Ajout Readme + Modif mineures interface

README.md

@@ -1,3 +1,86 @@
 # BaxterInterface
 Bricks for an Rviz based interface for objective sending.
 Maintainer: Antoine Harlé antoine.harle@etu.upmc.fr
+
+## What is this ?
+
+This is a ROS package implementing two working ROS modules : rviz_interface & asift_matching
+It also include other ongoing non-ROS modules, mostly for test purposes.
+
+### rviz_interface
+
+This ROS modules implements markers and a panel for Rviz for sending StateSpace messages.
+
+### asift_matching
+
+
+* texte reference generation :
+
+## Status 
+### Done
+
+### Todo
+REGLER LE PROBLEME DE FRAME ...
+Problème dans le filtrage : nombre de points _> probleme de reset du nombre
+
+## How to use it ?
+
+### Requirements
+
+* ROS Indigo (probably works in other versions too)
+ * PCL
+ * QT 5
+* Eigen 3
+
+### Usage
+
+* Clone the repository to your catkin src
+* catkin_make
+
+#### Simple Rviz interface
+* Run : roslaunch rviz_interface interface.launch
+* Setup rviz :
+ - set fixed frame to camera_rgb_optical_frame.
+ - add an InteractiveMarker and set topic to /RvizInterface/update.
+ - add a Marker and set topic to vizualization_topic parameter.
+ - add the Rviz interface panel.
+
+#### Rviz interface with simple moving tracker
+* Run :
+ - roslaunch openni_launch openni.launch 
+ - roslaunch rviz_interface interface_plannar_seg.launch
+* Setup rviz :
+ - set fixed frame to camera_rgb_optical_frame.
+ - add an InteractiveMarker and set topic to /RvizInterface/update.
+ - add a Marker and set topic to vizualization_topic parameter.
+ - add the Rviz interface panel.
+ - add a PointCloud2 and set topic to /camera/depth_registered/points.
+
+#### ASIFT matching (no vizualisation)
+
+* Run :
+ - roslaunch openni_launch openni.launch 
+ - asift_matching : roslaunch asift_matching asift_match.launch
+
+#### ASIFT matching & Rviz interface
+* Run :
+ - roslaunch openni_launch openni.launch 
+ - roslaunch rviz_interface interface_matching.launch
+* Setup rviz :
+ - set fixed frame to camera_rgb_optical_frame.
+ - add an InteractiveMarker and set topic to /RvizInterface/update.
+ - add a Marker and set topic to vizualization_topic parameter.
+ - add the Rviz interface panel.
+ - add a PointCloud2 and set topic to /camera/depth_registered/points.
+
+### Parameters
+
+* The topic names are defined as parameters in the launchfiles.
+
+* rviz_interface parameters are defined as parameters in the rviz_interface launchfiles : Interface objects are defined by their names and types (0-Default, 1-Button, 2-2D object, 3-3D object) (see StateSpace.msg for more details).
+
+* asift_matching parameters are defined as parameters in the asift_matching launchfiles : 
+-> References are defined by the path to the references files can be a txt file (faster - see texte reference generation in asift_matching section) or a series of images files (slower - currently not working).
+-> Tracked object is defined by the object name (must be one of the interface object to work properly with rviz_interface).
+-> Number of tilts is defined by an integer value (1-no tilt, 7-recommended value). Higher value means slower process.
+-> Standaed deviation filter coefficient is defined by a real value. Keep (1-68%/2-95%/3-99%) of the points statistically. 0: no filtering (default).