diff --git a/ASIFT_tests/demo_ASIFT_src/CMakeFiles/test_ASIFT.dir/CXX.includecache b/ASIFT_tests/demo_ASIFT_src/CMakeFiles/test_ASIFT.dir/CXX.includecache index f14a19f..bafa74c 100644 --- a/ASIFT_tests/demo_ASIFT_src/CMakeFiles/test_ASIFT.dir/CXX.includecache +++ b/ASIFT_tests/demo_ASIFT_src/CMakeFiles/test_ASIFT.dir/CXX.includecache @@ -66,10 +66,6 @@ unixio.h zconf.h ./io_png/libs/zlib/zconf.h -/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.cpp -ASIFT_matcher.hpp -/home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.hpp - /home/harle/catkin_ws/src/BaxterInterface/ASIFT_tests/demo_ASIFT_src/ASIFT_matcher.hpp stdio.h - diff --git a/ASIFT_tests/demo_ASIFT_src/results/matching.txt b/ASIFT_tests/demo_ASIFT_src/results/matching.txt index 3bc536e..a2b2dee 100644 --- a/ASIFT_tests/demo_ASIFT_src/results/matching.txt +++ b/ASIFT_tests/demo_ASIFT_src/results/matching.txt @@ -1,4 +1,75 @@ -0 3 +71 3 0 1 2 +2304.08 2293.73 332.25 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1 1 0 0 0 2 30 0 0 1 22 14 27 15 155 61 5 17 10 3 6 9 43 37 20 87 81 0 0 1 155 77 11 4 2 0 0 0 48 0 0 0 36 8 0 2 155 4 0 2 14 4 1 26 74 13 3 16 101 18 3 16 155 39 2 1 2 0 0 5 41 3 0 0 25 3 0 0 155 11 0 0 7 6 0 13 50 8 5 6 49 37 6 27 155 23 2 0 0 1 1 18 -382.009 235.551 1.99904 1.9778 80 0 0 0 0 0 0 51 65 16 2 0 0 1 4 43 101 21 13 3 0 1 3 73 117 0 0 3 3 0 0 106 112 9 0 0 0 0 0 33 118 41 1 0 0 0 0 26 51 23 17 9 6 19 14 30 118 0 1 1 1 4 4 118 118 26 0 0 0 0 0 15 118 92 10 4 1 0 0 21 30 21 13 35 41 13 8 11 112 1 0 2 3 2 4 116 118 44 0 7 4 0 0 1 118 118 20 10 0 0 0 29 21 30 27 118 61 1 1 14 36 1 2 36 19 0 8 46 -359.629 239.319 1.99714 1.55638 101 10 0 0 1 0 0 16 149 9 0 5 34 4 3 78 38 14 18 32 73 8 3 11 149 21 3 0 0 0 0 2 78 10 0 0 0 0 0 9 149 11 2 1 2 1 2 78 58 17 40 27 10 7 2 12 149 28 11 5 0 1 0 1 82 4 0 0 0 0 0 0 149 17 1 0 0 0 0 25 88 17 33 17 1 1 6 54 149 31 12 10 1 1 3 4 63 10 0 0 0 0 0 0 149 29 0 0 0 0 0 16 86 13 1 0 0 0 8 32 149 7 1 0 0 0 5 10 -199.854 248.149 2.18655 1.27251 32 3 0 0 78 48 0 0 134 11 0 0 0 0 0 1 114 9 0 0 0 0 0 0 134 52 0 0 0 0 0 0 49 6 0 0 48 32 0 2 134 5 0 0 0 0 0 16 134 25 0 0 0 0 0 3 134 97 0 0 0 0 0 0 40 29 0 0 16 10 0 0 134 26 0 0 0 0 0 7 134 62 0 0 0 0 0 2 134 96 0 0 2 0 0 0 35 31 0 0 2 1 0 0 134 28 0 0 0 0 0 13 134 84 0 0 0 0 0 3 89 55 0 0 7 3 0 0 -399.621 214.017 1.82313 -1.4954 0 0 1 21 131 2 1 0 44 17 5 5 29 3 5 20 55 7 0 36 94 0 0 8 0 0 0 54 131 0 0 0 1 0 1 27 131 0 0 0 38 20 5 8 42 1 2 20 79 19 4 44 61 0 0 17 0 4 13 120 131 0 0 0 1 0 0 26 131 2 0 0 47 3 1 11 60 5 10 26 131 45 11 36 29 0 0 26 4 8 41 131 115 1 0 1 1 0 0 24 131 0 0 0 29 1 3 24 64 4 1 11 131 2 0 4 20 5 6 69 8 0 1 23 114 30 7 10 -392.74 214.067 1.95891 -1.65336 2 0 0 0 129 24 0 0 25 12 4 2 60 10 1 12 63 28 4 20 62 0 0 7 0 2 8 44 129 0 0 0 1 0 0 4 129 28 0 0 76 10 1 11 63 11 6 19 129 59 13 35 73 1 0 9 0 2 53 104 129 6 0 0 0 0 0 3 129 34 0 0 86 5 2 13 49 13 1 9 129 4 0 2 62 26 27 46 0 0 5 10 129 87 8 1 0 0 2 2 129 22 0 0 22 14 10 6 25 7 2 