https://github.com/meiqua/binpicking_3dseg

separate from 6dpose repo for deployment
https://github.com/meiqua/binpicking_3dseg

3d-segmentation pose-estimation

Last synced: about 1 year ago
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separate from 6dpose repo for deployment

• Host: GitHub
• URL: https://github.com/meiqua/binpicking_3dseg
• Owner: meiqua
• Created: 2018-05-18T04:24:57.000Z (about 8 years ago)
• Default Branch: master
• Last Pushed: 2018-07-04T14:35:49.000Z (almost 8 years ago)
• Last Synced: 2025-04-14T22:07:51.988Z (about 1 year ago)
• Topics: 3d-segmentation, pose-estimation
• Language: C++
• Size: 8.09 MB
• Stars: 28
• Watchers: 3
• Forks: 13
• Open Issues: 2
• Metadata Files:
  • Readme: README.md

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README

          
## bin picking use 3d seg and super4pcs  

This repo is separated from 6d pose repo, because ori repo is too big

to deploy.  

Briefly speaking, we seg the point cloud by convex criteria (any point's

tangent plane is not intersected with cloud), then use super4pcs to find 

6d pose. We try ICP also but not help. Seg costs 0.3s, and pcs costs 1s 

for 1 obj.

[a blog in chinese](https://zhuanlan.zhihu.com/p/36419676)

Following are our current test result:  

![test_seg](test/2/test_seg_result.png)  

![pcs](test/2/test_seg_pcs.png)  

to do: real test for bin picking