clean-pvnet: issue with custom dataset / wrong gt pose
Hey, I customized your code for my synthetic dataset. Thank for providing the clean code in this repo. I used NDDS and synthesized rgb-picture (png), mask (png) and annotations (.json-file). I’ve also got the .ply-modell, camera.txt and diameter.txt. The code I customized so far:
- adapt the image loading process in these lines:
rgb_path = os.path.join(rgb_dir, '{}.jpg'.format(ind))
mask_path = os.path.join(mask_dir, '{}.png'.format(ind))
rgb = Image.open(rgb_path)
- customize
pose = np.load(pose_path)
in record_ann (my pose annotations are stored in a .json-file) - changed the intrinsic camera-matrix in
class OpenGLRenderer(object)
I can process the dataset with python run.py --type custom
and get fps.txt and train.json as new files. I am also able to train on my dataset without error or warning messages. But ADD and 2d projection metric never changes from 0.0.
When I test and visualize the green box (gt pose) isn’t around the object I am interested in.
Here is an example:
You can see, that the green box doesn’t contain anything. But it should be around a surgical instrument. My annotations are correct, I checked them with NVDU. They look like this:
That’s how my train.json looks like:
{"images": [{"file_name": "data/custom/000000.png", "height": 512, "width": 512, "id": 1}, {"file_name": "data/custom/000001.png", "height": 512, "width": 512, "id": 2}, {"file_name": "data/custom/000002.png", "height": 512, "width": 512, "id": 3}, {"file_name": "data/custom/000003.png", "height": 512, "width": 512, "id": 4}, {"file_name": "data/custom/000004.png", "height": 512, "width": 512, "id": 5}, {"file_name": "data/custom/000005.png", "height": 512, "width": 512, "id": 6}, {"file_name": "data/custom/000006.png", "height": 512, "width": 512, "id": 7}, {"file_name": "data/custom/000007.png", "height": 512, "width": 512, "id": 8}, {"file_name": "data/custom/000008.png", "height": 512, "width": 512, "id": 9}, {"file_name": "data/custom/000009.png", "height": 512, "width": 512, "id": 10}, {"file_name": "data/custom/000010.png", "height": 512, "width": 512, "id": 11}, {"file_name": "data/custom/000011.png", "height": 512, "width": 512, "id": 12}, {"file_name": "data/custom/000012.png", "height": 512, "width": 512, "id": 13}, {"file_name": "data/custom/000013.png", "height": 512, "width": 512, "id": 14}, {"file_name": "data/custom/000014.png", "height": 512, "width": 512, "id": 15}, {"file_name": "data/custom/000015.png", "height": 512, "width": 512, "id": 16}, {"file_name": "data/custom/000016.png", "height": 512, "width": 512, "id": 17}, {"file_name": "data/custom/000017.png", "height": 512, "width": 512, "id": 18}, {"file_name": "data/custom/000018.png", "height": 512, "width": 512, "id": 19}, {"file_name": "data/custom/000019.png", "height": 512, "width": 512, "id": 20}, {"file_name": "data/custom/000020.png", "height": 512, "width": 512, "id": 21}, {"file_name": "data/custom/000021.png", "height": 512, "width": 512, "id": 22}, {"file_name": "data/custom/000022.png", "height": 512, "width": 512, "id": 23}, {"file_name": "data/custom/000023.png", "height": 512, "width": 512, "id": 24}, {"file_name": "data/custom/000024.png", "height": 512, "width": 512, "id": 25}, {"file_name": "data/custom/000025.png", "height": 512, "width": 512, "id": 26}, {"file_name": "data/custom/000026.png", "height": 512, "width": 512, "id": 27}, {"file_name": "data/custom/000027.png", "height": 512, "width": 512, "id": 28}, {"file_name": "data/custom/000028.png", "height": 512, "width": 512, "id": 29}, {"file_name": "data/custom/000029.png", "height": 512, "width": 512, "id": 30}, {"file_name": "data/custom/000030.png", "height": 