An interactive 6 degree-of-freedom (DoF) pose annotation tool using point cloud processings.
An interactive 6 degree-of-freedom pose annotation tool using point cloud processings.
Type:
$ python 6DoFPoseAnnotator.py
You can use following commands:
When you type "q", a final transformation matrix, "trans.json", and a transformed point cloud, "cloud_rot.ply", are saved.
By using option "--init", you can choose initial transformation matrix to be apply.
Try:
$ python 6DoFPoseAnnotator.py --init data/trans.json
For visualizing results in 3D space, type:
$ python pv.py --input cloud_in_ds.ply cloud_rot.ply
I strongly recommend to follow pyrs repository. Images of directory "data/" were captured using that repository.