shape detection, fitting and tracking ROS pipeline

Install

1. Clone this repo and library dependencies (git submodules) inside your catkin workspace src folder:

cd $CATKIN_WORKSPACE_DIR/src && git clone https://github.com/ruipimentelfigueiredo/shape_detection_fitting && cd shape_detection_fitting && git submodule update --init --recursive

2. Change directory to catkin_ws and compile

cd $CATKIN_WORKSPACE_DIR && catkin_make

Setup

Follow the instructions in: https://github.com/ruipimentelfigueiredo/shape-classification

https://github.com/ruipimentelfigueiredo/shape-fitting

Config

Set the appropriate parameters and ROS topic names in the files inside config/ and launch/ folders.

Demo

roslaunch shape_detection_fitting shape_detection_fitting.launch

Generating a new dataset

First, set the flag dataset_create to true, inside config/config.yaml file, and select desired dataset_path and object_type

Then, run:

roslaunch shape_detection_fitting shape_detection_fitting.launch

Evaluating the dataset

roslaunch shape_detection_fitting test.launch

Reference

In case you use our library in your research, please cite our work

@inproceedings{figueiredo2017shape,
  title={Shape-based attention for identification and localization of cylindrical objects},
  author={Figueiredo, Rui and Dehban, Atabak and Bernardino, Alexandre and Santos-Victor, Jos{\'e} and Ara{\'u}jo, Helder},
  booktitle={IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob)},
  volume={18},
  pages={21},
  year={2017}
}