PatchGraph
This repository contains the source code of the paper PatchGraph: In-hand tactile tracking with learned surface normals.
Installation
Create a virtual python environment using Anaconda:
conda create -n inhand python=3.7
conda activate inhand
Install the inhandpy python package. From the base directory execute:
cd inhandpy/
pip install -e .
Usage
In inhandpy, download datasets, pre-trained models and other local resources by running:
./download_local_files.sh
Stage 1: Tactile images to 3D point clouds
To run the example:
python scripts/examples/digit_rgb_to_cloud3d.py
By default, this runs the sim trials with cube shape. To run the example with other datasets and settings, please look at user set options under digit_rgb_to_cloud3d.yaml.
