" - Quit

When you type "q", a final transformation matrix, "trans.json", and a transformed point cloud, "cloud_rot.ply", are saved.

Starting from specific initial transformation

By using option "--init", you can choose initial transformation matrix to be apply.

Try:

$ python 6DoFPoseAnnotator.py --init data/trans.json

Visualization by 3D viewer

For visualizing results in 3D space, type:

$ python pv.py --input cloud_in_ds.ply cloud_rot.ply

How to get RGB and depth image?

I strongly recommend to follow pyrs repository. Images of directory "data/" were captured using that repository.

ToDo

• [x] output a total transformation matrix
• [x] add input arguments (model name, scene name)
• [x] add input argument of initial pose
• [ ] handle depth lack points
• [ ] visualize depth data of input scene
• [ ] visualize coordinate axis