leaf node generation for real-world experiments about online-3d-bpp-pct HOT 3 CLOSED

Let's take the scenario where the recently placed object has moved previously placed objects. Because of this the internal node set 'Bt' and the leaf node set 'Lt' is no longer valid anymore. If we want to regenerate the tree from scratch, we need to know exactly where did each and every object moved to create a correct spatial relation tree. To do this, we need to map each and every object in the camera image , to create the internal node set representation 'Bt' along with leaf node, which is not possible because we don't have information on each object to map them and create the tree, from the camera image.

So, how do you create a tree structure from scratch every-time maintaining the correct spatial relations?

from online-3d-bpp-pct.

Hello, thanks for your attention!

1. If the position of the placed object is easy to shift, we can regenerate the leaf nodes from scratch each time instead of incrementally generating them. This is feasible and does not take too much time overhead.
2. The current version of the code supports orientation representation. It is integrated in the descriptor of the leaf node.

from online-3d-bpp-pct.

Hello, this is indeed a very interesting question. However, I think it is not impossible to map each and every object in the camera image. In fact, based on our real robot experience, we can use the method of plane segmentation, or learning-based detection method, roughly determine the position of the observable box, and then correct the information of the internal node set 'Bt' and the leaf node set 'Lt', hope this can help.

from online-3d-bpp-pct.