512, "width": 512, "id": 31}, {"file_name": "data/custom/000031.png", "height": 512, "width": 512, "id": 32}, {"file_name": "data/custom/000032.png", "height": 512, "width": 512, "id": 33}, {"file_name": "data/custom/000033.png", "height": 512, "width": 512, "id": 34}, {"file_name": "data/custom/000034.png", "height": 512, "width": 512, "id": 35}, {"file_name": "data/custom/000035.png", "height": 512, "width": 512, "id": 36}, {"file_name": "data/custom/000036.png", "height": 512, "width": 512, "id": 37}, {"file_name": "data/custom/000037.png", "height": 512, "width": 512, "id": 38}, {"file_name": "data/custom/000038.png", "height": 512, "width": 512, "id": 39}, {"file_name": "data/custom/000039.png", "height": 512, "width": 512, "id": 40}, {"file_name": "data/custom/000040.png", "height": 512, "width": 512, "id": 41}, {"file_name": "data/custom/000041.png", "height": 512, "width": 512, "id": 42}, {"file_name": "data/custom/000042.png", "height": 512, "width": 512, "id": 43}, {"file_name": "data/custom/000043.png", "height": 512, "width": 512, "id": 44}, {"file_name": "data/custom/000044.png", "height": 512, "width": 512, "id": 45}, {"file_name": "data/custom/000045.png", "height": 512, "width": 512, "id": 46}, {"file_name": "data/custom/000046.png", "height": 512, "width": 512, "id": 47}, {"file_name": "data/custom/000047.png", "height": 512, "width": 512, "id": 48}, {"file_name": "data/custom/000048.png", "height": 512, "width": 512, "id": 49}, {"file_name": "data/custom/000049.png", "height": 512, "width": 512, "id": 50}], "annotations": [{"mask_path": "data/custom/000000.cs.png", "image_id": 1, "category_id": 1, "id": 1, "corner_3d": [[-1.029600024, -0.1241000071, -2.13560009], [-1.029600024, -0.1241000071, 4.330699920999999], [-1.029600024, 0.3052000105, -2.13560009], [-1.029600024, 0.3052000105, 4.330699920999999], [1.029600024, -0.1241000071, -2.13560009], [1.029600024, -0.1241000071, 4.330699920999999], [1.029600024, 0.3052000105, -2.13560009], [1.029600024, 0.3052000105, 4.330699920999999]], "corner_2d": [[171.77968098965385, -1.1722777651326028], [149.9138665002547, 20.032436824050546], [173.0480191409117, 0.11193625708302261], [151.1630679275724, 21.327593834666683], [168.6378595507845, -6.9679999409597615], [146.37131353810915, 14.652596691469737], [169.92784909529556, -5.663732526011861], [147.64145452090742, 15.968247133926841]], "center_3d": [0.0, 0.0905500017, 1.0975499154999995], "center_2d": [159.80879003636286, 7.328237163521419], "fps_3d": [[-0.6442999839782715, 2.0876511630518735e-09, 4.312699794769287], [0.0005000000237487257, 0.2712000012397766, -2.1356000900268555], [0.9154999852180481, 2.0876511630518735e-09, 3.299099922180176], [-0.16359999775886536, -0.02319999970495701, -0.5329000949859619], [-0.3693999946117401, -0.015300003811717033, 3.099400043487549], [0.5081999897956848, 2.0876511630518735e-09, 4.330699920654297], [0.16869999468326569, 2.0876511630518735e-09, 2.3264000415802], [0.1096000000834465, 0.09470000118017197, -1.3214998245239258]], "fps_2d": [[149.6839294776781, 19.35717060503947], [171.4003690935578, -2.8529123861993795], [150.4781254276482, 11.898679834946243], [165.298140906411, 2.0316388649913537], [153.28890710814065, 14.605712301636549], [147.6462506207125, 16.412417915778143], [155.06939432221455, 10.669794539500973], [167.91903176522607, -0.9856386643861605]], "K": [[512.0, 0.0, 256.0], [0.0, 512.0, 256.0], [0.0, 0.0, 1.0]], "pose": [[-0.15860000252723694, 0.6607000231742859, -0.7336999773979187, -19.656600952148438], [-0.09719999879598618, 0.7289999723434448, 0.6775000095367432, -53.5526008605957], [-0.9825000166893005, -0.17880000174045563, 0.05139999836683273, 