the object's center in json file is not correct. about dataset_synthesizer

[kaixin-bai]

normally the "location" should be the center of the object's model, the "cuboid_centroid" should be the center of the 3D bounding box, if the object is not aligned, these two should not be the same. I find that in #24 you mentioned that you have re-aligned the ycb models, what if i don't want to re-aligned the models' coordinate system. And i also find that in SIDOD dataset the "location" and "cuboid_centroid" are not same. Could you please tell me how to fix this? Thanks a lot!

000000.json
"class": "YellowSaltCube_5k_tex", "instance_id": 5, "visibility": 1, "location": [ 18.916999816894531, -9.5825004577636719, 55.503200531005859 ], "quaternion_xyzw": [ -0.33019998669624329, 0.78210002183914185, -0.17749999463558197, -0.49779999256134033 ], "pose_transform": [ [ -0.66149997711181641, -0.6062999963760376, -0.44130000472068787, 0 ], [ -0.28630000352859497, -0.33970001339912415, 0.89590001106262207, 0 ], [ 0.6930999755859375, -0.71899998188018799, -0.051100000739097595, 0 ], [ 18.916999816894531, -9.5825004577636719, 55.503200531005859, 1 ] ], "cuboid_centroid": [ 18.916999816894531, -9.5825004577636719, 55.503200531005859 ], "projected_cuboid_centroid": [ 444.0421142578125, 172.16169738769531 ]

[juanmed]

@kaixin-bai Hi, how did you solve this?

[kaixin-bai]

@kaixin-bai Hi, how did you solve this?

@juanmed I move the center of the objects to the center of the 3D bounding box, and convert the final output rotation from left- to right-handed coordinate system, then everything works fine.