Obtained results different from Ours_YCB_results about iros20-6d-pose-tracking

[wenbowen123]

Thank you for your interest!
This value is a normalizer, which can be set arbitrarily as long as it's larger than the max possible motion and has to be consistent during train and test. On YCB, I remember we set to 0.03m and 5deg for training. So the second figure (vispy) corresponds to the configuration we used. Also make sure you are running on our organized YCB data as the depth has been filled. Otherwise, depending on the hardware and each run, the inference results could be slightly different, as what you observed, the 1e-3 magnitude is within the possible range though. Therefore, the "Ours_YCB_results" are provided for reference in case others want to make plots for comparison etc.

[ung264]

Thank you for your prompt reply! Really appreciate everything you shared. It helps a lot!

[hiyyg]

Also make sure you are running on our organized YCB data as the depth has been filled

@wenbowen123 Could you share the code for bilateral filtering and hole filling for depth mentioned in your paper?