YCB models

[ErinZhang1998]

In the Wiki for "Running 3-DOF : Conveyor Dataset ": https://github.com/SBPL-Cruz/perception/wiki/Running-With-Docker#running-3-dof--conveyor-dataset

It says:
"Download the YCB Video object models from this link the place the downloaded models folder into the YCB_Video_Dataset follder."

However, when I check the code in perch.py

perception/sbpl_perception/src/scripts/tools/fat_dataset/perch.py

Line 119 in 4c97c2e

elif self.model_type == "upright":

perception/sbpl_perception/src/scripts/tools/fat_dataset/perch.py

Line 121 in 4c97c2e

temp_path = os.path.join(models_root, object_name, 'textured_upright.ply')

From line 119 to 121, it seems like we need a textured_upright.ply file. But the downloaded models from this link do not have this file?

[ErinZhang1998]

I was wondering if you could also make the textured.ply files for all YCB models available?
Thanks a lot!

[ErinZhang1998]

Turns out since 6Dof estimation at its current state does not optimize with color cost, textured pointcloud is not needed. Just output using open3d (which is called textured.ply to work with the code but doesn't actually have texture) seems to work right now.

import open3d as o3d
import os
dirpath = "/data/YCB_Video_Dataset/models/002_master_chef_can"
fname = os.path.join(dirpath, 'textured.obj')
copy_textured_mesh = o3d.io.read_triangle_mesh(fname)
o3d.io.write_triangle_mesh(os.path.join(dirpath, 'textured.ply'), copy_textured_mesh)

But it would still be helpful to obtain the actual textured pointcloud if the author has them

[aditya2592]

Hi, for 6dof pose estimation you wouldnt need textured models for the current approach. The RGB part is handled by the instance segmentation network