Linemod Pose Estimation Tutorial

linemod_pose_estimation

What is Linemod?

• Linemod is a technique for pose estimation using object template matching method.

Using robot

Connect UR5

roslaunch ur_bringup ur5_bringup.launch robot_ip:=192.168.1.102

• robot_ip should be modified according to ur own robot.

Connect camera ensenso

roslaunch ensenso ensenso_bringup.launch

How do I use this package?

rosrun linemod_pose_estimation linemod_ensenso_detect_3_mult_detect_service_node +(parameter below, just copy)

paramater

"/home/birl-spai-ubuntu14/birl_ws/src/csl_vision/linemod_pose_estimation/config/data/memoryChip2_ensenso_templates.yml" "/home/birl-spai-ubuntu14/birl_ws/src/csl_vision/linemod_pose_estimation/config/data/memoryChip2_ensenso_renderer_params.yml" "/home/birl-spai-ubuntu14/birl_ws/src/csl_vision/linemod_pose_estimation/config/stl/memoryChip2.stl" 92 150 1e-5 0.02 0.05 20 10 4 "/home/birl-spai-ubuntu14/birl_ws/src/csl_vision/linemod_pose_estimation/config/data/cpu_binary_ensenso_templates.yml" "/home/birl-spai-ubuntu14/birl_ws/src/csl_vision/linemod_pose_estimation/config/data/cpu_binary_ensenso_renderer_params.yml" "/home/birl-spai-ubuntu14/birl_ws/src/csl_vision/linemod_pose_estimation/config/stl/cpu_binary.stl" 94 

• When running this command, a service for providing object pose is launched.

Verify

rosservice call /linemod_object_pose "object_id: 0"

• "0" means memory card's id
• "1" means cpu's id

Explain parameters

/home/birl-spai-ubuntu14/birl_ws/src/csl_vision/linemod_pose_estimation/config/data/memoryChip2_ensenso_templates.yml

• Replace this path '/home/birl-spai-ubuntu14/birl_ws/src/csl_vision/' with your workspace's path. This file is for training object template.

/home/birl-spai-ubuntu14/birl_ws/src/csl_vision/linemod_pose_estimation/config/data/memoryChip2_ensenso_renderer_params.yml

• This is for getting paramerter via training object templates

/home/birl-spai-ubuntu14/birl_ws/src/csl_vision/linemod_pose_estimation/config/stl/memoryChip2.stl

• This is for importing stl format object to train model

92 150 1e-5 0.02 0.05 20 10 4

• '92' similarity threshod, if object measure score < 92, then if it won't be recogized as the detected one. '150 1e-5 0.02 0.05 20 10 4' Those are default values,

/home/birl-spai-ubuntu14/birl_ws/src/csl_vision/linemod_pose_estimation/config/data/cpu_binary_ensenso_templates.yml" "/home/birl-spai-ubuntu14/birl_ws/src/csl_vision/linemod_pose_estimation/config/data/cpu_binary_ensenso_renderer_params.yml" "/home/birl-spai-ubuntu14/birl_ws/src/csl_vision/linemod_pose_estimation/config/stl/cpu_binary.stl" 94

This part is just for detecting another object. Because we want to detect two objects here, CPU and memory car.