wavelet303 / line-mod-pipeline

Pipeline to detect the 3D pose of known objects. It builds upon the opencv implementation of the LINE-MOD algorithm.

LINE-MOD-Pipeline for object detection and pose estimation

The pipeline uses the OpenCV LINE-MOD Detector to estimate the pose of a known Object. Necessary Pre and Postprocessing tools are included:

• Generation of Templates from CAD-Models with OpenGL
• Color and depth checks to validate a match
• ICP algorithm from OpenCV for pose refinement

Included libraries for testing are:

• Kinect V2 tool to extract depth and rgb images
• Implementation of the LINE-MOD Benchmark and the Benchmark for 6D Object Pose Estimation evaluation methods
• A class to generate RGB-D Images with a ground truth pose of an Aruco marker

Getting Started

Prerequisites

For compilation the following libraries must be included and linked

• SDL2 - Creates a window for OpenGL
• GLEW - OpenGL Extension Library
• OPENCV4 - Computer vision library
• GLM - Graphics math library
• libfreenect2 - Kinect V2 driver (only if Kinect is used)
• assimp - Open Asset Importer library

Installing

Dependencies

For Linux the following command can be used to install most dependencies

sudo apt-get install libglew-dev libglm-dev libassimp-dev libsdl2-dev

freenect2 has to be compiled from source with the help of cmake.

OpenCV 4 needs to be built with:

• additional contrib libraries for LINE-MOD and ICP
• OpenMP

To compile OpenCV the following command can be used. The path of the contrib modules has to be replaced.

cmake -D OPENCV_EXTRA_MODULES_PATH=<contrib modules path> -D WITH_OPENMP=ON -D CMAKE_BUILD_TYPE=Release

Compiling the pipeline

In a new folder start by cloning the repo.

git clone https://gitlab.tubit.tu-berlin.de/antone/LINE-MOD-Pipeline.git LINE-MOD
cd LINE-MOD

Next step is to run cmake and compile the binaries.

For cmake to properly locate the SDL2 libraries it needs a FindSDL2.cmake module which is not yet part of cmake.

FindSDL2 can be downloaded here and has to be placed in the cmake modules folder.

cmake -H. -B build
cmake --build build --config Release --target all -- -j4

To test the applications run the template generator first.

./build/Template_Generator

A window should open and display the rendered object in white under different poses and save the template generation files.

Now run the detector. An example image in the benchmark folder will be used.

./build/Detector

Authors

• Anton Elmiger - Initial work - GitLab

License

This project is licensed under the BSD License - see the LICENSE.md file for details