cdcpd
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UM-ARM-Lab
Library for Constrained Deformable Coherent Point Drift
This is a large PR but it breaks down to adding the tracking map (see #48) and fixing the RVIZ edge visualization for cloth (#47).
When poking around, I discovered that my reimplimentation of the routine was more numerically stable and lead to less vertex "scrunching" when inputting many many points or points in the...
Look at 0676ae047519bab1badf0f1ac157cca745dc9354 to see the fix in another branch.
To get the bounding box to work in rviz I had to clone and `catkin build` the jsk_visualization repository. This should probably be added to the package.xml file dependency list
The constructor for CDCPD is messy and should be refactored. I've got most of the way there with https://github.com/UM-ARM-Lab/cdcpd/tree/cdcpd_constructor_refactor but there was a problem with the pybind11 bindings that I...
Need to incorporate the stretch parameter (lambda in the paper) into the cloth max segment length calculation. Additionally, I'm not sure that taking the minimum of the grid lengths is...
The README's dependency list is somewhat ambiguous right now and has no indication that you need some UM ARM lab-specific forks of e.g. pyrosmsg. It would help to explicitly list...
CDCPD offline should either be updated to work again (and it's geometric_shapes package dependency documented in the README) or removed (along with the dependency on the geometric_shapes package). It seems...
arc_utilities is noted as a build dependency but it's currently ambiguous in the README as to where arc_utilities should be built. The README should be updated to include this information...
While the install scripts are helpful, they're fairly outdated and install unnecessary packages as well as failing to install some necessary packages for CDCPD. These need to be updated.
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Library for Constrained Deformable Coherent Point Drift