ROS IndexNo version for distro humble showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/asr-ros/asr_psm.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-11-14 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This package contains a system to recognize scenes called the Probabilistic Scene Model (PSM).
It uses objects and relative poses (relations) between the objects. The realations can be dynamic and each object can be a reference object.
The system consists of a training subsystem that trains new scenes and a scene inference subsystem that calculates scene probabilities of previously trained scenes.
Additional Links
No additional links.
Maintainers
- Meißner Pascal
Authors
- Braun Kai, Gehrung Joachim, Heizmann Heinrich, Meißner Pascal
General / Acquisition:
----------------------
1. Call "start_cameras.launch" and "start_recognition_system.launch" to start add required nodes like visualization, cameras, coordinate transformations and object detectors.
2. When you want to record data instead of processing it online (former is necessary when learning scene models), call the script "start_recording_localizer_input_and_results.sh SEQUENCE_ID" or "start_recording_objects_only.sh SEQUENCE_ID". The resulting file is called "OBJ_SEQUENCE_ID.bag".
Scene Model Learning:
----------------------------------
3. For getting one scene: Call "roslaunch asr_psm start_scene_graph_generation.launch scene_id:=SCENE_NAME" in launch directory. The scene graph generator started by the launch file collects all published object messages and processes them. This means that either online data or a rosbag file could be used. Press the key 'p' to publish the results.
=> Please take into account, that only one object per type in each scene is currently supported. This holds especially if objects of the same type appear across multiple trajectory recordings for one scene.
4. Use the script "start_recording_scene_graph.sh SEQUENCE_ID" in the scripts directory to capture the output. The resulting file is called "SCENEGRAPH_SEQUENCE_ID.bag".
5. To learn the model specify the name to the bagfile(s) in the launch file "learner.launch" and launch it with "roslaunch asr_psm learner.launch".
Inference:
----------------------------------
6. Start the image aquisition with "roslaunch asr_psm start_cameras.launch".
7. Start the object detectors with "roslaunch asr_psm start_recognition_system.launch".
8. Edit the "inference.launch" file to fit your needs and launch it using the command "roslaunch asr_psm inference.launch". The results will be visualized in RVIZ, on demand a gnuplot graph showing the scene probabilities can be summoned.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rospy | |
| roscpp | |
| rosbag | |
| roslib | |
| asr_msgs | |
| std_msgs | |
| tf | |
| visualization_msgs | |
| asr_psm_visualizations | |
| asr_relation_graph_generator | |
| asr_resources_for_psm | |
| asr_lib_ism | |
| Eigen | |
| Boost | |
| cmake_modules | |
| catkin |
System Dependencies
| Name |
|---|
| opencv2 |
Dependant Packages
| Name | Deps |
|---|---|
| asr_recognizer_prediction_psm |
Launch files
- launch/combinatorial_learner.launch
- Launches the learner for probabilistic scene models. This launch file is specifically designed for launching the learner to use combinatorial optimization to generate object relation graphs. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/go.launch
- Launches camera and recognition system.
-
- launch/inf_screen.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/inference.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/learner.launch
- Launches the learner for probabilistic scene models. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/start_cameras.launch
- Launches the whole system for probabilistic scene recognition.
-
- launch/start_scene_graph_generation.launch
- Please take into account that recognition_for_grasping does not set AsrObject identifier yet. Therefore all measured object locations of the same object type are accumulated into one trajectory even for multiple objects.
-
-
-
- launch/validator.launch
- Launches the validator, which tests the given model against the given test sets and counts false recognitions and runtime. Calculates some statistical values (average of runtime and false recognitions, ratio of false recognition against number of sets). Writes the results as csv to the given file
-
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged asr_psm at Robotics Stack Exchange
No version for distro jazzy showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/asr-ros/asr_psm.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-11-14 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This package contains a system to recognize scenes called the Probabilistic Scene Model (PSM).
It uses objects and relative poses (relations) between the objects. The realations can be dynamic and each object can be a reference object.
The system consists of a training subsystem that trains new scenes and a scene inference subsystem that calculates scene probabilities of previously trained scenes.
Additional Links
No additional links.
Maintainers
- Meißner Pascal
Authors
- Braun Kai, Gehrung Joachim, Heizmann Heinrich, Meißner Pascal
General / Acquisition:
----------------------
1. Call "start_cameras.launch" and "start_recognition_system.launch" to start add required nodes like visualization, cameras, coordinate transformations and object detectors.
2. When you want to record data instead of processing it online (former is necessary when learning scene models), call the script "start_recording_localizer_input_and_results.sh SEQUENCE_ID" or "start_recording_objects_only.sh SEQUENCE_ID". The resulting file is called "OBJ_SEQUENCE_ID.bag".
Scene Model Learning:
----------------------------------
3. For getting one scene: Call "roslaunch asr_psm start_scene_graph_generation.launch scene_id:=SCENE_NAME" in launch directory. The scene graph generator started by the launch file collects all published object messages and processes them. This means that either online data or a rosbag file could be used. Press the key 'p' to publish the results.
=> Please take into account, that only one object per type in each scene is currently supported. This holds especially if objects of the same type appear across multiple trajectory recordings for one scene.
4. Use the script "start_recording_scene_graph.sh SEQUENCE_ID" in the scripts directory to capture the output. The resulting file is called "SCENEGRAPH_SEQUENCE_ID.bag".
5. To learn the model specify the name to the bagfile(s) in the launch file "learner.launch" and launch it with "roslaunch asr_psm learner.launch".
Inference:
----------------------------------
6. Start the image aquisition with "roslaunch asr_psm start_cameras.launch".
7. Start the object detectors with "roslaunch asr_psm start_recognition_system.launch".
8. Edit the "inference.launch" file to fit your needs and launch it using the command "roslaunch asr_psm inference.launch". The results will be visualized in RVIZ, on demand a gnuplot graph showing the scene probabilities can be summoned.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rospy | |
| roscpp | |
| rosbag | |
| roslib | |
| asr_msgs | |
| std_msgs | |
| tf | |
| visualization_msgs | |
| asr_psm_visualizations | |
| asr_relation_graph_generator | |
| asr_resources_for_psm | |
| asr_lib_ism | |
| Eigen | |
| Boost | |
| cmake_modules | |
| catkin |
System Dependencies
| Name |
|---|
| opencv2 |
Dependant Packages
| Name | Deps |
|---|---|
| asr_recognizer_prediction_psm |
Launch files
- launch/combinatorial_learner.launch
- Launches the learner for probabilistic scene models. This launch file is specifically designed for launching the learner to use combinatorial optimization to generate object relation graphs. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/go.launch
- Launches camera and recognition system.
-
- launch/inf_screen.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/inference.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/learner.launch
- Launches the learner for probabilistic scene models. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/start_cameras.launch
- Launches the whole system for probabilistic scene recognition.
-
- launch/start_scene_graph_generation.launch
- Please take into account that recognition_for_grasping does not set AsrObject identifier yet. Therefore all measured object locations of the same object type are accumulated into one trajectory even for multiple objects.
-
-
-
- launch/validator.launch
- Launches the validator, which tests the given model against the given test sets and counts false recognitions and runtime. Calculates some statistical values (average of runtime and false recognitions, ratio of false recognition against number of sets). Writes the results as csv to the given file
-
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged asr_psm at Robotics Stack Exchange
No version for distro kilted showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/asr-ros/asr_psm.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-11-14 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This package contains a system to recognize scenes called the Probabilistic Scene Model (PSM).
It uses objects and relative poses (relations) between the objects. The realations can be dynamic and each object can be a reference object.
The system consists of a training subsystem that trains new scenes and a scene inference subsystem that calculates scene probabilities of previously trained scenes.
Additional Links
No additional links.
Maintainers
- Meißner Pascal
Authors
- Braun Kai, Gehrung Joachim, Heizmann Heinrich, Meißner Pascal
General / Acquisition:
----------------------
1. Call "start_cameras.launch" and "start_recognition_system.launch" to start add required nodes like visualization, cameras, coordinate transformations and object detectors.
2. When you want to record data instead of processing it online (former is necessary when learning scene models), call the script "start_recording_localizer_input_and_results.sh SEQUENCE_ID" or "start_recording_objects_only.sh SEQUENCE_ID". The resulting file is called "OBJ_SEQUENCE_ID.bag".
Scene Model Learning:
----------------------------------
3. For getting one scene: Call "roslaunch asr_psm start_scene_graph_generation.launch scene_id:=SCENE_NAME" in launch directory. The scene graph generator started by the launch file collects all published object messages and processes them. This means that either online data or a rosbag file could be used. Press the key 'p' to publish the results.
