ycb-scripts
Scripts to generate and process point clouds in YCB dataset.
Usage
Download Dataset
python ycb_downloader.py
Generate Clouds From RGB-D Images
python ycb_generate_point_cloud.py
Transform Clouds to Unified Camera Coordinate System
python ycb_transform_point_cloud.py
Denoise Transformed Clouds
python ycb_filter_point_cloud.py
After processing, all point clouds are denoised and transformed to the coordinate system of camera "NP5". It is helpful for object grasp pose generation.