Linemod

HOW TO USE LINEMOD

Add object mesh:

// here, plastic_plate is the name of the object, wahtever is its description (not used anywhere..) rosrun object_recognition_core object_add.py -n "plastic_plate" -d "wahtever" --commit

// once executed, the above command will return an object id, which is used in the next command for adding the mesh rosrun object_recognition_core mesh_add.py <object_id> <object_mesh.obj> --commit // eg. : // rosrun object_recognition_core mesh_add.py 3f0abec62876fd72445b1d3da600739b ~/meshes/plastic_plate.obj --commit // NOTE: the .obj and corresponding .mtl MUST have absolute paths to the .mtl and the .png (texture) respectively

Run trainer on mesh rosrun object_recognition_core training -c rospack find object_recognition_linemod/conf/training.ork

// the training.ork file is in herb2_ws/linemod/conf/ right now. // NOTE: currently, you cannot provide different training params for different objects, all use the same params.

Run detection!

rosrun object_recognition_core detection -c rospack find object_recognition_linemod/conf/detection.ros.ork

// again the detection.ros.ork file is in herb2_ws/linemod/conf/ // again, currently, you cannot provide different detection params for different objects.

// The detector publishes on /recognized_object_array // To visualize on rviz, follow instructions from here: http://wg-perception.github.io/ork_tutorials/tutorial03/tutorial.html

// ISSUES: // The osmesa renderer is not working on herb for some reason (gives garbage render output), so using GLUT renderer // which is much slower. probably some gl linking problem with graphics card or someting..