=> Please take into account, that only one object per type in each scene is currently supported. This holds especially if objects of the same type appear across multiple trajectory recordings for one scene.
4. Use the script "start_recording_scene_graph.sh SEQUENCE_ID" in the scripts directory to capture the output. The resulting file is called "SCENEGRAPH_SEQUENCE_ID.bag".
5. To learn the model specify the name to the bagfile(s) in the launch file "learner.launch" and launch it with "roslaunch asr_psm learner.launch".
Inference:
----------------------------------
6. Start the image aquisition with "roslaunch asr_psm start_cameras.launch".
7. Start the object detectors with "roslaunch asr_psm start_recognition_system.launch".
8. Edit the "inference.launch" file to fit your needs and launch it using the command "roslaunch asr_psm inference.launch". The results will be visualized in RVIZ, on demand a gnuplot graph showing the scene probabilities can be summoned.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rospy | |
| roscpp | |
| rosbag | |
| roslib | |
| asr_msgs | |
| std_msgs | |
| tf | |
| visualization_msgs | |
| asr_psm_visualizations | |
| asr_relation_graph_generator | |
| asr_resources_for_psm | |
| asr_lib_ism | |
| Eigen | |
| Boost | |
| cmake_modules | |
| catkin |
System Dependencies
| Name |
|---|
| opencv2 |
Dependant Packages
| Name | Deps |
|---|---|
| asr_recognizer_prediction_psm |
Launch files
- launch/combinatorial_learner.launch
- Launches the learner for probabilistic scene models. This launch file is specifically designed for launching the learner to use combinatorial optimization to generate object relation graphs. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/go.launch
- Launches camera and recognition system.
-
- launch/inf_screen.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/inference.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/learner.launch
- Launches the learner for probabilistic scene models. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/start_cameras.launch
- Launches the whole system for probabilistic scene recognition.
-
- launch/start_scene_graph_generation.launch
- Please take into account that recognition_for_grasping does not set AsrObject identifier yet. Therefore all measured object locations of the same object type are accumulated into one trajectory even for multiple objects.
-
-
-
- launch/validator.launch
- Launches the validator, which tests the given model against the given test sets and counts false recognitions and runtime. Calculates some statistical values (average of runtime and false recognitions, ratio of false recognition against number of sets). Writes the results as csv to the given file
-
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged asr_psm at Robotics Stack Exchange
No version for distro rolling showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/asr-ros/asr_psm.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-11-14 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This package contains a system to recognize scenes called the Probabilistic Scene Model (PSM).
It uses objects and relative poses (relations) between the objects. The realations can be dynamic and each object can be a reference object.
The system consists of a training subsystem that trains new scenes and a scene inference subsystem that calculates scene probabilities of previously trained scenes.
Additional Links
No additional links.
Maintainers
- Meißner Pascal
Authors
- Braun Kai, Gehrung Joachim, Heizmann Heinrich, Meißner Pascal
General / Acquisition:
----------------------
1. Call "start_cameras.launch" and "start_recognition_system.launch" to start add required nodes like visualization, cameras, coordinate transformations and object detectors.
2. When you want to record data instead of processing it online (former is necessary when learning scene models), call the script "start_recording_localizer_input_and_results.sh SEQUENCE_ID" or "start_recording_objects_only.sh SEQUENCE_ID". The resulting file is called "OBJ_SEQUENCE_ID.bag".
Scene Model Learning:
----------------------------------
3. For getting one scene: Call "roslaunch asr_psm start_scene_graph_generation.launch scene_id:=SCENE_NAME" in launch directory. The scene graph generator started by the launch file collects all published object messages and processes them. This means that either online data or a rosbag file could be used. Press the key 'p' to publish the results.
=> Please take into account, that only one object per type in each scene is currently supported. This holds especially if objects of the same type appear across multiple trajectory recordings for one scene.
4. Use the script "start_recording_scene_graph.sh SEQUENCE_ID" in the scripts directory to capture the output. The resulting file is called "SCENEGRAPH_SEQUENCE_ID.bag".
5. To learn the model specify the name to the bagfile(s) in the launch file "learner.launch" and launch it with "roslaunch asr_psm learner.launch".
Inference:
----------------------------------
6. Start the image aquisition with "roslaunch asr_psm start_cameras.launch".
7. Start the object detectors with "roslaunch asr_psm start_recognition_system.launch".
8. Edit the "inference.launch" file to fit your needs and launch it using the command "roslaunch asr_psm inference.launch". The results will be visualized in RVIZ, on demand a gnuplot graph showing the scene probabilities can be summoned.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rospy | |
| roscpp | |
| rosbag | |
| roslib | |
| asr_msgs | |
| std_msgs | |
| tf | |
| visualization_msgs | |
| asr_psm_visualizations | |
| asr_relation_graph_generator | |
| asr_resources_for_psm | |
| asr_lib_ism | |
| Eigen | |
| Boost | |
| cmake_modules | |
| catkin |
System Dependencies
| Name |
|---|
| opencv2 |
Dependant Packages
| Name | Deps |
|---|---|
| asr_recognizer_prediction_psm |
Launch files
- launch/combinatorial_learner.launch
- Launches the learner for probabilistic scene models. This launch file is specifically designed for launching the learner to use combinatorial optimization to generate object relation graphs. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/go.launch
- Launches camera and recognition system.
-
- launch/inf_screen.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/inference.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/learner.launch
- Launches the learner for probabilistic scene models. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/start_cameras.launch
- Launches the whole system for probabilistic scene recognition.
-
- launch/start_scene_graph_generation.launch
- Please take into account that recognition_for_grasping does not set AsrObject identifier yet. Therefore all measured object locations of the same object type are accumulated into one trajectory even for multiple objects.
-
-
-
- launch/validator.launch
- Launches the validator, which tests the given model against the given test sets and counts false recognitions and runtime. Calculates some statistical values (average of runtime and false recognitions, ratio of false recognition against number of sets). Writes the results as csv to the given file
-
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged asr_psm at Robotics Stack Exchange
No version for distro ardent showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/asr-ros/asr_psm.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-11-14 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This package contains a system to recognize scenes called the Probabilistic Scene Model (PSM).
It uses objects and relative poses (relations) between the objects. The realations can be dynamic and each object can be a reference object.
The system consists of a training subsystem that trains new scenes and a scene inference subsystem that calculates scene probabilities of previously trained scenes.
Additional Links
No additional links.
Maintainers
- Meißner Pascal
Authors
- Braun Kai, Gehrung Joachim, Heizmann Heinrich, Meißner Pascal
General / Acquisition:
----------------------
1. Call "start_cameras.launch" and "start_recognition_system.launch" to start add required nodes like visualization, cameras, coordinate transformations and object detectors.
2. When you want to record data instead of processing it online (former is necessary when learning scene models), call the script "start_recording_localizer_input_and_results.sh SEQUENCE_ID" or "start_recording_objects_only.sh SEQUENCE_ID". The resulting file is called "OBJ_SEQUENCE_ID.bag".
Scene Model Learning:
----------------------------------
3. For getting one scene: Call "roslaunch asr_psm start_scene_graph_generation.launch scene_id:=SCENE_NAME" in launch directory. The scene graph generator started by the launch file collects all published object messages and processes them. This means that either online data or a rosbag file could be used. Press the key 'p' to publish the results.
=> Please take into account, that only one object per type in each scene is currently supported. This holds especially if objects of the same type appear across multiple trajectory recordings for one scene.
4. Use the script "start_recording_scene_graph.sh SEQUENCE_ID" in the scripts directory to capture the output. The resulting file is called "SCENEGRAPH_SEQUENCE_ID.bag".
5. To learn the model specify the name to the bagfile(s) in the launch file "learner.launch" and launch it with "roslaunch asr_psm learner.launch".
Inference:
----------------------------------
6. Start the image aquisition with "roslaunch asr_psm start_cameras.launch".
7. Start the object detectors with "roslaunch asr_psm start_recognition_system.launch".
8. Edit the "inference.launch" file to fit your needs and launch it using the command "roslaunch asr_psm inference.launch". The results will be visualized in RVIZ, on demand a gnuplot graph showing the scene probabilities can be summoned.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rospy | |
| roscpp | |
| rosbag | |
| roslib | |
| asr_msgs | |
| std_msgs | |
| tf | |
| visualization_msgs | |
| asr_psm_visualizations | |
| asr_relation_graph_generator | |
| asr_resources_for_psm | |
| asr_lib_ism | |
| Eigen | |
| Boost | |
| cmake_modules | |
| catkin |
System Dependencies
| Name |
|---|
| opencv2 |
Dependant Packages
| Name | Deps |
|---|---|
| asr_recognizer_prediction_psm |
Launch files
- launch/combinatorial_learner.launch
- Launches the learner for probabilistic scene models. This launch file is specifically designed for launching the learner to use combinatorial optimization to generate object relation graphs. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/go.launch
- Launches camera and recognition system.
