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realsense_pointnet_on_ROS

PointNet with ROS Integration

This project demonstrates the integration of PointNet with ROS to process point clouds obtained from a Realsense D455 camera. The PointNet model is used to segment potential movable objects such as humans, robots, and chairs.

Features

  • Implementation of PointNet using PyTorch
  • Integration with ROS
  • Processing of point clouds from Realsense D455 camera

Requirements

  • Python 3.7 or later
  • PyTorch
  • ROS Noetic
  • Realsense ROS package
  • OpenCV
  • NumPy

Code Structure

  • src/
    • pointnet.py: Contains the implementation of the PointNet model.
    • ros_pointnet.py: Contains the ROS node for integrating PointNet.
    • mvs.py: Contains the MVS algorithm implementation for generating point clouds.
  • launch/
    • realsense_pointnet.launch: Launch file for starting the ROS nodes.
  • scripts/
    • mvs_node.py: ROS node for running the MVS algorithm.
    • pointnet_node.py: ROS node for running PointNet.

Setup

  1. Install the required libraries: 
    pip install -r requirements.txt
  2. Clone this repository: 
    git clone https://github.com/yourusername/ros_pointnet.git
cd ros_pointnet
  3. Build the ROS package: 
    catkin_make
source devel/setup.bash

Usage

To launch the ROS nodes:

roslaunch ros_pointnet realsense_pointnet.launch