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probreg - Python package for point cloud registration using probabilistic model (Coherent Point Drift, GMMReg, SVR, GMMTree, FilterReg, Bayesian CPD)

  •    Python

Probreg is a library that implements point cloud registration algorithms with probablistic model. The point set registration algorithms using stochastic model are more robust than ICP(Iterative Closest Point). This package implements several algorithms using stochastic models and provides a simple interface with Open3D.

XNA Dual Quaternion Skinning


A dual quaternion version of the XNA Skinning Sample. Dual Quaternion skinning is slower than standard skinning but produces more mathematically accurate results and reduces undesirable candy wrapper effects that are often seen at shoulder joints of meshes.

handeye_calib_camodocal - Easy to use and accurate hand eye calibration which has been working reliably for years (2016-present) with kinect, kinectv2, rgbd cameras, optical trackers, and several robots including the ur5 and kuka iiwa

  •    C++

This is a ROS node integrating the Hand Eye Calibration implemented in CamOdoCal. See this stack exchange question explaining how Hand Eye Calibration works. keynote presentation explaining many details about hand eye calibration for those that are interested. Practical code and instructions to calibrate your robot can be found below.

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