search

karlpauwels / simtrack

A simulation-based framework for tracking
BSD 3-Clause "New" or "Revised" License
102 stars 40 forks source link

Modeled objects specifics #35

Closed ayertay closed 6 years ago

ayertay commented 6 years ago

Hello,

Again, I'm new to ROS, and thank you for your help. I made a model of plant leaf from paper(sort of). It's green. Then used ReCap Photo to get the .obj file. I followed the tutorial, generated the SIFT model. However, camera doesn't identify it. I launched rqt and showed the ros_hydro model to the camera, and it identified it. However, it didn't identify my leaf. Question: Should my leaf have some writings on it as every other example models?

paper_leaf

leaf_obj

JimmyDaSilva commented 6 years ago

@ayertay Simtrack is based on SIFT features. So you need to use objects with meaningful textures. Basically not one-colored objects.

ayertay commented 6 years ago

@JimmyDaSilva thank you for reply! Indeed, I changed to other model with texture and it started to detect. Do you have tips on how can I improve the tracking? It identifies my model only from close distance (less than 1 meter) and loses track easily, whereas when I show the demo model ( ros hydro paper) it can detect from 3 meters away and holds well at angles.

ros_leaf

This is the model I have.

JimmyDaSilva commented 6 years ago

The texture needs to be well formed with respect to the real object. From the meshlab view of your object it seems that the texture is quite blury. Apart from that I don't see anything wrong here. Maybe the size of your mesh is too different from the real object ?

ayertay commented 6 years ago

Thank you for your help! I'm using a more textured object. It works for me for now.