In the YCB_Video Dataset there is a variable that is called “vertmap”. It has the shape (640,480,3) (pixel_x,pixel_y,point(x,y,z)) and shows the distance from the object center (3D) to the shown point in the image. So it is not a real pointcloud that has its center in the camera, but for each object it has its own point cloud that originate from the center of said object. Is there any internal function that can do something like this? Or should I start from scratch? My goal is to generate a dataset really close to the YCB_Video dataset, but with my own objects.
If you have questions to understand what I mean, feel free to ask. I will attach a vertmap.npy and a png file, so if you want to further understand feel free to download.
000001-meta.mat (598.6 KB)
000001-vertmap.npy (3.5 MB)
000001-box.txt (123 Bytes)