PatchGraph: In-hand tactile tracking with learned surface normals

Create a virtual python environment using Anaconda:

conda create -n inhand python=3.7
conda activate inhand

Install the inhandpy python package. From the base directory execute:

cd inhandpy/
pip install -e .

In inhandpy, download datasets, pre-trained models and other local resources by running:

./download_local_files.sh

Stage 1: Tactile images to 3D point clouds

To run the example: