https://github.com/AmeyaWagh/3D_object_recognition
recognize and localize an object in 3D Point Cloud scene using VFH - SVMs based method and 3D-CNNs method
https://github.com/AmeyaWagh/3D_object_recognition
object-detection pcl pointcloud ros
Last synced: about 1 year ago
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recognize and localize an object in 3D Point Cloud scene using VFH - SVMs based method and 3D-CNNs method
- Host: GitHub
- URL: https://github.com/AmeyaWagh/3D_object_recognition
- Owner: AmeyaWagh
- License: mit
- Created: 2018-02-05T05:36:03.000Z (about 8 years ago)
- Default Branch: master
- Last Pushed: 2019-09-08T00:16:12.000Z (over 6 years ago)
- Last Synced: 2024-08-01T03:25:59.444Z (over 1 year ago)
- Topics: object-detection, pcl, pointcloud, ros
- Language: C++
- Homepage:
- Size: 12.1 MB
- Stars: 102
- Watchers: 6
- Forks: 34
- Open Issues: 4
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# OBJECT DETECTION AND RECOGNITION IN 3D Point Cloud scene
### DISCLAIMER: project is still in development stage, I try to keep master branch as updated and functional as possible.
## Dependencies
- ROS Kinetic
- PCL 1.8
- Opencv 2
- Python 2.7
- Numpy
- cv2
- TensorFlow
- Keras
## Nodes
```
|-> tf_emitter
|-> segmentationNode
|-> classifierNode
|-> RViz
`-> pcd_to_pointcloud
```
#### tf_emitter
- publishes world frame for RViz
#### segmentationNode
- publishes all the segmented clouds to /pcVector
#### classificationNode
- subscribes /pcVector and classifies every segmented pointcloud using 3DCNN and publishes bounding boxes as MarkerArray
#### Rviz
- used for visualization
#### pcd_to_pointcloud
- to publish scenes for testing
## Note
/bin - contains .pcd scenes which are broadcasted
## Dataset
https://rgbd-dataset.cs.washington.edu/dataset/rgbd-dataset_pcd_ascii/
## Directory Structure for DataSet
```
Dataset_RGBD
|
├── apple_1
| |── apple_2_4_9.pcd
| .
| `── apple_2_1_111.pcd
├── banana_1
| |── banana_1_4_6.pcd
| .
| `── banana_1_4_80.pcd
├── bowl_1
| |── bowl_2_1_9.pcd
| .
| `── bowl_3_4_119.pcd
├── calculator_1
| |── calculator_2_1_2.pcd
| .
| `── calculator_3_2_138.pcd
└── coffee_mug_1
|── coffee_mug_3_4_6.pcd
.
`── coffee_mug_3_4_83.pcd
```
## Training the classifier
```
rosrun robot_vision trainer.py
```
## To run package
```
roslaunch robot_vision robot_vision3.launch
```