Demo rgbd object classifier

running model: fully connected to fuse views in a ring, average voting (no attention), square ring setting:

class_score = test_score

class_score = class_score.reshape(-1,N_RING,20)

arg_mean = np.mean(class_score,1)

preds = np.argmax(arg_mean,1)

to run:

• install xvbf (x virtual frame buffer) (if use a headless linux instance)

• trimesh

• tf & pytorch.

files:

app.py: main app server

classìfy model: input 26 imgs, output class scores.

extract_feature: extract resnet-50 2048-d for each imgs.

render_26: render 26 colored view around the objects.

screenshot