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

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6DPoseAnnotator

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

Requirements

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

2DView

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

3DView

How to get RGB and depth image?

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

ToDo

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

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

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