Object-Labeling-Toolkit

Toolkit for the labeling of objects within sequences of RGB-D observations.

Copyright (C) 2015-2016 Jose Raul Ruiz Sarmiento

University of Malaga (jotaraul@uma.es)

http://mapir.isa.uma.es/jotaraul

If you use this software, please read the LICENSE file. If the utilization is for academic purposes, please cite the work:

@INPROCEEDINGS{Ruiz-Sarmiento-ECMR-2015,

author = {Ruiz-Sarmiento, J. R. and Galindo, Cipriano and Gonz{\'{a}}lez-Jim{\'{e}}nez, Javier},

title = {OLT: A Toolkit for Object Labeling Applied to Robotic RGB-D Datasets},

booktitle = {European Conference on Mobile Robots},

year = {2015},

location = {Lincoln, UK}

}

Toolkit structure

This project is structured as follows:

• This directory: Rules to build the toolkit using CMake, and the license file (GNU General Public License v3).
• src: Source files to be compiled, which build the following toolkit applications (listed in the same order as they should be run):

  • Process_rawlog: Sets the extrinsic and intrinsic parameters of the sensors used within the dataset.

  • Mapping: Localizes the poses/locations from which the observations within the datset were taken in order to create a map of the scene.

  • Visualize_reconstruction: Visually shows a 3D reconstruction of the collected data, and stores it as a scene.

  • Label_scene: Permits us to effortlessly label a reconstructed scene. Example of scene being labeled:

    

  • Label_rawlog: Propagates the annotated labels in a scene to each observation within the dataset.

  • Dataset_statistics: Shows information of the dataset, e.g. a summary of the objects appearing on it, number of times that they appear, number of pixels they occupy, etc.

  • Benchmark: Compare two labeled rawlogs and yields some performance results.

  • Create_video & Segmentation: Experimental applications under development.

• Examples of configuration files: A directoy containing some examples of configuration files to be used with the different toolkit applications.

Prerequisites

Mandatory dependencies:

• MRPT (www.mrpt.org)
• PCL (http://www.pointclouds.org/)

Compiling

mkdir build && cd build && cmake .. && make