Info

Given:

• mesh file (at the moment only .ply)
• rotation and translation values of the mesh wrt the camera frame
• camera parameters (intrinsics, width, height)

The script computes the mask of the mesh object at the provided pose.

TODO:

• add support for stl files (commonly present in robot descriptions in ROS)

How to run

create conda virtual environment with conda create --name render python=3.8.

activate environment with ```conda activate render``

install matplotlib with conda install maptlotlib.

then pip install -r requirements.txt

Example:

mesh file

mask generated (for given rotation and translation values):