Davinci Surgical Tool Tracking
This package is for da Vinci surgical robot tool tracking
Dependences:
cwru_vision: https://github.com/cwru-robotics/cwru_vision.git
glm library: sudo apt-get install libglm-dev
vision_opencv: https://github.com/ros-perception/vision_opencv.git
cwru_davinci: https://github.com/cwru-robotics/cwru_davinci
Tool model package: load the surgical tool model, construct tool geometry and perform virtual rendering.
To check the tool geometry and virtual rendering performance, run:
rosrun tool_model tool_model_main
- tool tracking package: integrate Particle Filter (PF) algorithm, Unscented Kalman Filter (UKF) algorithm
To run PF tracking algorithm:
rosrun tool_tracking tracking_particle
To run UKF tracking algorithm:
rosrun tool_tracking tracking_kalman
load model package: load CAD model in obj files
This package is to test the object loading via OpenGl glm library.
To test the vertices loading performance, cmake the package and ./load_main