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ecto_corrector

ecto_corrector contains Ecto (http://ecto.willowgarage.com/) bindings for the pose_corrector ROS package (http://www.ros.org/wiki/pose_corrector). The main purpose of ecto_corrector is to provide pose refinement functionality when matching a 3D mesh model into range data.

Installation:

ecto_corrector currently requires the following ROS packages to be installed and in your ROS_PACKAGE_PATH:

  • pose_corrector
  • sensor_msgs
  • geometry_msgs
  • tabletop_object_detector

You must also have ecto (https://github.com/plasmodic/ecto) and ecto_pcl (https://github.com/plasmodic/ecto_pcl). The recommended method for getting these dependencies is through ecto_kitchen (https://github.com/plasmodic/ecto_kitchen).

Example instructions for building ecto_corrector:
cd ecto_corrector
mkdir build
cd build
cmake .. -Decto_DIR=~/ecto_kitchen/build -Decto_pcl_INCLUDES=~/ecto_kitchen/pcl/include
make -j4

Running example programs in the scripts directory:

As with other ecto Python scripts, make sure you have your PYTHONPATH set up properly. Use the python_path.sh script in ecto_corrector/build as well as the python_path.sh scripts for other required ecto packages prior to running the script.