Linemode return multiple wrong results

[TrinhNC]

Hi,
I use Linemod to detect 2 objects: a cup and a coke. I trained their CAD models using linemod too. However when I run detection command and visualize using Rviz, there are a lot of wrong results popping up (see photo below). When I use tabletop, everything works fine (only 2 object detected in the scene). Does anyone know what is wrong?

[FENGZHANG123]

Hi, have you solved this? I caught up this similar scene too.