Datasets:
docs: tighten Pose convention wording
#4
by ukavala - opened
README.md
CHANGED
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@@ -158,7 +158,7 @@ This release (v1.0 and v1.1) ships 6D poses in **OpenGL/Blender camera conventio
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**Anyone scoring against bop_toolkit_lib, MegaPose, FoundationPose, CosyPose, or any OpenCV-convention model must apply `diag(1, -1, -1)` to the GT `cam_R_m2c` and `cam_t_m2c` from `scene_gt.json` before evaluation**, otherwise pose errors blow up to the order of the object diameter (~150 mm) and any AR comparison is meaningless.
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ZereData's evaluation harness exposes this via the `--legacy-gl-convention` flag on `eval.scorer.BopScorer`, `eval.adapter.gt_as_predictions`, and the eval CLIs (`gt_sanity`, `run_megapose_eval`, `rescore`, `_perturb_probe`, `rescore_h1`). Pass it when scoring v1.0 or v1.1; omit it for v1.2 onward, which ships in OpenCV convention at the producer
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This deviation was identified post-publication. v1.0 and v1.1 remain available unchanged on HuggingFace for reproducibility; **v1.2 supersedes them for new integrations** and ships BOP-spec compliant out of the box. The legacy flag is supported indefinitely so downstream code that already ingests v1.0/v1.1 keeps working.
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**Anyone scoring against bop_toolkit_lib, MegaPose, FoundationPose, CosyPose, or any OpenCV-convention model must apply `diag(1, -1, -1)` to the GT `cam_R_m2c` and `cam_t_m2c` from `scene_gt.json` before evaluation**, otherwise pose errors blow up to the order of the object diameter (~150 mm) and any AR comparison is meaningless.
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ZereData's evaluation harness exposes this via the `--legacy-gl-convention` flag on `eval.scorer.BopScorer`, `eval.adapter.gt_as_predictions`, and the eval CLIs (`gt_sanity`, `run_megapose_eval`, `rescore`, `_perturb_probe`, `rescore_h1`). Pass it when scoring v1.0 or v1.1; omit it for v1.2 onward, which ships in OpenCV convention at the producer.
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This deviation was identified post-publication. v1.0 and v1.1 remain available unchanged on HuggingFace for reproducibility; **v1.2 supersedes them for new integrations** and ships BOP-spec compliant out of the box. The legacy flag is supported indefinitely so downstream code that already ingests v1.0/v1.1 keeps working.
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