Sample code for triangle histograms for tactile object recognition, as described in:

M. M. Zhang, M. Kennedy, M. A. Hsieh, and K. Daniilidis. A Triangle Histogram for Object Classification by Tactile Sensing. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2016.

Disclaimer

The code is provided AS IS. This subset of code has not been tested. There may be missing dependencies on packages.

However, all code files were extracted from packages of working code that were tested under ROS Indigo in 2015-2017.

Dependencies

• ROS + Gazebo (tested under ROS Indigo)
• PCL
• Eigen
• util repository under this account.

Check out the repositories under ROS catkin workspace, e.g. catkin_ws/src, then run

$ catkin build