-
- launch/inf_screen.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/inference.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/learner.launch
- Launches the learner for probabilistic scene models. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/start_cameras.launch
- Launches the whole system for probabilistic scene recognition.
-
- launch/start_scene_graph_generation.launch
- Please take into account that recognition_for_grasping does not set AsrObject identifier yet. Therefore all measured object locations of the same object type are accumulated into one trajectory even for multiple objects.
-
-
-
- launch/validator.launch
- Launches the validator, which tests the given model against the given test sets and counts false recognitions and runtime. Calculates some statistical values (average of runtime and false recognitions, ratio of false recognition against number of sets). Writes the results as csv to the given file
-
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged asr_psm at Robotics Stack Exchange
No version for distro bouncy showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/asr-ros/asr_psm.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-11-14 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This package contains a system to recognize scenes called the Probabilistic Scene Model (PSM).
It uses objects and relative poses (relations) between the objects. The realations can be dynamic and each object can be a reference object.
The system consists of a training subsystem that trains new scenes and a scene inference subsystem that calculates scene probabilities of previously trained scenes.
Additional Links
No additional links.
Maintainers
- Meißner Pascal
Authors
- Braun Kai, Gehrung Joachim, Heizmann Heinrich, Meißner Pascal
General / Acquisition:
----------------------
1. Call "start_cameras.launch" and "start_recognition_system.launch" to start add required nodes like visualization, cameras, coordinate transformations and object detectors.
2. When you want to record data instead of processing it online (former is necessary when learning scene models), call the script "start_recording_localizer_input_and_results.sh SEQUENCE_ID" or "start_recording_objects_only.sh SEQUENCE_ID". The resulting file is called "OBJ_SEQUENCE_ID.bag".
Scene Model Learning:
----------------------------------
3. For getting one scene: Call "roslaunch asr_psm start_scene_graph_generation.launch scene_id:=SCENE_NAME" in launch directory. The scene graph generator started by the launch file collects all published object messages and processes them. This means that either online data or a rosbag file could be used. Press the key 'p' to publish the results.
=> Please take into account, that only one object per type in each scene is currently supported. This holds especially if objects of the same type appear across multiple trajectory recordings for one scene.
4. Use the script "start_recording_scene_graph.sh SEQUENCE_ID" in the scripts directory to capture the output. The resulting file is called "SCENEGRAPH_SEQUENCE_ID.bag".
5. To learn the model specify the name to the bagfile(s) in the launch file "learner.launch" and launch it with "roslaunch asr_psm learner.launch".
Inference:
----------------------------------
6. Start the image aquisition with "roslaunch asr_psm start_cameras.launch".
7. Start the object detectors with "roslaunch asr_psm start_recognition_system.launch".
8. Edit the "inference.launch" file to fit your needs and launch it using the command "roslaunch asr_psm inference.launch". The results will be visualized in RVIZ, on demand a gnuplot graph showing the scene probabilities can be summoned.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rospy | |
| roscpp | |
| rosbag | |
| roslib | |
| asr_msgs | |
| std_msgs | |
| tf | |
| visualization_msgs | |
| asr_psm_visualizations | |
| asr_relation_graph_generator | |
| asr_resources_for_psm | |
| asr_lib_ism | |
| Eigen | |
| Boost | |
| cmake_modules | |
| catkin |
System Dependencies
| Name |
|---|
| opencv2 |
Dependant Packages
| Name | Deps |
|---|---|
| asr_recognizer_prediction_psm |
Launch files
- launch/combinatorial_learner.launch
- Launches the learner for probabilistic scene models. This launch file is specifically designed for launching the learner to use combinatorial optimization to generate object relation graphs. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/go.launch
- Launches camera and recognition system.
-
- launch/inf_screen.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/inference.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/learner.launch
- Launches the learner for probabilistic scene models. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/start_cameras.launch
- Launches the whole system for probabilistic scene recognition.
-
- launch/start_scene_graph_generation.launch
- Please take into account that recognition_for_grasping does not set AsrObject identifier yet. Therefore all measured object locations of the same object type are accumulated into one trajectory even for multiple objects.
-
-
-
- launch/validator.launch
- Launches the validator, which tests the given model against the given test sets and counts false recognitions and runtime. Calculates some statistical values (average of runtime and false recognitions, ratio of false recognition against number of sets). Writes the results as csv to the given file
-
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged asr_psm at Robotics Stack Exchange
No version for distro crystal showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/asr-ros/asr_psm.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-11-14 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This package contains a system to recognize scenes called the Probabilistic Scene Model (PSM).
It uses objects and relative poses (relations) between the objects. The realations can be dynamic and each object can be a reference object.
The system consists of a training subsystem that trains new scenes and a scene inference subsystem that calculates scene probabilities of previously trained scenes.
Additional Links
No additional links.
Maintainers
- Meißner Pascal
Authors
- Braun Kai, Gehrung Joachim, Heizmann Heinrich, Meißner Pascal
General / Acquisition:
----------------------
1. Call "start_cameras.launch" and "start_recognition_system.launch" to start add required nodes like visualization, cameras, coordinate transformations and object detectors.
2. When you want to record data instead of processing it online (former is necessary when learning scene models), call the script "start_recording_localizer_input_and_results.sh SEQUENCE_ID" or "start_recording_objects_only.sh SEQUENCE_ID". The resulting file is called "OBJ_SEQUENCE_ID.bag".
Scene Model Learning:
----------------------------------
3. For getting one scene: Call "roslaunch asr_psm start_scene_graph_generation.launch scene_id:=SCENE_NAME" in launch directory. The scene graph generator started by the launch file collects all published object messages and processes them. This means that either online data or a rosbag file could be used. Press the key 'p' to publish the results.
=> Please take into account, that only one object per type in each scene is currently supported. This holds especially if objects of the same type appear across multiple trajectory recordings for one scene.
4. Use the script "start_recording_scene_graph.sh SEQUENCE_ID" in the scripts directory to capture the output. The resulting file is called "SCENEGRAPH_SEQUENCE_ID.bag".
5. To learn the model specify the name to the bagfile(s) in the launch file "learner.launch" and launch it with "roslaunch asr_psm learner.launch".
Inference:
----------------------------------
6. Start the image aquisition with "roslaunch asr_psm start_cameras.launch".
7. Start the object detectors with "roslaunch asr_psm start_recognition_system.launch".
8. Edit the "inference.launch" file to fit your needs and launch it using the command "roslaunch asr_psm inference.launch". The results will be visualized in RVIZ, on demand a gnuplot graph showing the scene probabilities can be summoned.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rospy | |
| roscpp | |
| rosbag | |
| roslib | |
| asr_msgs | |
| std_msgs | |
| tf | |
| visualization_msgs | |
| asr_psm_visualizations | |
| asr_relation_graph_generator | |
| asr_resources_for_psm | |
| asr_lib_ism | |
| Eigen | |
| Boost | |
| cmake_modules | |
| catkin |
System Dependencies
| Name |
|---|
| opencv2 |
Dependant Packages
| Name | Deps |
|---|---|
| asr_recognizer_prediction_psm |
Launch files
- launch/combinatorial_learner.launch
- Launches the learner for probabilistic scene models. This launch file is specifically designed for launching the learner to use combinatorial optimization to generate object relation graphs. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/go.launch
- Launches camera and recognition system.
-
- launch/inf_screen.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/inference.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/learner.launch
- Launches the learner for probabilistic scene models. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/start_cameras.launch
- Launches the whole system for probabilistic scene recognition.
-
- launch/start_scene_graph_generation.launch
- Please take into account that recognition_for_grasping does not set AsrObject identifier yet. Therefore all measured object locations of the same object type are accumulated into one trajectory even for multiple objects.
-
-
-
- launch/validator.launch
- Launches the validator, which tests the given model against the given test sets and counts false recognitions and runtime. Calculates some statistical values (average of runtime and false recognitions, ratio of false recognition against number of sets). Writes the results as csv to the given file
-
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged asr_psm at Robotics Stack Exchange
No version for distro eloquent showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/asr-ros/asr_psm.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-11-14 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This package contains a system to recognize scenes called the Probabilistic Scene Model (PSM).
It uses objects and relative poses (relations) between the objects. The realations can be dynamic and each object can be a reference object.
The system consists of a training subsystem that trains new scenes and a scene inference subsystem that calculates scene probabilities of previously trained scenes.
Additional Links
No additional links.
