Awesome

Heatmap error distance

heatmap example

This is the code that was used to generate the heatmap results for Diff-DOPE. If you are using BOP annotation you should be able to use the code. There is an example folder that is self contained.

python heatmap.py --opencv --bop --overlay --path_json_gt example/scene_gt.json --path_json_gu example/diff_dope.json --objs_folder example/models/ --contour --spp 100

This should produce the image above. Use --max_distance to change the interval, it is expressed in cm.

How to cite

If you are using this code in your research, please cite this as follow,

@misc{tremblay2023diffdope,
      title={Diff-DOPE: Differentiable Deep Object Pose Estimation}, 
      author={Jonathan Tremblay and Bowen Wen and Valts Blukis and Balakumar Sundaralingam and Stephen Tyree and Stan Birchfield},
      year={2023},
      eprint={2310.00463},
      archivePrefix={arXiv},
      primaryClass={cs.CV}
}