{"id":13438231,"url":"https://github.com/AmeyaWagh/3D_object_recognition","last_synced_at":"2025-03-19T18:32:34.181Z","repository":{"id":90259290,"uuid":"120259620","full_name":"AmeyaWagh/3D_object_recognition","owner":"AmeyaWagh","description":"recognize and localize an object in 3D Point Cloud scene using VFH - SVMs based method and 3D-CNNs method","archived":false,"fork":false,"pushed_at":"2019-09-08T00:16:12.000Z","size":12690,"stargazers_count":102,"open_issues_count":4,"forks_count":34,"subscribers_count":6,"default_branch":"master","last_synced_at":"2024-08-01T03:25:59.444Z","etag":null,"topics":["object-detection","pcl","pointcloud","ros"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/AmeyaWagh.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null}},"created_at":"2018-02-05T05:36:03.000Z","updated_at":"2024-07-13T13:10:30.000Z","dependencies_parsed_at":null,"dependency_job_id":"0c3690e3-6095-4695-bed7-a8eaa39563fa","html_url":"https://github.com/AmeyaWagh/3D_object_recognition","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/AmeyaWagh%2F3D_object_recognition","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/AmeyaWagh%2F3D_object_recognition/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/AmeyaWagh%2F3D_object_recognition/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/AmeyaWagh%2F3D_object_recognition/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/AmeyaWagh","download_url":"https://codeload.github.com/AmeyaWagh/3D_object_recognition/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":221729826,"owners_count":16871119,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["object-detection","pcl","pointcloud","ros"],"created_at":"2024-07-31T03:01:03.873Z","updated_at":"2025-03-19T18:32:34.172Z","avatar_url":"https://github.com/AmeyaWagh.png","language":"C++","readme":"# OBJECT DETECTION AND RECOGNITION IN 3D Point Cloud scene\n\n![3D_Object_REC](doc/obj_det.png)\n\n### DISCLAIMER: project is still in development stage, I try to keep master branch as updated and functional as possible.\n\n## Dependencies\n- ROS Kinetic\n- PCL 1.8\n- Opencv 2\n- Python 2.7\n- Numpy\n- cv2\n- TensorFlow\n- Keras\n\n## Nodes\n```\n\t|-\u003e tf_emitter\n\t|-\u003e segmentationNode\n\t|-\u003e classifierNode\n\t|-\u003e RViz\n\t`-\u003e pcd_to_pointcloud\n```\n\n#### tf_emitter\n- publishes world frame for RViz \n\n#### segmentationNode\n- publishes all the segmented clouds to /pcVector\n\n#### classificationNode\n- subscribes /pcVector and classifies every segmented pointcloud using 3DCNN and publishes bounding boxes as MarkerArray\n\n#### Rviz\n- used for visualization\n\n#### pcd_to_pointcloud\n- to publish scenes for testing\n\n## Note\n/bin - contains .pcd scenes which are broadcasted\n\n\n## Dataset\nhttps://rgbd-dataset.cs.washington.edu/dataset/rgbd-dataset_pcd_ascii/\n\n## Directory Structure for DataSet\n\n```\nDataset_RGBD\n\t|\n\t├── apple_1\n\t|\t\t|── apple_2_4_9.pcd\n\t|\t\t.\n\t|\t\t`── apple_2_1_111.pcd\n\t├── banana_1\n\t|\t\t|── banana_1_4_6.pcd\n\t|\t\t.\n\t|\t\t`── banana_1_4_80.pcd\n\t├── bowl_1\n\t|\t\t|── bowl_2_1_9.pcd\n\t|\t\t.\n\t|\t\t`── bowl_3_4_119.pcd\n\t├── calculator_1\n\t|\t\t|── calculator_2_1_2.pcd\n\t|\t\t.\n\t|\t\t`── calculator_3_2_138.pcd\n\t└── coffee_mug_1\n\t \t\t|── coffee_mug_3_4_6.pcd\n\t \t\t.\n\t \t\t`── coffee_mug_3_4_83.pcd\n\n```\n\n## Training the classifier\n```\nrosrun robot_vision trainer.py\n```\n\n## To run package\n```\nroslaunch robot_vision robot_vision3.launch\n```\n","funding_links":[],"categories":["C++"],"sub_categories":[],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FAmeyaWagh%2F3D_object_recognition","html_url":"https://awesome.ecosyste.ms/projects/github.com%2FAmeyaWagh%2F3D_object_recognition","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FAmeyaWagh%2F3D_object_recognition/lists"}