usage:

rosrun singleview_object_recognizer recognition_service -m /path/to/your/models/ [--optional_parameter p]

params (see extended help output with -h)::

  • models_dir [in] - Directory containing 3D models (saved as *.pcd files)
  • chop_z [in] - cut of distance in meters with respect to the camera

Test:

rosrun singleview_object_recognizer test_single_view_recognition [_optional_parameter:=p]

Test params (NOTE THAT THESE ARE ROS PARAMETERS):

  • input_method[in] (default: 0) - 0=camera input; 1 = input from disk
  • topic[in] (default: /camera/depth_registered/points) - camera topic being used when input_method=0
  • directory[in] - directory being used to read test .pcd files when input_method=1

Object models and test scenes can be obtained from https://repo.acin.tuwien.ac.at/tmp/permanent/dataset_index.php To model your own objects have a look at http://www.acin.tuwien.ac.at/forschung/v4r/software-tools/rtm/

Original page: https://github.com/strands-project/v4r_ros_wrappers/blob/master/singleview_object_recognizer/ReadMe.md