https://github.com/um-arm-lab/multihypothesis_segmentation_tracking
Public release of code for Manipulating Piles of Stuff voxel pipeline.
https://github.com/um-arm-lab/multihypothesis_segmentation_tracking
Last synced: about 1 year ago
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Public release of code for Manipulating Piles of Stuff voxel pipeline.
- Host: GitHub
- URL: https://github.com/um-arm-lab/multihypothesis_segmentation_tracking
- Owner: UM-ARM-Lab
- License: mit
- Created: 2020-10-31T21:27:26.000Z (over 5 years ago)
- Default Branch: develop
- Last Pushed: 2020-12-08T08:03:29.000Z (over 5 years ago)
- Last Synced: 2025-05-06T19:27:59.854Z (about 1 year ago)
- Language: Jupyter Notebook
- Size: 4.68 MB
- Stars: 6
- Watchers: 10
- Forks: 1
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Multihypothesis Segmentation Tracking
This is the public code release for the Multihypothesis Segmentation Tracking algorithm.
Documentation 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.
## Related Repositories
* [SceneCut Segmentation](https://github.com/UM-ARM-Lab/scenecut-segmentation)
* [Shape Completion](https://github.com/UM-ARM-Lab/mps_shape_completion)
* [SiamMask Tracker](https://github.com/UM-ARM-Lab/SiamMask)
## Project Structure
## Prerequisites
* Linux
* ROS
* OpenCV
* PCL
* Octomap
## Demo
### Download and Compile
```bash
cd ~/PATH_TO_LOCAL_ROS_WS/src
git clone git@github.com:UM-ARM-Lab/multihypothesis_segmentation_tracking.git
cd ../ & catkin_make
```
### Run MCMC Segmentation Sampler on stored example SceneCut output
```bash
roscore
rosrun mps_voxels demo_seg_sample
```
### Run Hypotheses Merger on stored tracking and measurements
Start up a ROS core and open up RViz so you can see the merging results.
```bash
roscore
rosrun mps_voxels demo_resample
```