trifinger_object_tracking: Multi-camera pose estimation of coloured cuboids

Multi-camera pose estimation of coloured cuboids for the TriFinger robots.

Detect coloured cuboids (with a different colour on each side) using images from three cameras. This is used for object detection in the TriFinger robot platforms but could also be used in other settings with multiple cameras.

The source code is hosted on GitHub. Please also use the Bug Tracker there if you have a question or want to report a bug.

General Documentation

• Installation
• Introduction
• Object Model
• Train Colour Segmentation for the Object Tracker

C++ API

• C++ API
  • Class list
  • File list
  • Namespace list
  • Struct list
  • C++ API and example

Python API

• trifinger_object_tracking
  • trifinger_object_tracking package
    • Submodules

• Module Index

Indices and Tables

• Index

• Search Page

License and Copyrights

Unless specified differently in the specific files, the content of this package is provided under the BSD 3-Clause License (see below).

An exception is the content of “include/optim”: This contains a copy of the “OptimLib” library by Keith O’Hara which is provided under the Apache License Version 2 (see “include/optim/LICENSE.txt”).

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BSD 3-Clause License

Copyright (c) 2020, Max Planck Gesellschaft. All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.