Robust pose estimation of objects with feature ambiguity based on point cloud.
Youtube video, If you cannot link to youtube, try bilibili.
-
Eigen3
-
Sophus
-
PCL
-
OpenCV: modify the
OpenCV_DIR
to your path -
OpenMP
-
Boost
- add model and generate the offline data, skip to
add_model/README.md
to know how to. - capture the object point cloud in the scene add save it in the
data
in the pcd format and in meters unit. - modify the
config.ini
. The main item you need to modify ismodel_name
,scene_name
,cad_models_path
,model_data_path
, - in the root directory
mkdir build cd build cmake .. make -j4
./globalPipeline
add_model
part is modified from the object_identification_localization project.