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wg-perception / linemod

An OR pipeline based on LINE-MOD from OpenCV
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Linemod training works but it is not detecting coke can #36

Closed srinimd2005 closed 7 years ago

srinimd2005 commented 7 years ago

When ever i run the linemod detection I get this

Reading the mesh file original.obj Info, T0: Load ���W�.obj Info, T0: Found a matching importer for this file format Info, T0: Import root directory is './' Error, T0: OBJ: Unable to locate material file ./coke.obj.mtl Error, T0: OBJ: failed to locate material material_0, skipping Error, T0: OBJ: failed to locate material material_1, skipping Error, T0: OBJ: failed to locate material material_2, skipping Info, T0: Entering post processing pipeline Info, T0: Points: 0, Lines: 0, Triangles: 3, Polygons: 0 (Meshes, X = removed) Info, T0: CalcTangentsProcess finished. Tangents have been calculated Info, T0: JoinVerticesProcess finished | Verts in: 1536 out: 478 | ~68.9% Info, T0: Cache relevant are 3 meshes (512 faces). Average output ACMR is 1.005859 Info, T0: Leaving post processing pipeline Loaded 539d95f3026597a4f48fe9bfd50009ff with the number of samples 4579

[ INFO] [1481820107.500078438]: publishing to topic:/recognized_object_array

but it never detects a coke can on my desk. I am using Kinect v2 and iai kinect bridge. Can anyone please help me.

JimmyDaSilva commented 7 years ago

For now, I think that if you want to use textures (like the coke.obj) you need to go to the folder with the materials in. Try roscd object_recognition_tutorials/data and run linemod again from there to see if the error persists.

srinimd2005 commented 7 years ago

Thank you it started detecting. The problem was with kinect calibration. Is there any solution to use object recognition capture by remapping to kinect v2 rostopics.

JimmyDaSilva commented 7 years ago

@srinimd2005 , I managed to make it work a few months ago. Check this: https://github.com/wg-perception/linemod/issues/28