A module to reconstruct in 3D a set of pixel and visualize the reconstruction. More...

A module to reconstruct in 3D a set of pixel and visualize the reconstruction.

Description

This module, given a set of pixels, returns the point cloud along with the minimum enclosing bounding box. It usually employs the graphBasedSegmentation module, which provides all the pixels belonging to a certain segment of the image, but it can be used with any other segmentation module that retrieves the list of pixels belonging to the object to be reconstructed.

Commands:

The commands sent as bottles to the module port /<modName>/rpc are described in the following:

HELP
format: [help]
action: it returns the list of the things to do to use the module properly.

PIXEL
format: [u v]
action: the pixel is given to the segmentation module, which responds with the pixels belonging to the chosen segment.

RECONSTRUCT
format: [3Drec] "param1"
action: the set of pixels are projected in 3D and provided on the output port – typically /object-reconstruction/mesh:o. The optional parameter "param1" can be set to "visualize"; in this case the reconstructed cloud will also be displayed using Point Cloud Library library.

CHANGE NAME
format: [name (newName)]
action: The reconstructed pointclouds will be saved as newNameX.ply, where newName is thename given by the user and X is number increasing for each reconstruction saved on the same root name. Default name is 3Dobject.

GET
format: [get point (u v)]
action: The pixel (u v) is projected in 3D and returned in the format (x y z).

SET
format: [set write param]
action: If param is set to on, the reconstructed point cloud will be written in the home context path folder. This functionality can be turned off by setting param to off.

Libraries

YARP libraries.
objects3D library
minimumBoundingBox library
stereo-vision library
OpenCV library
Point Cloud Library.

Ports Created

/ <modName>/rpc remote procedure call. It always replies something.
/ <modName>/segmentation this is the port through which the pixel belonging to the object is sent to the segmentation module, and the set of pixels belonging to the object are returned.
/ <modName>/mesh:o this is the port where the reconstructed object is returned.

Parameters

The following are the options that are usually contained in the configuration file:

–name name

specify the module name, which is object-reconstruction by default.

–robot robot

specify the robot that has to be used. It is icub by default.

– computeBB computeBB

tells if the algorithm has also to compute the minimum enclosing bounding box. It can be on or off.

Tested OS

Windows, Linux

Author: Ilaria Gori