Inference on LineMOD dataset doesn't work about efficientpose HOT 4 OPEN

Hi @saeedEnte,

it sounds like something goes wrong during inference because your assumptions seem to be correct.
Do you use the inference.py script or are you using some custom inference script?

EfficientPose uses rotations in the axis angle format instead of a rotation matrix. Therefore it produces rotation vectors of length 3 as you mentioned and not 3*3 rotation matrices. The GT rotations are converted from matrix to axis angle vector in the generator when loading the dataset annotations. For example in generators/linemod.py line 433:
annotations["rotations"][0, :-2] = self.transform_rotation(np.array(gt["cam_R_m2c"]), self.rotation_representation)
which calls the transform_rotation function defined in generators/common.py line 764.

from efficientpose.

Thank you for the detailed answer. I have used the provided inference.py file and modified the fields for model and input directory.

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Did you also adjust the class_to_name dictionary in inference.py accordingly?

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I have tried the 8th folder with "dirller" (as I have seen that you commented in an issue that 8th object is driller) But still did not work. (With the network trained on 8th Object.) The dictionray should always have the key 0 for just one object (Otherweise I get a KeyError)

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