Maintainers
- Meißner Pascal
Authors
- Braun Kai, Gehrung Joachim, Heizmann Heinrich, Meißner Pascal
General / Acquisition:
----------------------
1. Call "start_cameras.launch" and "start_recognition_system.launch" to start add required nodes like visualization, cameras, coordinate transformations and object detectors.
2. When you want to record data instead of processing it online (former is necessary when learning scene models), call the script "start_recording_localizer_input_and_results.sh SEQUENCE_ID" or "start_recording_objects_only.sh SEQUENCE_ID". The resulting file is called "OBJ_SEQUENCE_ID.bag".
Scene Model Learning:
----------------------------------
3. For getting one scene: Call "roslaunch asr_psm start_scene_graph_generation.launch scene_id:=SCENE_NAME" in launch directory. The scene graph generator started by the launch file collects all published object messages and processes them. This means that either online data or a rosbag file could be used. Press the key 'p' to publish the results.
=> Please take into account, that only one object per type in each scene is currently supported. This holds especially if objects of the same type appear across multiple trajectory recordings for one scene.
4. Use the script "start_recording_scene_graph.sh SEQUENCE_ID" in the scripts directory to capture the output. The resulting file is called "SCENEGRAPH_SEQUENCE_ID.bag".
5. To learn the model specify the name to the bagfile(s) in the launch file "learner.launch" and launch it with "roslaunch asr_psm learner.launch".
Inference:
----------------------------------
6. Start the image aquisition with "roslaunch asr_psm start_cameras.launch".
7. Start the object detectors with "roslaunch asr_psm start_recognition_system.launch".
8. Edit the "inference.launch" file to fit your needs and launch it using the command "roslaunch asr_psm inference.launch". The results will be visualized in RVIZ, on demand a gnuplot graph showing the scene probabilities can be summoned.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rospy | |
| roscpp | |
| rosbag | |
| roslib | |
| asr_msgs | |
| std_msgs | |
| tf | |
| visualization_msgs | |
| asr_psm_visualizations | |
| asr_relation_graph_generator | |
| asr_resources_for_psm | |
| asr_lib_ism | |
| Eigen | |
| Boost | |
| cmake_modules | |
| catkin |
System Dependencies
| Name |
|---|
| opencv2 |
Dependant Packages
| Name | Deps |
|---|---|
| asr_recognizer_prediction_psm |
Launch files
- launch/combinatorial_learner.launch
- Launches the learner for probabilistic scene models. This launch file is specifically designed for launching the learner to use combinatorial optimization to generate object relation graphs. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/go.launch
- Launches camera and recognition system.
-
- launch/inf_screen.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/inference.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/learner.launch
- Launches the learner for probabilistic scene models. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/start_cameras.launch
- Launches the whole system for probabilistic scene recognition.
-
- launch/start_scene_graph_generation.launch
- Please take into account that recognition_for_grasping does not set AsrObject identifier yet. Therefore all measured object locations of the same object type are accumulated into one trajectory even for multiple objects.
-
-
-
- launch/validator.launch
- Launches the validator, which tests the given model against the given test sets and counts false recognitions and runtime. Calculates some statistical values (average of runtime and false recognitions, ratio of false recognition against number of sets). Writes the results as csv to the given file
-
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged asr_psm at Robotics Stack Exchange
No version for distro dashing showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/asr-ros/asr_psm.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-11-14 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This package contains a system to recognize scenes called the Probabilistic Scene Model (PSM).
It uses objects and relative poses (relations) between the objects. The realations can be dynamic and each object can be a reference object.
The system consists of a training subsystem that trains new scenes and a scene inference subsystem that calculates scene probabilities of previously trained scenes.
Additional Links
No additional links.
Maintainers
- Meißner Pascal
Authors
- Braun Kai, Gehrung Joachim, Heizmann Heinrich, Meißner Pascal
General / Acquisition:
----------------------
1. Call "start_cameras.launch" and "start_recognition_system.launch" to start add required nodes like visualization, cameras, coordinate transformations and object detectors.
2. When you want to record data instead of processing it online (former is necessary when learning scene models), call the script "start_recording_localizer_input_and_results.sh SEQUENCE_ID" or "start_recording_objects_only.sh SEQUENCE_ID". The resulting file is called "OBJ_SEQUENCE_ID.bag".
Scene Model Learning:
----------------------------------
3. For getting one scene: Call "roslaunch asr_psm start_scene_graph_generation.launch scene_id:=SCENE_NAME" in launch directory. The scene graph generator started by the launch file collects all published object messages and processes them. This means that either online data or a rosbag file could be used. Press the key 'p' to publish the results.
=> Please take into account, that only one object per type in each scene is currently supported. This holds especially if objects of the same type appear across multiple trajectory recordings for one scene.
4. Use the script "start_recording_scene_graph.sh SEQUENCE_ID" in the scripts directory to capture the output. The resulting file is called "SCENEGRAPH_SEQUENCE_ID.bag".
5. To learn the model specify the name to the bagfile(s) in the launch file "learner.launch" and launch it with "roslaunch asr_psm learner.launch".
Inference:
----------------------------------
6. Start the image aquisition with "roslaunch asr_psm start_cameras.launch".
7. Start the object detectors with "roslaunch asr_psm start_recognition_system.launch".
8. Edit the "inference.launch" file to fit your needs and launch it using the command "roslaunch asr_psm inference.launch". The results will be visualized in RVIZ, on demand a gnuplot graph showing the scene probabilities can be summoned.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rospy | |
| roscpp | |
| rosbag | |
| roslib | |
| asr_msgs | |
| std_msgs | |
| tf | |
| visualization_msgs | |
| asr_psm_visualizations | |
| asr_relation_graph_generator | |
| asr_resources_for_psm | |
| asr_lib_ism | |
| Eigen | |
| Boost | |
| cmake_modules | |
| catkin |
System Dependencies
| Name |
|---|
| opencv2 |
Dependant Packages
| Name | Deps |
|---|---|
| asr_recognizer_prediction_psm |
Launch files
- launch/combinatorial_learner.launch
- Launches the learner for probabilistic scene models. This launch file is specifically designed for launching the learner to use combinatorial optimization to generate object relation graphs. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/go.launch
- Launches camera and recognition system.
-
- launch/inf_screen.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/inference.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/learner.launch
- Launches the learner for probabilistic scene models. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/start_cameras.launch
- Launches the whole system for probabilistic scene recognition.
-
- launch/start_scene_graph_generation.launch
- Please take into account that recognition_for_grasping does not set AsrObject identifier yet. Therefore all measured object locations of the same object type are accumulated into one trajectory even for multiple objects.
-
-
-
- launch/validator.launch
- Launches the validator, which tests the given model against the given test sets and counts false recognitions and runtime. Calculates some statistical values (average of runtime and false recognitions, ratio of false recognition against number of sets). Writes the results as csv to the given file
-
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged asr_psm at Robotics Stack Exchange
No version for distro galactic showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/asr-ros/asr_psm.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-11-14 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This package contains a system to recognize scenes called the Probabilistic Scene Model (PSM).
It uses objects and relative poses (relations) between the objects. The realations can be dynamic and each object can be a reference object.
The system consists of a training subsystem that trains new scenes and a scene inference subsystem that calculates scene probabilities of previously trained scenes.
Additional Links
No additional links.
Maintainers
- Meißner Pascal
Authors
- Braun Kai, Gehrung Joachim, Heizmann Heinrich, Meißner Pascal
General / Acquisition:
----------------------
1. Call "start_cameras.launch" and "start_recognition_system.launch" to start add required nodes like visualization, cameras, coordinate transformations and object detectors.
2. When you want to record data instead of processing it online (former is necessary when learning scene models), call the script "start_recording_localizer_input_and_results.sh SEQUENCE_ID" or "start_recording_objects_only.sh SEQUENCE_ID". The resulting file is called "OBJ_SEQUENCE_ID.bag".
Scene Model Learning:
----------------------------------
3. For getting one scene: Call "roslaunch asr_psm start_scene_graph_generation.launch scene_id:=SCENE_NAME" in launch directory. The scene graph generator started by the launch file collects all published object messages and processes them. This means that either online data or a rosbag file could be used. Press the key 'p' to publish the results.
=> Please take into account, that only one object per type in each scene is currently supported. This holds especially if objects of the same type appear across multiple trajectory recordings for one scene.
4. Use the script "start_recording_scene_graph.sh SEQUENCE_ID" in the scripts directory to capture the output. The resulting file is called "SCENEGRAPH_SEQUENCE_ID.bag".
5. To learn the model specify the name to the bagfile(s) in the launch file "learner.launch" and launch it with "roslaunch asr_psm learner.launch".
