Tests Robobo

ASIFT_tests/demo_ASIFT_src/CMakeFiles/test_ASIFT.dir/CXX.includecache

@@ -6,3 +6,319 @@
 
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+ASIFT_matcher.hpp
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+

ASIFT_tests/demo_ASIFT_src/CMakeFiles/test_ASIFT.dir/depend.internal

@@ -276,5 +276,3 @@ CMakeFiles/test_ASIFT.dir/test_ASIFT.cpp.o
  /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/numerics1.h
  /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/splines.h
  /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp
- /usr/include/opencv/cv.h
- /usr/include/opencv/highgui.h

ASIFT_tests/demo_ASIFT_src/CMakeFiles/test_ASIFT.dir/depend.make

@@ -275,6 +275,4 @@ CMakeFiles/test_ASIFT.dir/test_ASIFT.cpp.o: library.h
 CMakeFiles/test_ASIFT.dir/test_ASIFT.cpp.o: numerics1.h
 CMakeFiles/test_ASIFT.dir/test_ASIFT.cpp.o: splines.h
 CMakeFiles/test_ASIFT.dir/test_ASIFT.cpp.o: test_ASIFT.cpp
-CMakeFiles/test_ASIFT.dir/test_ASIFT.cpp.o: /usr/include/opencv/cv.h
-CMakeFiles/test_ASIFT.dir/test_ASIFT.cpp.o: /usr/include/opencv/highgui.h
 

ASIFT_tests/demo_ASIFT_src/results/matching.txt

@@ -1,24 +1,6 @@
-21  2
+0  5
 0
-116.024  117.743  140.946  127.067
-127.041  182.984  82.7571  322.511
-223.925  126.146  9.11888e-14  8.90962e-14
-116.572  104.098  7.31246e-39  3.79738e-39
-258.196  39.082  0  0
-164.056  165.645  0  0
-202.577  116.285  8.7283e-36  7.36299e-36
-134.788  167.73  0  0
-152.242  132.98  2.61374e-35  3.22363e-35
-174.031  99.713  0  0
-130.144  161.018  1.79235e-34  4.25297e-34
-252.616  48.1934  0  0
-189.51  74.5927  4.82302e-35  1.42279e-35
-174.216  98.0268  0  0
-145.793  140.577  2.52858e-34  3.6943e-34
-175.301  105.345  0  0
-140.726  169.022  0  0
-199.218  95.4902  0  0
-136.131  159.282  0  0
-145.05  156.893  2800.66  5619.78
-130.144  161.018  19024.1  45141.4
 1
+2
+3
+4

ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp

@@ -137,12 +137,20 @@ int main(int argc, char **argv)
 		zoom1 = 1;
 	}
 
-	unsigned int nb_ref =2;
+	// unsigned int nb_ref =2;
+	// std::string refData[] = {
+ //      "book_training/train_image_000.png", 
+ //      "book_training/train_image_001.png", 
+ //      "book_training/train_image_002.png", 
+ //      "book_training/train_image_003.png"};
+
+	unsigned int nb_ref =5;
 	std::string refData[] = {
-      "book_training/train_image_000.png", 
+      "robobo_references/robobo_000.png",
-      "book_training/train_image_001.png", 
+      "robobo_references/robobo_001.png",
-      "book_training/train_image_002.png", 
+  	  "robobo_references/robobo_002.png",
-      "book_training/train_image_003.png"};
+  	  "robobo_references/robobo_003.png",
+  	  "robobo_references/robobo_004.png"};
 
 	// unsigned int nb_ref =21;
 	// std::string refData[] = {

asift_match/launch/asift_match.launch

@@ -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", 

asift_match/launch/asift_match.launch~

@@ -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-->

asift_match/src/ROS_matcher.cpp

@@ -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);
+	_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);
+	_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 _image_sub;
-	delete pointcloud_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))
 			{

asift_match/src/ROS_matcher.hpp

@@ -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::Image>* _image_sub;
-	message_filters::Subscriber<sensor_msgs::PointCloud2>* pointcloud_sub;
+	message_filters::Subscriber<sensor_msgs::PointCloud2>* _pointcloud_sub;
 	
 	//Matcher
-	int _num_tilt;
+	int _num_tilt, _filter_coeff;
 	ASIFT_matcher matcher;
 
 	MATCHER_STATUS _status;

rviz_interface/rviz_interface/launch/interface_matching.launch

@@ -11,7 +11,8 @@
 	<!--Matcher/-->
 	<param name="tracked_object" value="Foo"/>
 	<param name="num_tilt" type="int" value="8"/>
-	<param name="reference_txt_path" value="$(find asift_matching)/reference_data/book_references.txt"/>
+	<param name="std_dev_filter_coeff" type="int" value="2"/>
+	<param name="reference_txt_path" value="$(find asift_matching)/reference_data/robobo_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-->

rviz_interface/rviz_interface/launch/interface_matching.launch~

@@ -6,11 +6,12 @@
 	<param name="vizualization_topic" value="/RvizInterface/visual_marker"/>
 	<param name="config_topic" value="/RvizInterface/interface_config"/>
 
-	<node name="RvizInterface" pkg="rviz_interface" type="RvizInterface" output="screen"/>
+	<node name="RvizInterface" pkg="rviz_interface" type="RvizInterface"/>
 
 	<!--Matcher/-->
 	<param name="tracked_object" value="Foo"/>
 	<param name="num_tilt" type="int" value="8"/>
+	<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", 

rviz_interface/rviz_interface/src/RvizInterface.cpp

@@ -11,7 +11,7 @@ RvizInterface::RvizInterface(): _server("RvizInterface")
 	_n.param<std::string>("objective_topic", objective_topic,"/RvizInterface/state_objective");
 	_n.param<std::string>("vizualization_topic", vizualization_topic,"/RvizInterface/visual_marker");
 	_n.param<std::string>("config_topic", config_topic,"/RvizInterface/interface_config");
-	_n.param<std::string>("object_center_topic", position_topic,"/object_center");
+	_n.param<std::string>("object_center_topic", position_topic,"/ASIFT_matcher/object_center");
 	_n.param<std::string>("tracked_object", object_name,"Object");
 
 	//Topic you want to publish