Linemod detection cant work

[zhongxin882001]

hello everyone
Im now using linemod to detect the coke can with the ORK tutorials after the linemod training when I run the detection it cant detect anything in rviz.

grxuser@grxuser-XPS-8900:~/catkin_ws/src/ork_tutorials/data$ rosrun object_recognition_core detection -c rospack find object_recognition_linemod/conf/detection.ros.ork
[ INFO] [1511763503.230235142]: Initialized ROS. node_name: /object_recognition_server
[ INFO] [1511763503.511648858]: System already initialized. node_name: /object_recognition_server
[ INFO] [1511763503.516849406]: Subscribed to topic:/camera/depth_registered/sw_registered/camera_info [queue_size: 1][tcp_nodelay: 0]
[ INFO] [1511763503.518889503]: Subscribed to topic:/camera/rgb/camera_info [queue_size: 1][tcp_nodelay: 0]
[ INFO] [1511763503.520862192]: Subscribed to topic:/camera/rgb/image_rect_color [queue_size: 1][tcp_nodelay: 0]
[ INFO] [1511763503.523170545]: Subscribed to topic:/camera/depth_registered/sw_registered/image_rect_raw [queue_size: 1][tcp_nodelay: 0]
Reading the mesh file original.stl
Info, T0: Load �<[+��.stl
Info, T0: Found a matching importer for this file format
Info, T0: Import root directory is './'
Info, T0: Entering post processing pipeline
Info, T0: Points: 0, Lines: 0, Triangles: 1, Polygons: 0 (Meshes, X = removed)
Error, T0: FindInvalidDataProcess fails on mesh normals: Found zero-length vector
Info, T0: FindInvalidDataProcess finished. Found issues ...
Info, T0: GenVertexNormalsProcess finished. Vertex normals have been calculated
Error, T0: Failed to compute tangents; need UV data in channel0
Info, T0: JoinVerticesProcess finished | Verts in: 1536 out: 258 | ~83.2%
Info, T0: Cache relevant are 1 meshes (512 faces). Average output ACMR is 0.669922
Info, T0: Leaving post processing pipeline
Loaded 82507099cc7cc8eedf2a98328f000009 with the number of samples 5100

[ INFO] [1511763504.639047482]: publishing to topic:/recognized_object_array

and when I check the published topic /recognized_object_arraygrxuser@grxuser-XPS-8900:~$ rostopic echo /recognized_object_array
header:
seq: 3450
stamp:
secs: 1511763845
nsecs: 235033047
frame_id: camera_rgb_optical_frame
objects: []
cooccurrence: []

header:
seq: 3451
stamp:
secs: 1511763845
nsecs: 335025021
frame_id: camera_rgb_optical_frame
objects: []
cooccurrence: []

I am using the latest version of ORK, Ros indigo, Ubuntu 14.04

Thank you very much

[SimonvanEeden]

Hello zhongxin,

I know this is a quite late response but maybe this response can help others. I used to have that same problem, in my case it was because I loaded my own models that were in mm instead of meters.

What you reported happens when no objects are found. Try lowering the threshold in the .conf file to a low number like 30. In that case prettymuch anything looks like a model and it should give a response. In my case this showed a gigantic model in rviz (1000x too large).

I hope this helps you or others solve probles like these.