Toolkit for the labeling of objects within sequences of RGB-D observations.
Copyright (C) 2015-2016 Jose Raul Ruiz Sarmiento
University of Malaga ([email protected])
http://mapir.isa.uma.es/jotaraul
If you use this software, please read the LICENSE file. If the utilization is for academic purposes, please cite the work:
@INPROCEEDINGS{Ruiz-Sarmiento-ECMR-2015,
author = {Ruiz-Sarmiento, J. R. and Galindo, Cipriano and Gonz{\'{a}}lez-Jim{\'{e}}nez, Javier},
title = {OLT: A Toolkit for Object Labeling Applied to Robotic RGB-D Datasets},
booktitle = {European Conference on Mobile Robots},
year = {2015},
location = {Lincoln, UK}
}
This project is structured as follows:
- This directory: Rules to build the toolkit using CMake, and the license file (GNU General Public License v3).
- src: Source files to be compiled, which build the following toolkit applications (listed in the same order as they should be run):
-
Process_rawlog: Sets the extrinsic and intrinsic parameters of the sensors used within the dataset.
-
Mapping: Localizes the poses/locations from which the observations within the datset were taken in order to create a map of the scene.
-
Visualize_reconstruction: Visually shows a 3D reconstruction of the collected data, and stores it as a scene.
-
Label_scene: Permits us to effortlessly label a reconstructed scene. Example of scene being labeled:
-
Label_rawlog: Propagates the annotated labels in a scene to each observation within the dataset.
-
Dataset_statistics: Shows information of the dataset, e.g. a summary of the objects appearing on it, number of times that they appear, number of pixels they occupy, etc.
-
Benchmark: Compare two labeled rawlogs and yields some performance results.
-
Create_video & Segmentation: Experimental applications under development.
-
- Examples of configuration files: A directoy containing some examples of configuration files to be used with the different toolkit applications.
Mandatory dependencies:
- MRPT (www.mrpt.org)
- PCL (http://www.pointclouds.org/)
mkdir build && cd build && cmake .. && make