Object recognition capture unable to find Pose

Question

I have an Ubuntu 12.10 with ROS groovy configuration. I use a kinect on a USB2.0 port.

I would like to use the object_recognition package but I don't succeed in make the capture tool work. I succeed capturing my textured_plane but impossible to have a 3D position displayed when I track the features.

Here is my command line for capturing my textured plane :

rosrun object_recognition_capture orb_template -o my_textured_plane --res sxga --fps 15

But when I try to see the position tracking, no position is outputed in the video

rosrun object_recognition_capture orb_track --track_directory my_textured_plane --res sxga --fps 15

But, if I show the matches, the features detection seems to work quite well. image description http://smartrobotics.org/blog/wp-content/uploads/2013/09/ORK_not_working-e1378824603329.png

So I try some different parameters (more feature points, less threshold ...) but the position never appears.

Does anyone have a clue on why the 3D position is not display while the features are correctly detected?

PS : I also try rosrun object_recognition_capture capture -i my_textured_plane --seg_z_min 0.01 -o silk.bag --preview --res sxga --fps 15 but no object is detected.

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Originally posted by Jbot on ROS Answers with karma: 429 on 2013-09-10

Post score: 5

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Original comments

Comment by keavenM on 2013-09-19:
Same problem here. (Ubuntu 13.04 ROS Hydro)

Comment by averybigant on 2013-09-19:
Same problem （Ubuntu12.04 ROS groovy）

Comment by averybigant on 2013-09-24:
hey guys, you can find further information on https://github.com/wg-perception/object_recognition_core/issues/17

Comment by Jbot on 2013-09-24:
Thanks, I will mail him to see if I can help

Answer 1

Have you ever tried:

rosrun object_recognition_capture capture --seg_z_min 0.01 -o silk.bag --preview --res sxga --fps 15

Omitting the -i parameter sets the capture app to use the printed markers. This works for me!

Remark: The orb_template step is not needed if you omit -i.

It seems that there is a bug in orb_template or in capture when matching the features to the template's.

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Originally posted by fivef with karma: 2756 on 2013-09-27

This answer was ACCEPTED on the original site

Post score: 4

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Original comments

Comment by averybigant on 2013-09-27:
Wow, it works for me! Thank you for your solution.

Comment by Jbot on 2013-09-29:
I will try this tonight but I wanted to use my own textured plane.

Comment by Jbot on 2013-09-30:
After a try, it seems that it works wih the standard template. I have upvote your answer but there is still a bug when using our own textured plane.