/pym3t

Primary LanguageC++

A python wrapper around M3T tracker from https://github.com/DLR-RM/3DObjectTracking/tree/master

Installation

git clone git@github.com:MedericFourmy/pym3t.git --recursive

Install dependencies with conda:
conda env create --name pym3t --file environment.yaml

Then
pip install .

Example scripts

As example of usage of the library, scripts are provided:

  • run_image_dir_example.py: single object tracking using color and depth images from filesystem
  • run_webcam_example.py: single object tracking with first camera device detected by the system (webcam or other usb camera usually)
  • run_realsense_example.py: single object tracking with realsense camera

❓: check available options with python <script>.py -h

For all examples, you need a object mesh in the wavefront .obj format with name <object_id>.obj. Upon first execution, a set of sparse template views are generated which can take some time.

Running image per image

For this example you need a set of of recorded sequential color (and potentially depth) images stored in a directory. The color images color*.png and depth*.png need have names with lexicographic order (e.g. color_000000.png, color_000001.png, color_000002.png...) Calibrated camera intrinsics in the formate described in config/cam_d435_640.yaml also need to be provided.

Color only:

python examples/run_image_dir_example.py --use_region -b obj_000014 -m <path/to/obj/dir> -i <path/to/image/dir> -c config/cam_d435_640.yaml --stop

Color + depth:

python examples/run_image_dir_example.py --use_region --use_depth -b obj_000014 -m <path/to/obj/dir> -i <path/to/image/dir> -c config/cam_d435_640.yaml --stop

Keyboard commands:

  • q: exit
  • any other key: When running with --stop/-s argument, continue to next image

Running with webcam

To bypass camera calibration, a reasonable horizontal fov (~50-70 degrees) can be assumed to get camera intrinsics

python examples/run_webcam_example.py --use_region -b obj_000014 -m <path/to/obj/dir>

Keyboard commands:

  • q: exit
  • d: reset object pose to initial guess
  • x: start/restart tracking

Running with realsense camera

Color only:

python examples/run_realsense_example.py --use_region -b obj_000014 -m <path/to/obj/dir>

Color + depth:

python examples/run_realsense_example.py --use_region --use_depth -b obj_000014 -m <path/to/obj/dir>

Keyboard commands:

  • q: exit
  • d: initialize object pose
  • x: start/restart tracking