Hi community, after Linemod detected an object, I would like to read the exact coo

I got it! Here is my Code in linemod_detect.cpp in line 382: <div class="snipp

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Point coordinates of detected object about linemod HOT 2 CLOSED

wg-perception commented on August 31, 2024

Point coordinates of detected object

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Comments (2)

xMutzelx commented on August 31, 2024

I got it!
Here is my Code in linemod_detect.cpp in line 382:

/* Check every pixel of the image. CARE: rows cols world */
for(int i=0; i<depth_real_model_raw.cols; i++)
 {
    for(int j=0; j<depth_real_model_raw.rows;j++)
     {
        cv::Vec3f & pixel = depth_real_model_raw.at<cv::Vec3f>(j,i); 

                if(pixel[0]!=pixel[0] || pixel[1]!=pixel[1] || pixel[2]!=pixel[2])
                        std::cout<<"Pixel is not a number (NAN)"<<std::endl;

        else if(pixel[2]<0.1||pixel[2]>1.0)
            std::cout<<"Z-value is invalid"<<std::endl;

        else
             std::cout<<"This pixel contains valid data"<<std::endl;
    }
  }
std::cout<<"Match: "<<match.x<<" "<<match.y<<std::endl;

This x and y coordinates are inside the bounding box so you also have to translate them. Variable "match" contains the relevant informations (match.x and match.y).
There are still some problems with this solution. If the model doesn't fit the real world object perfectly some informations are lost. For me it is enough information, but if there is a better solution please let me know.

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