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Refine ICP to be more accurate #3

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opened 2025-03-24 22:42:27 +00:00 by ethanmclark1 · 0 comments
ethanmclark1 commented 2025-03-24 22:42:27 +00:00
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icp_registration in process_hand.py is passed in a depth cloud and vertices from the hand mesh, it then performs iterative closest point on these two inputs to get the refined landmarks.

We are currently using arbitrary scaling factors (HAND_WIDTH_MM and CLOUD_Z_SCALE) for the respective functions z values which is okay for now but needs to be optimized to be a function of the camera extrinsics and the users hand.

`icp_registration` in process_hand.py is passed in a depth cloud and vertices from the hand mesh, it then performs iterative closest point on these two inputs to get the refined landmarks. We are currently using arbitrary scaling factors (`HAND_WIDTH_MM` and `CLOUD_Z_SCALE`) for the respective functions z values which is okay for now but needs to be optimized to be a function of the camera extrinsics and the users hand.
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Reference: luckyrobots/open_phantom#3
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