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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
asr_psm
Documentation: http://wiki.ros.org/asr_psm
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/learner.launch
- Launches the learner for probabilistic scene models. Incoming AsrScenGraph messages are collected and being used for model learning.
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- 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.
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- launch/go.launch
- Launches camera and recognition system.
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- 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.
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- launch/inference.launch
- Launches the inference engine for probabilistic scene recognition. Incoming AsrObject messages are being processed and the results used for scene recognition.
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- 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
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- launch/start_cameras.launch
- Launches the whole system for probabilistic scene recognition.
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- 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.
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Messages
No message files found.
Services
No service files found
Plugins
No plugins found.