{"id":19134272,"url":"https://github.com/um-arm-lab/multihypothesis_segmentation_tracking","last_synced_at":"2025-05-06T19:28:06.472Z","repository":{"id":79650998,"uuid":"308974860","full_name":"UM-ARM-Lab/multihypothesis_segmentation_tracking","owner":"UM-ARM-Lab","description":"Public release of code for Manipulating Piles of Stuff voxel pipeline.","archived":false,"fork":false,"pushed_at":"2020-12-08T08:03:29.000Z","size":4912,"stargazers_count":6,"open_issues_count":1,"forks_count":1,"subscribers_count":10,"default_branch":"develop","last_synced_at":"2025-05-06T19:27:59.854Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Jupyter Notebook","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/UM-ARM-Lab.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2020-10-31T21:27:26.000Z","updated_at":"2024-09-14T02:40:38.000Z","dependencies_parsed_at":"2023-05-14T09:00:35.813Z","dependency_job_id":null,"html_url":"https://github.com/UM-ARM-Lab/multihypothesis_segmentation_tracking","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/UM-ARM-Lab%2Fmultihypothesis_segmentation_tracking","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/UM-ARM-Lab%2Fmultihypothesis_segmentation_tracking/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/UM-ARM-Lab%2Fmultihypothesis_segmentation_tracking/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/UM-ARM-Lab%2Fmultihypothesis_segmentation_tracking/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/UM-ARM-Lab","download_url":"https://codeload.github.com/UM-ARM-Lab/multihypothesis_segmentation_tracking/tar.gz/refs/heads/develop","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":252752232,"owners_count":21798754,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-09T06:26:04.461Z","updated_at":"2025-05-06T19:28:06.460Z","avatar_url":"https://github.com/UM-ARM-Lab.png","language":"Jupyter Notebook","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Multihypothesis Segmentation Tracking\n\nThis is the public code release for the Multihypothesis Segmentation Tracking algorithm.\nDocumentation and dependency cleanup is still a work in progress, but please create an issue if you're interesting in using the code and encounter difficulty.\n\n## Related Repositories\n\n* [SceneCut Segmentation](https://github.com/UM-ARM-Lab/scenecut-segmentation)\n* [Shape Completion](https://github.com/UM-ARM-Lab/mps_shape_completion)\n* [SiamMask Tracker](https://github.com/UM-ARM-Lab/SiamMask)\n\n## Project Structure\n\n![Project Structure](code_structure.png)\n\n## Prerequisites\n\n* Linux\n* ROS\n* OpenCV\n* PCL\n* Octomap\n\n## Demo\n\n### Download and Compile\n\n```bash\ncd ~/PATH_TO_LOCAL_ROS_WS/src\ngit clone git@github.com:UM-ARM-Lab/multihypothesis_segmentation_tracking.git\ncd ../ \u0026 catkin_make\n```\n\n### Run MCMC Segmentation Sampler on stored example SceneCut output\n\n```bash\nroscore\nrosrun mps_voxels demo_seg_sample\n```\n\n### Run Hypotheses Merger on stored tracking and measurements\n\nStart up a ROS core and open up RViz so you can see the merging results.\n\n```bash\nroscore\nrosrun mps_voxels demo_resample\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fum-arm-lab%2Fmultihypothesis_segmentation_tracking","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fum-arm-lab%2Fmultihypothesis_segmentation_tracking","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fum-arm-lab%2Fmultihypothesis_segmentation_tracking/lists"}