GitHub - xiyao23/project: Point Cloud Object Tracking Program is only in main.py!!! Users Guidance is readme.txt. Thank you. Have any question,please contact gavin_xiyao@163.com The project have used third-party library python-pcl and python-OpenCV. External library link: https://github.com/strawlab/python-pcl and https://github.com/skvark/opencv-python.

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Point Cloud Object Tracking Program is only in main.py!!! Users Guidance is readme.txt. Thank you. Have any question,please contact gavin_xiyao@163.com The project have used third-party library python-pcl and python-OpenCV. External library link: https://github.com/strawlab/python-pcl and https://github.com/skvark/opencv-python.

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Name		Name	Last commit message	Last commit date
Latest commit History 4 Commits
1.jpg		1.jpg
11.jpg		11.jpg
13.jpg		13.jpg
18.jpg		18.jpg
2.jpg		2.jpg
3.jpg		3.jpg
33.jpg		33.jpg
38.jpg		38.jpg
4.jpg		4.jpg
40.jpg		40.jpg
6.jpg		6.jpg
BF.py		BF.py
BallDis.txt		BallDis.txt
BallEuler.txt		BallEuler.txt
BeerEuler.txt		BeerEuler.txt
BeerlDis.txt		BeerlDis.txt
BowlDis.txt		BowlDis.txt
BowlEuler.txt		BowlEuler.txt
Bowlexp.txt		Bowlexp.txt
CNNrec.py		CNNrec.py
CNNtest.py		CNNtest.py
CNNtrain.py		CNNtrain.py
CokecanDis.txt		CokecanDis.txt
CokecanEuler.txt		CokecanEuler.txt
CompareSim.py		CompareSim.py
E:\workspace\dets.txt		E:\workspace\dets.txt
Experiment.py		Experiment.py
FlANN.py		FlANN.py
Kinect.jpg		Kinect.jpg
Kinect.pcd		Kinect.pcd
KinectDis.txt		KinectDis.txt
KinectEuler.txt		KinectEuler.txt
X_train.txt		X_train.txt
Y_train.txt		Y_train.txt
ball.pcd		ball.pcd
beer.jpg		beer.jpg
beer.pcd		beer.pcd
bowl.jpg		bowl.jpg
bowl.pcd		bowl.pcd
bowl1.jpg		bowl1.jpg
box.pcd		box.pcd
camera_image.jpeg		camera_image.jpeg
canny.py		canny.py
coke.jpg		coke.jpg
coke.pcd		coke.pcd
cokecan.pcd		cokecan.pcd
diskpart.pcd		diskpart.pcd
inliers.pcd		inliers.pcd
kmeans.py		kmeans.py
main.py		main.py
mobject.pcd		mobject.pcd
model.py		model.py
model.pyc		model.pyc
multiob1.pcd		multiob1.pcd
obdetect.py		obdetect.py
object1.pcd		object1.pcd
object2.pcd		object2.pcd
plastic_cup.pcd		plastic_cup.pcd
readImage.py		readImage.py
readPCdata.py		readPCdata.py
readme.txt		readme.txt
result.txt		result.txt
result1.txt		result1.txt
temp.png		temp.png
template.jpg		template.jpg
test2.py		test2.py
testtest.py		testtest.py

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Step1 Open terminal Launch Gazebo and Ros:
roscore &
rosrun gazebo_ros gazebo
rosrun rviz rviz
Step2 Simulate objects in the Gazebo
Step3 Set Pointcloud2 and TF in Rviz
Step4 Set parameters in codes:

set following parameter in codes
objectNum = 2 #set 1 single object situation set 2 multiple object
    maxIteration = 30 #registration iteration time
    tolerance = 0.0005 #error tolerance for registration
    controlPoints = 500 #maximum sample point number for ICP
    turtlename = 'beer' #tagrget name to be tracked
    Imgtemp='beer.jpg' # recognition template
    template='beer.pcd' #ICP tmeplate
run main.py

Besides : There are some template for test and Expriment records listed above