Inference:
----------------------------------
6. Start the image aquisition with "roslaunch asr_psm start_cameras.launch".
7. Start the object detectors with "roslaunch asr_psm start_recognition_system.launch".
8. Edit the "inference.launch" file to fit your needs and launch it using the command "roslaunch asr_psm inference.launch". The results will be visualized in RVIZ, on demand a gnuplot graph showing the scene probabilities can be summoned.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rospy | |
| roscpp | |
| rosbag | |
| roslib | |
| asr_msgs | |
| std_msgs | |
| tf | |
| visualization_msgs | |
| asr_psm_visualizations | |
| asr_relation_graph_generator | |
| asr_resources_for_psm | |
| asr_lib_ism | |
| Eigen | |
| Boost | |
| cmake_modules | |
| catkin |
System Dependencies
| Name |
|---|
| opencv2 |
Dependant Packages
| Name | Deps |
|---|---|
| asr_recognizer_prediction_psm |
Launch files
- launch/combinatorial_learner.launch
- Launches the learner for probabilistic scene models. This launch file is specifically designed for launching the learner to use combinatorial optimization to generate object relation graphs. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/go.launch
- Launches camera and recognition system.
-
- launch/inf_screen.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/inference.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/learner.launch
- Launches the learner for probabilistic scene models. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/start_cameras.launch
- Launches the whole system for probabilistic scene recognition.
-
- launch/start_scene_graph_generation.launch
- Please take into account that recognition_for_grasping does not set AsrObject identifier yet. Therefore all measured object locations of the same object type are accumulated into one trajectory even for multiple objects.
-
-
-
- launch/validator.launch
- Launches the validator, which tests the given model against the given test sets and counts false recognitions and runtime. Calculates some statistical values (average of runtime and false recognitions, ratio of false recognition against number of sets). Writes the results as csv to the given file
-
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged asr_psm at Robotics Stack Exchange
No version for distro foxy showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/asr-ros/asr_psm.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-11-14 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This package contains a system to recognize scenes called the Probabilistic Scene Model (PSM).
It uses objects and relative poses (relations) between the objects. The realations can be dynamic and each object can be a reference object.
The system consists of a training subsystem that trains new scenes and a scene inference subsystem that calculates scene probabilities of previously trained scenes.
Additional Links
No additional links.
Maintainers
- Meißner Pascal
Authors
- Braun Kai, Gehrung Joachim, Heizmann Heinrich, Meißner Pascal
General / Acquisition:
----------------------
1. Call "start_cameras.launch" and "start_recognition_system.launch" to start add required nodes like visualization, cameras, coordinate transformations and object detectors.
2. When you want to record data instead of processing it online (former is necessary when learning scene models), call the script "start_recording_localizer_input_and_results.sh SEQUENCE_ID" or "start_recording_objects_only.sh SEQUENCE_ID". The resulting file is called "OBJ_SEQUENCE_ID.bag".
Scene Model Learning:
----------------------------------
3. For getting one scene: Call "roslaunch asr_psm start_scene_graph_generation.launch scene_id:=SCENE_NAME" in launch directory. The scene graph generator started by the launch file collects all published object messages and processes them. This means that either online data or a rosbag file could be used. Press the key 'p' to publish the results.
=> Please take into account, that only one object per type in each scene is currently supported. This holds especially if objects of the same type appear across multiple trajectory recordings for one scene.
4. Use the script "start_recording_scene_graph.sh SEQUENCE_ID" in the scripts directory to capture the output. The resulting file is called "SCENEGRAPH_SEQUENCE_ID.bag".
5. To learn the model specify the name to the bagfile(s) in the launch file "learner.launch" and launch it with "roslaunch asr_psm learner.launch".
Inference:
----------------------------------
6. Start the image aquisition with "roslaunch asr_psm start_cameras.launch".
7. Start the object detectors with "roslaunch asr_psm start_recognition_system.launch".
8. Edit the "inference.launch" file to fit your needs and launch it using the command "roslaunch asr_psm inference.launch". The results will be visualized in RVIZ, on demand a gnuplot graph showing the scene probabilities can be summoned.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rospy | |
| roscpp | |
| rosbag | |
| roslib | |
| asr_msgs | |
| std_msgs | |
| tf | |
| visualization_msgs | |
| asr_psm_visualizations | |
| asr_relation_graph_generator | |
| asr_resources_for_psm | |
| asr_lib_ism | |
| Eigen | |
| Boost | |
| cmake_modules | |
| catkin |
System Dependencies
| Name |
|---|
| opencv2 |
Dependant Packages
| Name | Deps |
|---|---|
| asr_recognizer_prediction_psm |
Launch files
- launch/combinatorial_learner.launch
- Launches the learner for probabilistic scene models. This launch file is specifically designed for launching the learner to use combinatorial optimization to generate object relation graphs. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/go.launch
- Launches camera and recognition system.
-
- launch/inf_screen.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/inference.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/learner.launch
- Launches the learner for probabilistic scene models. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/start_cameras.launch
- Launches the whole system for probabilistic scene recognition.
-
- launch/start_scene_graph_generation.launch
- Please take into account that recognition_for_grasping does not set AsrObject identifier yet. Therefore all measured object locations of the same object type are accumulated into one trajectory even for multiple objects.
-
-
-
- launch/validator.launch
- Launches the validator, which tests the given model against the given test sets and counts false recognitions and runtime. Calculates some statistical values (average of runtime and false recognitions, ratio of false recognition against number of sets). Writes the results as csv to the given file
-
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged asr_psm at Robotics Stack Exchange
No version for distro iron showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/asr-ros/asr_psm.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-11-14 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This package contains a system to recognize scenes called the Probabilistic Scene Model (PSM).
It uses objects and relative poses (relations) between the objects. The realations can be dynamic and each object can be a reference object.
The system consists of a training subsystem that trains new scenes and a scene inference subsystem that calculates scene probabilities of previously trained scenes.
Additional Links
No additional links.
Maintainers
- Meißner Pascal
Authors
- Braun Kai, Gehrung Joachim, Heizmann Heinrich, Meißner Pascal
General / Acquisition:
----------------------
1. Call "start_cameras.launch" and "start_recognition_system.launch" to start add required nodes like visualization, cameras, coordinate transformations and object detectors.
2. When you want to record data instead of processing it online (former is necessary when learning scene models), call the script "start_recording_localizer_input_and_results.sh SEQUENCE_ID" or "start_recording_objects_only.sh SEQUENCE_ID". The resulting file is called "OBJ_SEQUENCE_ID.bag".
Scene Model Learning:
----------------------------------
3. For getting one scene: Call "roslaunch asr_psm start_scene_graph_generation.launch scene_id:=SCENE_NAME" in launch directory. The scene graph generator started by the launch file collects all published object messages and processes them. This means that either online data or a rosbag file could be used. Press the key 'p' to publish the results.
=> Please take into account, that only one object per type in each scene is currently supported. This holds especially if objects of the same type appear across multiple trajectory recordings for one scene.
4. Use the script "start_recording_scene_graph.sh SEQUENCE_ID" in the scripts directory to capture the output. The resulting file is called "SCENEGRAPH_SEQUENCE_ID.bag".
5. To learn the model specify the name to the bagfile(s) in the launch file "learner.launch" and launch it with "roslaunch asr_psm learner.launch".
Inference:
----------------------------------
6. Start the image aquisition with "roslaunch asr_psm start_cameras.launch".
7. Start the object detectors with "roslaunch asr_psm start_recognition_system.launch".
8. Edit the "inference.launch" file to fit your needs and launch it using the command "roslaunch asr_psm inference.launch". The results will be visualized in RVIZ, on demand a gnuplot graph showing the scene probabilities can be summoned.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rospy | |
| roscpp | |
| rosbag | |
| roslib | |
| asr_msgs | |
| std_msgs | |
| tf | |
| visualization_msgs | |
| asr_psm_visualizations | |
| asr_relation_graph_generator | |
| asr_resources_for_psm | |
| asr_lib_ism | |
| Eigen | |
| Boost | |
| cmake_modules | |
| catkin |
System Dependencies
| Name |
|---|
| opencv2 |
Dependant Packages
| Name | Deps |
|---|---|
| asr_recognizer_prediction_psm |
Launch files
- launch/combinatorial_learner.launch
- Launches the learner for probabilistic scene models. This launch file is specifically designed for launching the learner to use combinatorial optimization to generate object relation graphs. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/go.launch
- Launches camera and recognition system.
-
- launch/inf_screen.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/inference.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/learner.launch
- Launches the learner for probabilistic scene models. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/start_cameras.launch
- Launches the whole system for probabilistic scene recognition.
