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To train 3D region proposal network and extract 3D region proposal
cd code/matlab_code/slidingAnchor
run dss_prepareAnchorbox() to prepare training data.
run RPN_extract() to extract 3D region proposal.
You may need the segmentation result here:
Pretrained model and network defination can be found here
3D object detection network:
change path in dss_initPath.m;
run dss_marvin_script(0,100,1,[] ,1,'RPN_NYU',1,[],0,0);
Pretrained model and network defination can be found here
Notes :
If matlab system call fails, you can try to run the command directly.
The rotation matrixes for some of the images in the dataset are different from the original SUNRGB-D dataset, so that the rotation only contains camera tilt angle (i.e. point cloud does not rotated on the x,y plane). We provide the data in this repo ./external/SUNRGBDtoolbox/Metadata/SUNRGBDMeta.mat. All the results and ground truth boxes provided in this repo are using this rotation matrix. To convert the rotation matrix you can reference the code "changeRoomR.m"
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Deep Sliding Shapes for Amodal 3D Object Detection in RGB-D Images