Todo List

Member callback (const sensor_msgs::Image::ConstPtr &rgb_image, const sensor_msgs::Image::ConstPtr &depth_image, const sensor_msgs::CameraInfo::ConstPtr &rgb_camera_info, const sensor_msgs::CameraInfo::ConstPtr &depth_camera_info)

Keys for changing these?

Online learning possibly broken by new gradient feature extraction, which assumes an accurate object outline.

Member maskFromTemplate (const std::vector< cv::linemod::Template > &templates, int num_modalities, cv::Point offset, cv::Size size, cv::Mat &mask, cv::Mat &dst)

Really need dst at all? Can just as well do this outside