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roboearth detection and other issues

asked 2012-10-03 05:55:58 -0500

yigit gravatar image

Hello everyone,

I am a newbie roboearth user and have recently managed to integrate roboearth with ros, resolving some build and run-time errors.

  • I start training roboearth with a bottle. The first problem I encounter is that I couldn't see any points on the screen (i.e.re_object_recorder does not receive any point clouds) when I enable depth-registration. On the contrary, I can see the points when I disable depth-registration. Here are two screenshots:

Depth Registration Enabled Depth Registration Disabled

  • I continue training with disabling depth-registration even if it explicitly stated otherwise. After training finishes, I upload my model to roboearth, everything seems fine up to this point. Then, I try to detect the bottle as it shown in the ros tutorials. I start openni (again, I disable depth-registration for the same reason) and other nodes (re_kinect_object_detector etc...). I download my object, and roboearth just doesn't recognize the bottle.

There is this hint in the tutorial page, which I really take into account. I believe my model is dense enough (you can search my model through roboearth api, it is called bottle.screensaversolution).

So, what might have gone wrong?

Thanks in advance.

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answered 2012-10-03 06:28:41 -0500

ddimarco gravatar image

Please note that what you are using there is basically a 2D-feature based recognition algorithm. The depth information from the Kinect is just used for filtering out implausibly detected object poses. So you will get best results with a well-textured object. A good first test is to use the video game package that usually comes with a Kinect.

With that said, I really wonder about the problem with the depth registration here. It really should not make a difference for receiving a point cloud. Can you check with RViz if there is a point cloud published when you have depth registration enabled?

If you did not see them already, maybe also take a look at these hints.

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Ddimarco thanks for your help and sorry it took me so long to reply. The problem about depth registration was caused by a bug (I suppose) in the openni drivers in the ubuntu repos. I built the drivers from the source and depth-registration problem is solved now. Then roboearth started to recognize.

yigit gravatar image yigit  ( 2012-10-30 02:52:17 -0500 )edit

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Asked: 2012-10-03 05:55:58 -0500

Seen: 278 times

Last updated: Oct 03 '12