Skip to content

README.md

Latest commit

 

History

History
77 lines (48 loc) · 2.62 KB

README.md

File metadata and controls

77 lines (48 loc) · 2.62 KB

BOP Annotation Tool

This tool is used to annotate the 6D poses of objects in BOP datasets. Other annotations can be generated using other scripts like calc_gt_info.py, calc_gt_masks.py, etc.

teaser

Installation

Install bop_toolkit_lib with the scripts flag (see main README)

Modes

The tool has two modes:

  1. individual mode:

Annotate each frame individually. This will save the annotations in the scene_gt.json file. You only need to run the annotation_tool.py script and go through each frame of the dataset.

python scripts/annotation_tool/annotation_tool.py
  1. sequence mode:

Annotate a whole sample by annotating the assembled point cloud in the world frame. This is the case for most BOP datasets (e.g., LM, T-Less).

assemble_cloud.py script must be called first to assemble the point cloud for the whole scene. This will save the annotations in the scene_gt_world.json file, which is not the BOP standard.
Call project_6D_annotations.py after annotating to project the annotations to other frames and save them in the scene_gt.json file.

python scripts/annotation_tool/assemble_cloud.py
python scripts/annotation_tool/project_6D_annotations.py

Interface:

individual mode

This image shows the interface of the annotation tool in the individual mode:

interface

Control the object pose with the following keys

i: up, ,: down, j: front, k:back, h:left, l:right

These translations are in the camera frame, so in camera axis they are:

i: +Y, ,: -Y, h: -X, l: +X, j: -Z, k: +Z

sequence mode

In the sequence mode, same buttons are used to control the object pose, but the interface is follow the axis. The translation/rotation is done in the world frame, so the movement are in the world axis:

i: +Z, ,: -Z, h: +Y, l: -Y, j: -X, k: +X

Translation/rotation mode:

  • Shift not clicked: translation mode
  • Shift clicked: rotation model

Distance/angle big or small:

  • Ctrl not clicked: small distance(1mm) / angle(2deg)
  • Ctrl clicked: big distance(5cm) / angle(90deg)

R or "Refine" button will call ICP algorithm to do local refinement of the annotation. If models has texture, a colored ICP will be used, otherwise Point-to-Plane ICP will be used. If GPU is available, it will be used for ICP, otherwise CPU will be used. Colored ICP is only available when GPU is available.

A new object is added relative to the camera position. So to make the annotation process easier you can move the camera to the object position (looking towards the object -z axis) and then add the object.