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squirrel-project / squirrel_perception

Repository for object perception related SQUIRREL packages.
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run recognition on full scene #114

Open mzillich opened 7 years ago

mzillich commented 7 years ago

Recognition should not depend on segmentation, at least not always.

edith-langer commented 7 years ago

Can you clarify that please? How and where does recognition depends on segmentation?

mzillich commented 7 years ago

The do_recognition() is only run on segmented objects. This was fine for the last demo to speed things up. But is not always what one needs.

edith-langer commented 7 years ago

We have to rethink the structure of squirrel_look_for_objects.cpp. Right now it segments the scene first and calls the recognizer on segmented objects. It would be better to have the recognizer running on the scene and then mask out the recognized objects and do a segmentation afterwards (as the recognizer is more robust).