-
- launch/start_scene_graph_generation.launch
- Please take into account that recognition_for_grasping does not set AsrObject identifier yet. Therefore all measured object locations of the same object type are accumulated into one trajectory even for multiple objects.
-
-
-
- launch/validator.launch
- Launches the validator, which tests the given model against the given test sets and counts false recognitions and runtime. Calculates some statistical values (average of runtime and false recognitions, ratio of false recognition against number of sets). Writes the results as csv to the given file
-
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged asr_psm at Robotics Stack Exchange
No version for distro lunar showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/asr-ros/asr_psm.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-11-14 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This package contains a system to recognize scenes called the Probabilistic Scene Model (PSM).
It uses objects and relative poses (relations) between the objects. The realations can be dynamic and each object can be a reference object.
The system consists of a training subsystem that trains new scenes and a scene inference subsystem that calculates scene probabilities of previously trained scenes.
Additional Links
No additional links.
Maintainers
- Meißner Pascal
Authors
- Braun Kai, Gehrung Joachim, Heizmann Heinrich, Meißner Pascal
General / Acquisition:
----------------------
1. Call "start_cameras.launch" and "start_recognition_system.launch" to start add required nodes like visualization, cameras, coordinate transformations and object detectors.
2. When you want to record data instead of processing it online (former is necessary when learning scene models), call the script "start_recording_localizer_input_and_results.sh SEQUENCE_ID" or "start_recording_objects_only.sh SEQUENCE_ID". The resulting file is called "OBJ_SEQUENCE_ID.bag".
Scene Model Learning:
----------------------------------
3. For getting one scene: Call "roslaunch asr_psm start_scene_graph_generation.launch scene_id:=SCENE_NAME" in launch directory. The scene graph generator started by the launch file collects all published object messages and processes them. This means that either online data or a rosbag file could be used. Press the key 'p' to publish the results.
=> Please take into account, that only one object per type in each scene is currently supported. This holds especially if objects of the same type appear across multiple trajectory recordings for one scene.
4. Use the script "start_recording_scene_graph.sh SEQUENCE_ID" in the scripts directory to capture the output. The resulting file is called "SCENEGRAPH_SEQUENCE_ID.bag".
5. To learn the model specify the name to the bagfile(s) in the launch file "learner.launch" and launch it with "roslaunch asr_psm learner.launch".
Inference:
----------------------------------
6. Start the image aquisition with "roslaunch asr_psm start_cameras.launch".
7. Start the object detectors with "roslaunch asr_psm start_recognition_system.launch".
8. Edit the "inference.launch" file to fit your needs and launch it using the command "roslaunch asr_psm inference.launch". The results will be visualized in RVIZ, on demand a gnuplot graph showing the scene probabilities can be summoned.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rospy | |
| roscpp | |
| rosbag | |
| roslib | |
| asr_msgs | |
| std_msgs | |
| tf | |
| visualization_msgs | |
| asr_psm_visualizations | |
| asr_relation_graph_generator | |
| asr_resources_for_psm | |
| asr_lib_ism | |
| Eigen | |
| Boost | |
| cmake_modules | |
| catkin |
System Dependencies
| Name |
|---|
| opencv2 |
Dependant Packages
| Name | Deps |
|---|---|
| asr_recognizer_prediction_psm |
Launch files
- launch/combinatorial_learner.launch
- Launches the learner for probabilistic scene models. This launch file is specifically designed for launching the learner to use combinatorial optimization to generate object relation graphs. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/go.launch
- Launches camera and recognition system.
-
- launch/inf_screen.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/inference.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/learner.launch
- Launches the learner for probabilistic scene models. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/start_cameras.launch
- Launches the whole system for probabilistic scene recognition.
-
- launch/start_scene_graph_generation.launch
- Please take into account that recognition_for_grasping does not set AsrObject identifier yet. Therefore all measured object locations of the same object type are accumulated into one trajectory even for multiple objects.
-
-
-
- launch/validator.launch
- Launches the validator, which tests the given model against the given test sets and counts false recognitions and runtime. Calculates some statistical values (average of runtime and false recognitions, ratio of false recognition against number of sets). Writes the results as csv to the given file
-
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged asr_psm at Robotics Stack Exchange
No version for distro jade showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/asr-ros/asr_psm.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-11-14 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This package contains a system to recognize scenes called the Probabilistic Scene Model (PSM).
It uses objects and relative poses (relations) between the objects. The realations can be dynamic and each object can be a reference object.
The system consists of a training subsystem that trains new scenes and a scene inference subsystem that calculates scene probabilities of previously trained scenes.
Additional Links
No additional links.
Maintainers
- Meißner Pascal
Authors
- Braun Kai, Gehrung Joachim, Heizmann Heinrich, Meißner Pascal
General / Acquisition:
----------------------
1. Call "start_cameras.launch" and "start_recognition_system.launch" to start add required nodes like visualization, cameras, coordinate transformations and object detectors.
2. When you want to record data instead of processing it online (former is necessary when learning scene models), call the script "start_recording_localizer_input_and_results.sh SEQUENCE_ID" or "start_recording_objects_only.sh SEQUENCE_ID". The resulting file is called "OBJ_SEQUENCE_ID.bag".
Scene Model Learning:
----------------------------------
3. For getting one scene: Call "roslaunch asr_psm start_scene_graph_generation.launch scene_id:=SCENE_NAME" in launch directory. The scene graph generator started by the launch file collects all published object messages and processes them. This means that either online data or a rosbag file could be used. Press the key 'p' to publish the results.
=> Please take into account, that only one object per type in each scene is currently supported. This holds especially if objects of the same type appear across multiple trajectory recordings for one scene.
4. Use the script "start_recording_scene_graph.sh SEQUENCE_ID" in the scripts directory to capture the output. The resulting file is called "SCENEGRAPH_SEQUENCE_ID.bag".
5. To learn the model specify the name to the bagfile(s) in the launch file "learner.launch" and launch it with "roslaunch asr_psm learner.launch".
Inference:
----------------------------------
6. Start the image aquisition with "roslaunch asr_psm start_cameras.launch".
7. Start the object detectors with "roslaunch asr_psm start_recognition_system.launch".
8. Edit the "inference.launch" file to fit your needs and launch it using the command "roslaunch asr_psm inference.launch". The results will be visualized in RVIZ, on demand a gnuplot graph showing the scene probabilities can be summoned.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rospy | |
| roscpp | |
| rosbag | |
| roslib | |
| asr_msgs | |
| std_msgs | |
| tf | |
| visualization_msgs | |
| asr_psm_visualizations | |
| asr_relation_graph_generator | |
| asr_resources_for_psm | |
| asr_lib_ism | |
| Eigen | |
| Boost | |
| cmake_modules | |
| catkin |
System Dependencies
| Name |
|---|
| opencv2 |
Dependant Packages
| Name | Deps |
|---|---|
| asr_recognizer_prediction_psm |
Launch files
- launch/combinatorial_learner.launch
- Launches the learner for probabilistic scene models. This launch file is specifically designed for launching the learner to use combinatorial optimization to generate object relation graphs. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/go.launch
- Launches camera and recognition system.
-
- launch/inf_screen.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/inference.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/learner.launch
- Launches the learner for probabilistic scene models. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/start_cameras.launch
- Launches the whole system for probabilistic scene recognition.
-
- launch/start_scene_graph_generation.launch
- Please take into account that recognition_for_grasping does not set AsrObject identifier yet. Therefore all measured object locations of the same object type are accumulated into one trajectory even for multiple objects.
-
-
-
- launch/validator.launch
- Launches the validator, which tests the given model against the given test sets and counts false recognitions and runtime. Calculates some statistical values (average of runtime and false recognitions, ratio of false recognition against number of sets). Writes the results as csv to the given file
-
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged asr_psm at Robotics Stack Exchange
No version for distro indigo showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/asr-ros/asr_psm.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-11-14 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This package contains a system to recognize scenes called the Probabilistic Scene Model (PSM).
It uses objects and relative poses (relations) between the objects. The realations can be dynamic and each object can be a reference object.
The system consists of a training subsystem that trains new scenes and a scene inference subsystem that calculates scene probabilities of previously trained scenes.
Additional Links
No additional links.
Maintainers
- Meißner Pascal
Authors
- Braun Kai, Gehrung Joachim, Heizmann Heinrich, Meißner Pascal
General / Acquisition:
----------------------
1. Call "start_cameras.launch" and "start_recognition_system.launch" to start add required nodes like visualization, cameras, coordinate transformations and object detectors.
2. When you want to record data instead of processing it online (former is necessary when learning scene models), call the script "start_recording_localizer_input_and_results.sh SEQUENCE_ID" or "start_recording_objects_only.sh SEQUENCE_ID". The resulting file is called "OBJ_SEQUENCE_ID.bag".
