Ongoing project to segment sandwiches and other food at convenience store for robot manipulation
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- install requirements
- run ./sh/preparation.sh to download models
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This package provides a service to get the instance masks of the sandwiches.
- roslaunch fcsc run_fcsc_sandwich.launch
- python scripts/fcsc_sandwich_client.py
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When you run the program on jetson board, loading model weights and running client script for the first time will take a little time. But afterwards the client scripts will run faster. So the stategy might be: launch the service, run the client code with dummy data when starting up the robot.
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Writing another service to get the pose of the object from point cloud with PCA
