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How to recognize "fake" human hand in gazebo based on pointcloud?

asked 2020-04-26 16:01:30 -0600

lsattf
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ROS distro:melodic Linux distro:Ubuntu 18.04

I am running the simulation of PR2 and I need to recognize the human hand from the envoronment. The most straightfoward way is to use kinect on PR2 to get the pointcloud data and extract the pointcloud of hands then train them based on machine learning.

Now I could extract the sensot_msgs/PointCloud2 to a .pcd file(a standard file format for Point Cloud Library:PCL) by following the official tutorial:link text

But how to extract my interesting field that contains "human hand" data from such .pcd files.

Or any better idea about this virtual hand recognition problem in gazebo?

Here is the problem description by a picture. https://ibb.co/rwDtjVC

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answered 2020-04-26 20:59:47 -0600

artemiialessandrini
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I'd take a look at wg-perception, if you haven't, they've done quite a lot of tools for different types of people's recognition. Maybe you can get some ideas from there.

Pointing out, PCL is not a ROS package, but

the preferred bridge for 3D applications involving n-D Point Clouds and 3D geometry processing in ROS.

so maybe your question is not even ROS related. I'd try to ask this question in PCL Answers or Google it without ROS tag:)

Just found something.

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Object_recognition_kitchen is too old so it is hard for me to run it in melodic. I can't catkin_make it.

lsattf ( 2020-04-27 12:59:17 -0600 )edit

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Asked: 2020-04-26 16:01:30 -0600

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Last updated: Apr 26 '20

How to recognize "fake" human hand in gazebo based on pointcloud? edit

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How to recognize "fake" human hand in gazebo based on pointcloud?