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Tests Robobo

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This commit is contained in:
Unknown 2018-08-03 17:14:26 +02:00
parent f4e33539ee
commit 09d1eeb838
31 changed files with 39412 additions and 57602 deletions
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1
asift_match/launch/asift_match.launch
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@ -1,6 +1,7 @@
<launch>
<param name="tracked_object" value="6DOF"/>
<param name="num_tilt" type="int" value="2"/>
<param name="std_dev_filter_coeff" type="int" value="2"/>
<param name="reference_txt_path" value="$(find asift_matching)/reference_data/book_references.txt"/>
<!--rosparam param="reference_data">[
"$(find asift_matching)/reference_data/train_image_000.png",

2
asift_match/launch/asift_match.launch~
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@ -1,7 +1,7 @@
<launch>
<param name="tracked_object" value="6DOF"/>
<param name="num_tilt" type="int" value="2"/>
<param name="reference_txt_path" value="$(find asift_matching)/reference_data/references.txt"/>
<param name="reference_txt_path" value="$(find asift_matching)/reference_data/book_references.txt"/>
<!--rosparam param="reference_data">[
"$(find asift_matching)/reference_data/train_image_000.png",
"$(find asift_matching)/reference_data/train_image_001.png"]</rosparam-->

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asift_match/reference_data/robobo_000.png Normal file
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asift_match/reference_data/robobo_001.png Normal file
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9029
asift_match/reference_data/robobo_references.txt Normal file
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17
asift_match/src/ROS_matcher.cpp
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@ -6,8 +6,9 @@ ROS_matcher::ROS_matcher(): _status(MATCHER_STATUS_WAITING_INIT)
std::vector<std::string> reference_data_paths;
//Load Param
_nh.param<std::string>("tracked_object", tracked_object, "6DOF");
_nh.param<std::string>("tracked_object", tracked_object, "Object");
_nh.param<int>("num_tilt", _num_tilt, 8);
_nh.param<int>("std_dev_filter_coeff", _filter_coeff, 0);
_nh.param<std::string>("object_center_topic", center_topic,"/ASIFT_matcher/object_center");
_nh.param<std::string>("image_topic", image_topic,"/camera/rgb/image_raw");
@ -18,10 +19,10 @@ ROS_matcher::ROS_matcher(): _status(MATCHER_STATUS_WAITING_INIT)
//Subscriber
// info_sub = new message_filters::Subscriber<sensor_msgs::CameraInfo>(_nh, "camera/rgb/camera_info", 1);
image_sub = new message_filters::Subscriber<sensor_msgs::Image>(_nh, image_topic, 1);
pointcloud_sub= new message_filters::Subscriber<sensor_msgs::PointCloud2>(_nh, pointcloud_topic, 1);
_image_sub = new message_filters::Subscriber<sensor_msgs::Image>(_nh, image_topic, 1);
_pointcloud_sub= new message_filters::Subscriber<sensor_msgs::PointCloud2>(_nh, pointcloud_topic, 1);
Timesync = new message_filters::Synchronizer<MySyncPolicy>(MySyncPolicy(2), *image_sub, *pointcloud_sub);
Timesync = new message_filters::Synchronizer<MySyncPolicy>(MySyncPolicy(2), *_image_sub, *_pointcloud_sub);
Timesync-> registerCallback(boost::bind(&ROS_matcher::cameraCallback, this, _1, _2));
//Load References
@ -44,14 +45,14 @@ ROS_matcher::ROS_matcher(): _status(MATCHER_STATUS_WAITING_INIT)
}
if(_status == MATCHER_STATUS_IDLE)
ROS_INFO("Matcher Ready ! (%d references)",matcher.getNbRef());
ROS_INFO("Matcher Ready ! (%d references from %s)",matcher.getNbRef(), reference_txt_path.c_str());
}
ROS_matcher::~ROS_matcher()
{
// delete info_sub;
delete image_sub;
delete pointcloud_sub;
delete _image_sub;
delete _pointcloud_sub;
// delete Timesync;
}
@ -103,7 +104,7 @@ void ROS_matcher::cameraCallback(const sensor_msgs::Image::ConstPtr& image_msg,
int cx, cy;
// geometry_msgs::PointStamped center_msg;
rviz_interface::NamedPoint center_msg;
matcher.distFilter(2);
matcher.distFilter(_filter_coeff);
if(matcher.computeCenter(cx, cy))
{

6
asift_match/src/ROS_matcher.hpp
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@ -37,11 +37,11 @@ protected:
//Subscriber ROS
// message_filters::Subscriber<sensor_msgs::CameraInfo>* info_sub;
message_filters::Subscriber<sensor_msgs::Image>* image_sub;
message_filters::Subscriber<sensor_msgs::PointCloud2>* pointcloud_sub;
message_filters::Subscriber<sensor_msgs::Image>* _image_sub;
message_filters::Subscriber<sensor_msgs::PointCloud2>* _pointcloud_sub;
//Matcher
int _num_tilt;
int _num_tilt, _filter_coeff;
ASIFT_matcher matcher;
MATCHER_STATUS _status;