Package Summary
This package performs object pose refinement by using ICP and/or optimization over a beam-based sensor model. For scenarios with large amounts of clutter, occlusion, and pose uncertainty, this package offers functionality for performing random restarts with different evaluation functions, including a segmentation-aided beam-based sensor model.
- Author: Michael Krainin
- License: BSD
- Repository: wg-ros-pkg
- Source: svn https://code.ros.org/svn/wg-ros-pkg/branches/trunk_electric/electric_sandbox/pose_corrector
Contents
Notes
When installing, it is highly recommended to have CUDA installed, though not strictly required. A message during compilation will indicate whether or not CUDA has been detected on your system. If detected, it will be automatically used for the beam-based sensor model error evaluation.
For test programs, including tools for running pose_corrector over bag data and a preliminary integration with tod, see pose_corrector_test.
To perform pose refinement as part of an Ecto graph, Python bindings for this package are available in ecto_corrector.