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wg-perception / linemod

An OR pipeline based on LINE-MOD from OpenCV
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Linemod model allignment / ruined by ICP #48

Closed SimonvanEeden closed 5 years ago

SimonvanEeden commented 5 years ago

Hi,

I use the ORK LineMOD pipeline with a Intel Realsense d415 sensor at 640 x 480 pixels.

When detecting the tray on the images below, the detected coordinates are always somewhat off by a semi-consistent amount. Screenshot from 2019-04-16 12-11-03 Screenshot from 2019-04-16 11-38-14 The window with the colored dots works normally. If I am not wrong this is the detection before performing ICP. The RVIZ window shows the resulting recognized_object_array. If I am not wrong this is the detection after performing ICP. I checked in blender if the object model was centered properly so this is not the problem.

Does anyone have an idea how this could be caused?

To get ORK to work with the Realsense d415 I had to change some parameters like focal length and image topics. I use Realsense_camera instead of OpenNi to get the pointclouds (not outputting to pointcloud2 but to separate depth/image topics).

If anyone could help me out I that would be great. Simon van Eeden

SimonvanEeden commented 5 years ago

This is a duplicate of a similar post on the google groups where it got traction. please look there for this information.