108.55439758300781]], "data_root": "data/custom", "type": "real", "cls": "BC283R_CPA_000"}, {"mask_path": "data/custom/000001.cs.png", "image_id": 2, "category_id": 1, "id": 2, "corner_3d": [[-1.029600024, -0.1241000071, -2.13560009], [-1.029600024, -0.1241000071, 4.330699920999999], [-1.029600024, 0.3052000105, -2.13560009], [-1.029600024, 0.3052000105, 4.330699920999999], [1.029600024, -0.1241000071, -2.13560009], [1.029600024, -0.1241000071, 4.330699920999999], [1.029600024, 0.3052000105, -2.13560009], [1.029600024, 0.3052000105, 4.330699920999999]], "corner_2d": [[521.5704809264955, 313.87113231840004], [491.82123183838075, 323.5628920252058], [520.4384780189237, 312.93802886574514], [490.802328254585, 322.5966624588171], [522.8462212825607, 322.01838969213196], [493.2948951121668, 331.62128081865495], [521.7171886389971, 321.0616328387015], [492.27746390305447, 330.63201456621414]], "center_3d": [0.0, 0.0905500017, 1.0975499154999995], "center_2d": [506.8262460952531, 322.3074905003797], "fps_3d": [[-0.6442999839782715, 2.0876511630518735e-09, 4.312699794769287], [0.0005000000237487257, 0.2712000012397766, -2.1356000900268555], [0.9154999852180481, 2.0876511630518735e-09, 3.299099922180176], [-0.16359999775886536, -0.02319999970495701, -0.5329000949859619], [-0.3693999946117401, -0.015300003811717033, 3.099400043487549], [0.5081999897956848, 2.0876511630518735e-09, 4.330699920654297], [0.16869999468326569, 2.0876511630518735e-09, 2.3264000415802], [0.1096000000834465, 0.09470000118017197, -1.3214998245239258]], "fps_2d": [[491.8856448149637, 324.77091830792136], [521.1695465698574, 317.09018879218496], [497.61861971916596, 329.36366369526945], [514.4805804530124, 319.48478421385175], [497.67119464291784, 324.0768112047979], [492.62865320208545, 329.3061466619052], 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"corner_3d": [[-1.029600024, -0.1241000071, -2.13560009], [-1.029600024, -0.1241000071, 4.330699920999999], [-1.029600024, 0.3052000105, -2.13560009], [-1.029600024, 0.3052000105, 4.330699920999999], [1.029600024, -0.1241000071, -2.13560009], [1.029600024, -0.1241000071, 4.330699920999999], [1.029600024, 0.3052000105, -2.13560009], [1.029600024, 0.3052000105, 4.330699920999999]], "corner_2d": [[330.3033789777272, 414.5399562192193], [334.8833105335458, 446.26554429458525], [328.1017168433732, 415.53516757214203], [332.522801438635, 447.2792132271186], [336.4457452669594, 421.62372261359957], [341.39745139375754, 453.50383491942716], [334.25644199385437, 422.59892722311196], [339.05120740493925, 454.49570110992613]], "center_3d": [0.0, 0.0905500017, 1.0975499154999995], "center_2d": [334.55767136412896, 433.9714554416747], "fps_3d": [[-0.6442999839782715, 2.0876511630518735e-09, 4.312699794769287], [0.0005000000237487257, 0.2712000012397766, -2.1356000900268555], [0.9154999852180481, 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Did I forgot to customize a part of the code, where my gt pose annotations are load? Or did I miss something else?
About this issue
- Original URL
- State: closed
- Created 4 years ago
- Comments: 26 (7 by maintainers)
I solved the problem and created a fork from your project. Thank you very much for the help.
The error in your code might be the alpha-channel of the images from NDDS. Just delete it and you should get the correct size of the array. I had a similar problem with a shift when using DenseFusion, it was because the coordinate system in my .ply-data wasn’t the same as in the annotations. Check if that the origin of the coordinate system is in the centre of mass and then try again.
I didn’t automate the creation of camera.txt, you can write a code yourself or just take the values from camera_settings.json