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Hi all,

I am using tod_training and tod_detecting packages for object detection and recognition. They work well but the output is just an image of estimated pose and the name of the recognized object.

My question is how can I find this estimated pose? Not just by seeing on the image.


Originally posted by dlmypr on ROS Answers with karma: 236 on 2011-02-17

Post score: 1


Original comments

Comment by raphael favier on 2011-03-15:
Would it be possible for you to post a patch?

Comment by dlmypr on 2011-03-14:
Diamondback. But debugged the code myself

Comment by raphael favier on 2011-03-03:
Ho, may I ask what did you compile it with? (Cturlte, Unstable, Diamondback?) I'm having a few compilation issues myself.

Comment by dlmypr on 2011-03-02:
yes I am using it on its own. Actually I trained some objects from bag files with tod_training and than I detect those object from images or camera recordings using tod_detecting. I can get estimated pose visually on the input image I gave but I can't take it numerically. It computes it somewhere..

Comment by raphael favier on 2011-03-01:
Hello, are you using tod on its own or via the Recognition Infrastructure (ReIn) ?

Comment by sam on 2012-10-28:
How you run tod_training and tod_detecting? Can you share instructions? I can't find tutorials on package doc. Thank you~

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1 Answer 1

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If you are running the recognizer node from tod_detecting and are seeing text output like

 "Object name = " << object.objectName << ", imageId = " << object.imgIdx

then that is generated from line 167 of recognizer.cpp.

Each of the ObjectInfo objects referenced there have rvec and tvec members (see this) which presumably store the pose of the object. You could modify that loop to print out or otherwise output the pose as well as the name.


Originally posted by pbrook with karma: 226 on 2011-03-02

This answer was ACCEPTED on the original site

Post score: 1


Original comments

Comment by dlmypr on 2011-03-03:
Is tvec the translation vector camera frame to object frame and the rvec is the rotation vector from from object coordinate frame to camera coordinate frame? And what rvec exactly shows? radians? And angle changes with respect to which axises?

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