shape detection and fitting 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:

Classifier: https://github.com/ruipimentelfigueiredo/shape-classification

Fitting: 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

@article{figueiredo2019facyl,
title = "A robust and efficient framework for fast cylinder detection",
journal = "Robotics and Autonomous Systems",
volume = "117",
pages = "17 - 28",
year = "2019",
issn = "0921-8890",
doi = "https://doi.org/10.1016/j.robot.2019.04.002",
url = "http://www.sciencedirect.com/science/article/pii/S0921889017308710",
author = "Rui Figueiredo and Atabak Dehban and Plinio Moreno and Alexandre Bernardino and José Santos-Victor and Helder Araújo",
}