{"action":"created","issue":{"url":"https://api.github.com/repos/CentroEPiaggio/pacman-DR53/issues/19","labels_url":"https://api.github.com/repos/CentroEPiaggio/pacman-DR53/issues/19/labels{/name}","comments_url":"https://api.github.com/repos/CentroEPiaggio/pacman-DR53/issues/19/comments","events_url":"https://api.github.com/repos/CentroEPiaggio/pacman-DR53/issues/19/events","html_url":"https://github.com/CentroEPiaggio/pacman-DR53/issues/19","id":60634440,"number":19,"title":"Object Pose Estimation","user":{"login":"carlosjoserg","id":4049053,"avatar_url":"https://avatars.githubusercontent.com/u/4049053?v=3","gravatar_id":"","url":"https://api.github.com/users/carlosjoserg","html_url":"https://github.com/carlosjoserg","followers_url":"https://api.github.com/users/carlosjoserg/followers","following_url":"https://api.github.com/users/carlosjoserg/following{/other_user}","gists_url":"https://api.github.com/users/carlosjoserg/gists{/gist_id}","starred_url":"https://api.github.com/users/carlosjoserg/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/carlosjoserg/subscriptions","organizations_url":"https://api.github.com/users/carlosjoserg/orgs","repos_url":"https://api.github.com/users/carlosjoserg/repos","events_url":"https://api.github.com/users/carlosjoserg/events{/privacy}","received_events_url":"https://api.github.com/users/carlosjoserg/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/CentroEPiaggio/pacman-DR53/labels/bug","name":"bug","color":"fc2929"}],"state":"open","locked":false,"assignee":{"login":"Tabjones","id":1950251,"avatar_url":"https://avatars.githubusercontent.com/u/1950251?v=3","gravatar_id":"","url":"https://api.github.com/users/Tabjones","html_url":"https://github.com/Tabjones","followers_url":"https://api.github.com/users/Tabjones/followers","following_url":"https://api.github.com/users/Tabjones/following{/other_user}","gists_url":"https://api.github.com/users/Tabjones/gists{/gist_id}","starred_url":"https://api.github.com/users/Tabjones/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Tabjones/subscriptions","organizations_url":"https://api.github.com/users/Tabjones/orgs","repos_url":"https://api.github.com/users/Tabjones/repos","events_url":"https://api.github.com/users/Tabjones/events{/privacy}","received_events_url":"https://api.github.com/users/Tabjones/received_events","type":"User","site_admin":false},"milestone":{"url":"https://api.github.com/repos/CentroEPiaggio/pacman-DR53/milestones/2","html_url":"https://github.com/CentroEPiaggio/pacman-DR53/milestones/Demo%20trial%20with%20object%20recognition","labels_url":"https://api.github.com/repos/CentroEPiaggio/pacman-DR53/milestones/2/labels","id":1030798,"number":2,"title":"Demo trial with object recognition","description":"Goal: test object pose estimation integration, at least with a small DB.\r\n\r\nInvolved members:\r\n- @hamalMarino\r\n- @carlosjoserg\r\n- @Tabjones","creator":{"login":"carlosjoserg","id":4049053,"avatar_url":"https://avatars.githubusercontent.com/u/4049053?v=3","gravatar_id":"","url":"https://api.github.com/users/carlosjoserg","html_url":"https://github.com/carlosjoserg","followers_url":"https://api.github.com/users/carlosjoserg/followers","following_url":"https://api.github.com/users/carlosjoserg/following{/other_user}","gists_url":"https://api.github.com/users/carlosjoserg/gists{/gist_id}","starred_url":"https://api.github.com/users/carlosjoserg/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/carlosjoserg/subscriptions","organizations_url":"https://api.github.com/users/carlosjoserg/orgs","repos_url":"https://api.github.com/users/carlosjoserg/repos","events_url":"https://api.github.com/users/carlosjoserg/events{/privacy}","received_events_url":"https://api.github.com/users/carlosjoserg/received_events","type":"User","site_admin":false},"open_issues":2,"closed_issues":1,"state":"open","created_at":"2015-03-20T11:25:05Z","updated_at":"2015-04-08T23:09:47Z","due_on":"2015-04-08T22:00:00Z","closed_at":null},"comments":5,"created_at":"2015-03-11T09:59:31Z","updated_at":"2015-04-10T21:37:35Z","closed_at":null,"body":"The current state of the object pose estimation recognizes point cloud patches and not an object mesh. Hence, the reference coordinate frame for the object is not unique. Things to do:\r\n\r\n- [x] Object scan of IKEA objects (all possible objects from the list)\r\n- [x] [Point cloud registration](http://pointclouds.org/documentation/tutorials/registration_api.php) of all scans of an object\r\n- [x] Mesh generation (e.g. using [meshlab stuff](http://meshlabstuff.blogspot.com.es/2009/09/meshing-point-clouds.html), leave it dense, and provide instructions to downsample, unless the mesh is too heavy)\r\n- [x] Submit to [pacman-object-database](https://github.com/pacman-project/pacman-object-database)\r\n\r\nThis is a pre-requisite of #5 since it is needed to calibrate the star tracker with objects."},"comment":{"url":"https://api.github.com/repos/CentroEPiaggio/pacman-DR53/issues/comments/91699229","html_url":"https://github.com/CentroEPiaggio/pacman-DR53/issues/19#issuecomment-91699229","issue_url":"https://api.github.com/repos/CentroEPiaggio/pacman-DR53/issues/19","id":91699229,"user":{"login":"Tabjones","id":1950251,"avatar_url":"https://avatars.githubusercontent.com/u/1950251?v=3","gravatar_id":"","url":"https://api.github.com/users/Tabjones","html_url":"https://github.com/Tabjones","followers_url":"https://api.github.com/users/Tabjones/followers","following_url":"https://api.github.com/users/Tabjones/following{/other_user}","gists_url":"https://api.github.com/users/Tabjones/gists{/gist_id}","starred_url":"https://api.github.com/users/Tabjones/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Tabjones/subscriptions","organizations_url":"https://api.github.com/users/Tabjones/orgs","repos_url":"https://api.github.com/users/Tabjones/repos","events_url":"https://api.github.com/users/Tabjones/events{/privacy}","received_events_url":"https://api.github.com/users/Tabjones/received_events","type":"User","site_admin":false},"created_at":"2015-04-10T21:37:35Z","updated_at":"2015-04-10T21:37:35Z","body":"yo @carlosjoserg, yes it needs pcl 1.7.2. i'm using some functionalities that are not there in 1.7.1, and yes ubuntu 14.04 doesn't have it.\r\nRecommended way to solve this is to clone [pcl github repo](https://github.com/PointCloudLibrary/pcl),\r\ncheck out to 1.7.2  (`git checkout pcl-1.7.2`), configure and make install it (it will go in /usr/local/lib).\r\ncmakelists in perception packages are configured to give priority to the local installed pcl instead of the system one. Cmake will complain a bit, it will tell you that you are \"hiding\" some libraries in /usr/lib in favor of some in /usr/local/lib, (thanks that was what i was trying to do!) but everything will work fine.\r\nYes i should probably mention this in the various readmes, and will do it.\r\n\r\nAs for the second thing, i'm not sure how i can tell catkin to make install a 3rd party library, before it actually tries to build perception packages, but i will look into it. Probably what you are suggesting is the correct/recommended way to do this.\r\n\r\n"}}