Bin Picking Simulation

Video

Abstract

This program helps to construct 3D scene for the bin picking based on the 3D pointcloud of an object.

The project takes a .STL mesh model as an input, then it will create a synthetic scene using Point Cloud Library(PCL) for pointcloud processing and Bullet Physics for physics simulation.

Requirements

Linux

To build this project you will need:

• Point Cloud Library (PCL)

  $ sudo apt install libpcl-dev
  
  

• cmake

• Bullet3 (which is already compiled with the project)

Compile and run

    mkdir build
    cd build
    cmake ..
    make
    ./binSceneMaker

Windows

To build this project you will need:

• Visual Studio 2017

• OpenNI2

• Point Cloud Library (PCL 1.9.1)

Install PCL as you wish, just don't install OpenNI2 at this stage

• cmake 3.18.5

• Bullet3 (which is already compiled with the project)