Foundation pose under BundleSDF generated CAD

[JRvilanova]

Hi,

I am having a problem when tracking a driller that I generated my own CAD model with BundleSDF. I attach the mask, the image and this model, so that you can see the problem. I am aligning correctly the frames and all that stuff related to capturing with realsense. Then, I think that the problem is related to CAD model, as the tracking is not good at all. Can you provide help with that?

Thanks in advance!

[liuchangji]

As so far your CAD model has no color texture.

[byran-wang]

You can follow suggestions in the picture to modify your BundleSDF code to get the texture CAD model.