Scene Model Learning:
----------------------------------
3. For getting one scene: Call "roslaunch asr_psm start_scene_graph_generation.launch scene_id:=SCENE_NAME" in launch directory. The scene graph generator started by the launch file collects all published object messages and processes them. This means that either online data or a rosbag file could be used. Press the key 'p' to publish the results.
=> Please take into account, that only one object per type in each scene is currently supported. This holds especially if objects of the same type appear across multiple trajectory recordings for one scene.
4. Use the script "start_recording_scene_graph.sh SEQUENCE_ID" in the scripts directory to capture the output. The resulting file is called "SCENEGRAPH_SEQUENCE_ID.bag".
5. To learn the model specify the name to the bagfile(s) in the launch file "learner.launch" and launch it with "roslaunch asr_psm learner.launch".
Inference:
----------------------------------
6. Start the image aquisition with "roslaunch asr_psm start_cameras.launch".
7. Start the object detectors with "roslaunch asr_psm start_recognition_system.launch".
8. Edit the "inference.launch" file to fit your needs and launch it using the command "roslaunch asr_psm inference.launch". The results will be visualized in RVIZ, on demand a gnuplot graph showing the scene probabilities can be summoned.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rospy | |
| roscpp | |
| rosbag | |
| roslib | |
| asr_msgs | |
| std_msgs | |
| tf | |
| visualization_msgs | |
| asr_psm_visualizations | |
| asr_relation_graph_generator | |
| asr_resources_for_psm | |
| asr_lib_ism | |
| Eigen | |
| Boost | |
| cmake_modules | |
| catkin |
System Dependencies
| Name |
|---|
| opencv2 |
Dependant Packages
| Name | Deps |
|---|---|
| asr_recognizer_prediction_psm |
Launch files
- launch/combinatorial_learner.launch
- Launches the learner for probabilistic scene models. This launch file is specifically designed for launching the learner to use combinatorial optimization to generate object relation graphs. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/go.launch
- Launches camera and recognition system.
-
- launch/inf_screen.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/inference.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/learner.launch
- Launches the learner for probabilistic scene models. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/start_cameras.launch
- Launches the whole system for probabilistic scene recognition.
-
- launch/start_scene_graph_generation.launch
- Please take into account that recognition_for_grasping does not set AsrObject identifier yet. Therefore all measured object locations of the same object type are accumulated into one trajectory even for multiple objects.
-
-
-
- launch/validator.launch
- Launches the validator, which tests the given model against the given test sets and counts false recognitions and runtime. Calculates some statistical values (average of runtime and false recognitions, ratio of false recognition against number of sets). Writes the results as csv to the given file
-
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged asr_psm at Robotics Stack Exchange
No version for distro hydro showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/asr-ros/asr_psm.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-11-14 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This package contains a system to recognize scenes called the Probabilistic Scene Model (PSM).
It uses objects and relative poses (relations) between the objects. The realations can be dynamic and each object can be a reference object.
The system consists of a training subsystem that trains new scenes and a scene inference subsystem that calculates scene probabilities of previously trained scenes.
Additional Links
No additional links.
Maintainers
- Meißner Pascal
Authors
- Braun Kai, Gehrung Joachim, Heizmann Heinrich, Meißner Pascal
General / Acquisition:
----------------------
1. Call "start_cameras.launch" and "start_recognition_system.launch" to start add required nodes like visualization, cameras, coordinate transformations and object detectors.
2. When you want to record data instead of processing it online (former is necessary when learning scene models), call the script "start_recording_localizer_input_and_results.sh SEQUENCE_ID" or "start_recording_objects_only.sh SEQUENCE_ID". The resulting file is called "OBJ_SEQUENCE_ID.bag".
Scene Model Learning:
----------------------------------
3. For getting one scene: Call "roslaunch asr_psm start_scene_graph_generation.launch scene_id:=SCENE_NAME" in launch directory. The scene graph generator started by the launch file collects all published object messages and processes them. This means that either online data or a rosbag file could be used. Press the key 'p' to publish the results.
=> Please take into account, that only one object per type in each scene is currently supported. This holds especially if objects of the same type appear across multiple trajectory recordings for one scene.
4. Use the script "start_recording_scene_graph.sh SEQUENCE_ID" in the scripts directory to capture the output. The resulting file is called "SCENEGRAPH_SEQUENCE_ID.bag".
5. To learn the model specify the name to the bagfile(s) in the launch file "learner.launch" and launch it with "roslaunch asr_psm learner.launch".
Inference:
----------------------------------
6. Start the image aquisition with "roslaunch asr_psm start_cameras.launch".
7. Start the object detectors with "roslaunch asr_psm start_recognition_system.launch".
8. Edit the "inference.launch" file to fit your needs and launch it using the command "roslaunch asr_psm inference.launch". The results will be visualized in RVIZ, on demand a gnuplot graph showing the scene probabilities can be summoned.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rospy | |
| roscpp | |
| rosbag | |
| roslib | |
| asr_msgs | |
| std_msgs | |
| tf | |
| visualization_msgs | |
| asr_psm_visualizations | |
| asr_relation_graph_generator | |
| asr_resources_for_psm | |
| asr_lib_ism | |
| Eigen | |
| Boost | |
| cmake_modules | |
| catkin |
System Dependencies
| Name |
|---|
| opencv2 |
Dependant Packages
| Name | Deps |
|---|---|
| asr_recognizer_prediction_psm |
Launch files
- launch/combinatorial_learner.launch
- Launches the learner for probabilistic scene models. This launch file is specifically designed for launching the learner to use combinatorial optimization to generate object relation graphs. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/go.launch
- Launches camera and recognition system.
-
- launch/inf_screen.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/inference.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/learner.launch
- Launches the learner for probabilistic scene models. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/start_cameras.launch
- Launches the whole system for probabilistic scene recognition.
-
- launch/start_scene_graph_generation.launch
- Please take into account that recognition_for_grasping does not set AsrObject identifier yet. Therefore all measured object locations of the same object type are accumulated into one trajectory even for multiple objects.
-
-
-
- launch/validator.launch
- Launches the validator, which tests the given model against the given test sets and counts false recognitions and runtime. Calculates some statistical values (average of runtime and false recognitions, ratio of false recognition against number of sets). Writes the results as csv to the given file
-
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged asr_psm at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/asr-ros/asr_psm.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-11-14 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This package contains a system to recognize scenes called the Probabilistic Scene Model (PSM).
It uses objects and relative poses (relations) between the objects. The realations can be dynamic and each object can be a reference object.
The system consists of a training subsystem that trains new scenes and a scene inference subsystem that calculates scene probabilities of previously trained scenes.
Additional Links
No additional links.
Maintainers
- Meißner Pascal
Authors
- Braun Kai, Gehrung Joachim, Heizmann Heinrich, Meißner Pascal
General / Acquisition:
----------------------
1. Call "start_cameras.launch" and "start_recognition_system.launch" to start add required nodes like visualization, cameras, coordinate transformations and object detectors.
2. When you want to record data instead of processing it online (former is necessary when learning scene models), call the script "start_recording_localizer_input_and_results.sh SEQUENCE_ID" or "start_recording_objects_only.sh SEQUENCE_ID". The resulting file is called "OBJ_SEQUENCE_ID.bag".
Scene Model Learning:
----------------------------------
3. For getting one scene: Call "roslaunch asr_psm start_scene_graph_generation.launch scene_id:=SCENE_NAME" in launch directory. The scene graph generator started by the launch file collects all published object messages and processes them. This means that either online data or a rosbag file could be used. Press the key 'p' to publish the results.
=> Please take into account, that only one object per type in each scene is currently supported. This holds especially if objects of the same type appear across multiple trajectory recordings for one scene.
4. Use the script "start_recording_scene_graph.sh SEQUENCE_ID" in the scripts directory to capture the output. The resulting file is called "SCENEGRAPH_SEQUENCE_ID.bag".
5. To learn the model specify the name to the bagfile(s) in the launch file "learner.launch" and launch it with "roslaunch asr_psm learner.launch".
Inference:
----------------------------------
6. Start the image aquisition with "roslaunch asr_psm start_cameras.launch".
7. Start the object detectors with "roslaunch asr_psm start_recognition_system.launch".
8. Edit the "inference.launch" file to fit your needs and launch it using the command "roslaunch asr_psm inference.launch". The results will be visualized in RVIZ, on demand a gnuplot graph showing the scene probabilities can be summoned.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rospy | |
| roscpp | |
| rosbag | |
| roslib | |
| asr_msgs | |
| std_msgs | |
| tf | |
| visualization_msgs | |
| asr_psm_visualizations | |
| asr_relation_graph_generator | |
| asr_resources_for_psm | |
| asr_lib_ism | |
| Eigen | |
| Boost | |
| cmake_modules | |
| catkin |
System Dependencies
| Name |
|---|
| opencv2 |
Dependant Packages
| Name | Deps |
|---|---|
| asr_recognizer_prediction_psm |
Launch files
- launch/combinatorial_learner.launch
- Launches the learner for probabilistic scene models. This launch file is specifically designed for launching the learner to use combinatorial optimization to generate object relation graphs. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/go.launch
- Launches camera and recognition system.
-
- launch/inf_screen.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/inference.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/learner.launch
- Launches the learner for probabilistic scene models. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/start_cameras.launch
- Launches the whole system for probabilistic scene recognition.
-
- launch/start_scene_graph_generation.launch
- Please take into account that recognition_for_grasping does not set AsrObject identifier yet. Therefore all measured object locations of the same object type are accumulated into one trajectory even for multiple objects.
-
-
-
- launch/validator.launch
- Launches the validator, which tests the given model against the given test sets and counts false recognitions and runtime. Calculates some statistical values (average of runtime and false recognitions, ratio of false recognition against number of sets). Writes the results as csv to the given file
-
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged asr_psm at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/asr-ros/asr_psm.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-11-14 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This package contains a system to recognize scenes called the Probabilistic Scene Model (PSM).
It uses objects and relative poses (relations) between the objects. The realations can be dynamic and each object can be a reference object.
The system consists of a training subsystem that trains new scenes and a scene inference subsystem that calculates scene probabilities of previously trained scenes.
Additional Links
No additional links.
Maintainers
- Meißner Pascal
Authors
- Braun Kai, Gehrung Joachim, Heizmann Heinrich, Meißner Pascal
General / Acquisition:
----------------------
1. Call "start_cameras.launch" and "start_recognition_system.launch" to start add required nodes like visualization, cameras, coordinate transformations and object detectors.
2. When you want to record data instead of processing it online (former is necessary when learning scene models), call the script "start_recording_localizer_input_and_results.sh SEQUENCE_ID" or "start_recording_objects_only.sh SEQUENCE_ID". The resulting file is called "OBJ_SEQUENCE_ID.bag".
Scene Model Learning:
----------------------------------
3. For getting one scene: Call "roslaunch asr_psm start_scene_graph_generation.launch scene_id:=SCENE_NAME" in launch directory. The scene graph generator started by the launch file collects all published object messages and processes them. This means that either online data or a rosbag file could be used. Press the key 'p' to publish the results.
=> Please take into account, that only one object per type in each scene is currently supported. This holds especially if objects of the same type appear across multiple trajectory recordings for one scene.
4. Use the script "start_recording_scene_graph.sh SEQUENCE_ID" in the scripts directory to capture the output. The resulting file is called "SCENEGRAPH_SEQUENCE_ID.bag".
5. To learn the model specify the name to the bagfile(s) in the launch file "learner.launch" and launch it with "roslaunch asr_psm learner.launch".
Inference:
----------------------------------
6. Start the image aquisition with "roslaunch asr_psm start_cameras.launch".
7. Start the object detectors with "roslaunch asr_psm start_recognition_system.launch".
8. Edit the "inference.launch" file to fit your needs and launch it using the command "roslaunch asr_psm inference.launch". The results will be visualized in RVIZ, on demand a gnuplot graph showing the scene probabilities can be summoned.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rospy | |
| roscpp | |
| rosbag | |
| roslib | |
| asr_msgs | |
| std_msgs | |
| tf | |
| visualization_msgs | |
| asr_psm_visualizations | |
| asr_relation_graph_generator | |
| asr_resources_for_psm | |
| asr_lib_ism | |
| Eigen | |
| Boost | |
| cmake_modules | |
| catkin |
System Dependencies
| Name |
|---|
| opencv2 |
Dependant Packages
| Name | Deps |
|---|---|
| asr_recognizer_prediction_psm |
Launch files
- launch/combinatorial_learner.launch
- Launches the learner for probabilistic scene models. This launch file is specifically designed for launching the learner to use combinatorial optimization to generate object relation graphs. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/go.launch
- Launches camera and recognition system.
-
- launch/inf_screen.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/inference.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/learner.launch
- Launches the learner for probabilistic scene models. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/start_cameras.launch
- Launches the whole system for probabilistic scene recognition.
-
- launch/start_scene_graph_generation.launch
- Please take into account that recognition_for_grasping does not set AsrObject identifier yet. Therefore all measured object locations of the same object type are accumulated into one trajectory even for multiple objects.
-
-
-
- launch/validator.launch
- Launches the validator, which tests the given model against the given test sets and counts false recognitions and runtime. Calculates some statistical values (average of runtime and false recognitions, ratio of false recognition against number of sets). Writes the results as csv to the given file
-
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged asr_psm at Robotics Stack Exchange
No version for distro noetic showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/asr-ros/asr_psm.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-11-14 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This package contains a system to recognize scenes called the Probabilistic Scene Model (PSM).
It uses objects and relative poses (relations) between the objects. The realations can be dynamic and each object can be a reference object.
The system consists of a training subsystem that trains new scenes and a scene inference subsystem that calculates scene probabilities of previously trained scenes.
Additional Links
No additional links.
Maintainers
- Meißner Pascal
Authors
- Braun Kai, Gehrung Joachim, Heizmann Heinrich, Meißner Pascal
General / Acquisition:
----------------------
1. Call "start_cameras.launch" and "start_recognition_system.launch" to start add required nodes like visualization, cameras, coordinate transformations and object detectors.
2. When you want to record data instead of processing it online (former is necessary when learning scene models), call the script "start_recording_localizer_input_and_results.sh SEQUENCE_ID" or "start_recording_objects_only.sh SEQUENCE_ID". The resulting file is called "OBJ_SEQUENCE_ID.bag".
Scene Model Learning:
----------------------------------
3. For getting one scene: Call "roslaunch asr_psm start_scene_graph_generation.launch scene_id:=SCENE_NAME" in launch directory. The scene graph generator started by the launch file collects all published object messages and processes them. This means that either online data or a rosbag file could be used. Press the key 'p' to publish the results.
=> Please take into account, that only one object per type in each scene is currently supported. This holds especially if objects of the same type appear across multiple trajectory recordings for one scene.
4. Use the script "start_recording_scene_graph.sh SEQUENCE_ID" in the scripts directory to capture the output. The resulting file is called "SCENEGRAPH_SEQUENCE_ID.bag".
5. To learn the model specify the name to the bagfile(s) in the launch file "learner.launch" and launch it with "roslaunch asr_psm learner.launch".
Inference:
----------------------------------
6. Start the image aquisition with "roslaunch asr_psm start_cameras.launch".
7. Start the object detectors with "roslaunch asr_psm start_recognition_system.launch".
8. Edit the "inference.launch" file to fit your needs and launch it using the command "roslaunch asr_psm inference.launch". The results will be visualized in RVIZ, on demand a gnuplot graph showing the scene probabilities can be summoned.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rospy | |
| roscpp | |
| rosbag | |
| roslib | |
| asr_msgs | |
| std_msgs | |
| tf | |
| visualization_msgs | |
| asr_psm_visualizations | |
| asr_relation_graph_generator | |
| asr_resources_for_psm | |
| asr_lib_ism | |
| Eigen | |
| Boost | |
| cmake_modules | |
| catkin |
System Dependencies
| Name |
|---|
| opencv2 |
Dependant Packages
| Name | Deps |
|---|---|
| asr_recognizer_prediction_psm |
Launch files
- launch/combinatorial_learner.launch
- Launches the learner for probabilistic scene models. This launch file is specifically designed for launching the learner to use combinatorial optimization to generate object relation graphs. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/go.launch
- Launches camera and recognition system.
-
- launch/inf_screen.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/inference.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
-
- launch/learner.launch
- Launches the learner for probabilistic scene models. Incoming AsrScenGraph messages are collected and being used for model learning.
-
- launch/start_cameras.launch
- Launches the whole system for probabilistic scene recognition.
-
- launch/start_scene_graph_generation.launch
- Please take into account that recognition_for_grasping does not set AsrObject identifier yet. Therefore all measured object locations of the same object type are accumulated into one trajectory even for multiple objects.
-
-
-
- launch/validator.launch
- Launches the validator, which tests the given model against the given test sets and counts false recognitions and runtime. Calculates some statistical values (average of runtime and false recognitions, ratio of false recognition against number of sets). Writes the results as csv to the given file
-
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.