VISION6D

3D-to-2D visualization and annotation desktop app for 6D pose estimation related tasks.

Key Features • How To Use • Examples • Download • Credits • License

Key Features

• LivePreview - Make changes, See changes
  • Instantly see what your pose annotation in Vision6D as you move the 3D objects!
• Provide built-in NOCS color representation for the 3D meshes
  • color the meshes with NOCS.
• Load the textures for the 3D meshes
  • color the meshes with their own textures.
• Segmentation Mask/Bounding Box Drawing
  • create a segmentation mask in Vision6D on top of the provided 2D image.
• Real-time rendering results
  • renders the annotated results.
• Cross platform
  • Windows and Linux (Ubuntu-tested) ready (highly recommend to use with a mouse).

How To Use

To run this application, you'll need Git, Python, and Miniconda (optional) installed on your computer. From your command line:

Vision6D can be directly installed from PyPi

$ pip install vision6D

Another way to use this software is to clone from this repository

# (Optional) Create a conda environment
$ conda create -n vision6D python=3.10

# Clone this repository
$ git clone https://github.com/InteractiveGL/vision6D.git

# Go into the repository
$ cd vision6D

# Install dependencies
$ pip install .

# Run the app
$ Vision6D

Examples

Note that when fisrt load the application, it may take some time. Once it load successfully, the interactive experience will be smooth.

PnP resgitration of the benchvise

Set a ground-truth pose for visualization of the benchvise (ground-truth pose is obtained from the public 6D pose dataset Linemod)

Free-hand registration of the benchvise

Draw a segmentation mask on the duck in this scene

Draw a bounding box around the duck in this scene

Render the benchwise mesh

Download

You can download the latest installable version of Vision6D for Windows, macOS (support both Apple Silicon (ARM-based) and Intel (x86-based)), and Linux Ubuntu.

Credits

This software uses the following open source packages:

• Pyvista
• VTK
• PyQt5
• pyvistaqt
• NumPy

License

GNU General Public License v3.0