implement some algorithms of 6d pose estimation
- linemod
- linemod levelup
- linemod ros
- latent class hough tree(LCHF)
- 3d convex segmentation
now: trying 3d seg for bin picking
files: params/ pysixd/ t_less_toolkit/ tools/
copied from sixd_toolkit
deal with model reading/rendering, datasets reading and evaluation
get dataset under 6DPose folder using following cmd
wget -r -np -nH --cut-dirs=1 -R index.html http://ptak.felk.cvut.cz/6DB/public/
install opencv3 with contrib rgbd module
install pybind11
in target folder:
mkdir build
cd build/
cmake ..
make
in 6dpose folder, if use pybind:
pip3 install target_folder/
python3 target.py
Codes in linemod.py will train and detect objects in downloaded dataset.
Refer to opencv linemod and ork linemod src
Linemod suffers a lot from scale and occlusion problems, to deal wtih
them:
set low response closer to zero;(idea got from focal loss)
use depth histgram and 1D nms to find some primary scales
run linemod with ros for real test, not done yet
- linemod patch version
- hough forest
- meanshift for leaf mode
- icp for pose refine
- train and test
segment 3d cloud to convex part, core func have been done, try to deploy now
NOTE: pybind11 can't be built with static super4pcs. Add one line to super4pcs CMakeLists to make it shared:
OPTION (BUILD_SHARED_LIBS "set shared libs as default" TRUE)