4 25 5 0 0 18 69 68 21 0 0 0 0 28 129 32 0 -346.218 209.877 1.85873 -1.63164 0 0 0 0 142 31 1 0 2 2 0 1 68 22 30 20 1 1 0 14 110 19 13 7 0 0 0 9 86 8 0 0 0 0 0 0 142 33 0 0 20 3 0 1 104 29 22 21 52 9 8 67 74 4 6 19 0 0 0 55 134 5 0 0 0 0 0 0 142 40 0 0 53 13 0 4 126 22 3 5 116 17 0 6 97 28 1 8 0 0 0 11 142 27 0 0 0 0 0 2 142 24 0 0 48 7 0 7 77 6 0 4 59 6 0 0 94 21 1 7 0 0 0 0 114 40 0 0 -207.062 228.468 2.10132 1.3508 29 7 0 0 36 15 0 2 146 4 0 0 0 0 0 29 146 11 0 0 0 0 0 14 146 57 0 0 0 0 0 0 37 24 0 0 20 7 0 0 146 30 0 0 0 0 0 8 146 33 0 0 0 0 0 7 146 76 0 0 1 0 0 0 46 30 0 0 6 2 0 0 116 18 0 0 0 0 0 32 146 48 0 0 0 0 0 26 146 67 0 0 5 1 0 0 38 24 1 0 0 0 0 0 69 7 3 1 1 0 0 11 146 59 0 0 0 0 0 8 111 40 0 0 10 1 0 0 -405.502 200.628 1.85489 -1.55614 2 0 1 19 139 0 0 0 16 41 28 23 73 1 0 16 43 36 3 1 71 5 1 19 1 0 0 4 139 13 0 0 3 0 0 3 139 3 0 0 23 7 3 5 113 10 7 27 85 11 0 12 72 1 1 28 1 0 0 36 139 0 0 0 3 0 0 7 139 1 0 0 21 22 11 13 105 3 1 9 92 23 2 18 42 0 0 14 3 1 1 74 139 0 0 0 2 0 0 3 139 2 0 0 18 1 0 4 86 6 5 14 108 40 7 17 13 0 1 14 6 9 22 107 114 0 0 0 -317.8 204.186 1.82995 1.68624 130 0 0 0 0 0 0 29 37 0 0 0 24 15 2 27 137 0 0 0 3 2 1 64 139 0 0 0 2 0 0 36 139 1 0 0 0 0 0 12 65 5 1 14 44 2 0 6 139 11 0 4 11 1 0 38 139 0 0 0 1 0 0 42 139 3 0 0 0 0 0 15 96 14 8 35 34 1 0 3 116 30 2 13 13 1 0 29 139 2 0 0 0 0 0 48 139 6 0 0 0 0 0 2 92 7 0 2 58 6 0 2 72 3 0 1 28 6 0 28 139 1 0 0 0 0 0 35 -279.577 206.792 2.01326 -2.02649 13 14 0 0 34 63 0 0 0 0 0 0 115 123 4 0 16 43 6 8 37 33 1 0 5 31 4 4 79 64 0 0 3 3 0 0 114 123 0 0 22 2 0 0 64 123 42 10 104 45 0 1 36 47 12 13 4 8 0 1 123 123 0 0 0 0 0 0 123 123 1 0 46 3 0 1 29 52 10 13 77 3 0 0 30 123 29 24 0 1 9 7 81 122 2 0 0 0 0 4 73 103 2 0 12 0 0 1 6 18 7 8 9 24 6 0 18 79 10 5 2 35 55 43 12 13 0 0 -293.156 195.168 1.78384 1.52008 137 1 0 0 0 0 0 12 58 1 0 2 64 21 2 15 113 15 0 2 14 3 1 9 137 17 0 0 1 0 0 0 137 12 0 0 0 1 0 9 52 3 3 6 59 46 5 21 137 24 5 2 11 10 5 44 137 25 0 0 2 0 0 1 137 31 0 0 1 0 0 0 43 22 14 18 40 5 0 3 137 84 26 4 4 0 0 6 137 29 0 0 3 0 0 0 137 6 0 0 3 0 0 7 44 2 0 0 29 8 1 11 137 11 0 0 0 0 0 19 137 13 0 0 4 0 0 0 diff --git a/ASIFT_tests/demo_ASIFT_src/test_ASIFT b/ASIFT_tests/demo_ASIFT_src/test_ASIFT index e4aefce..f432c4a 100755 Binary files a/ASIFT_tests/demo_ASIFT_src/test_ASIFT and b/ASIFT_tests/demo_ASIFT_src/test_ASIFT differ diff --git a/ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp b/ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp index e8362f3..aa582c1 100644 --- a/ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp +++ b/ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp @@ -144,32 +144,51 @@ int main(int argc, char **argv) "book_training/000.png", "book_training/train_image_003.png"}; - // unsigned int nb_ref =7; + // unsigned int nb_ref =26; // std::string refData[] = { - // // "robobo_references/0.jpg", - // // "robobo_references/1.jpg", - // // "robobo_references/2.jpg", - // // "robobo_references/3.jpg", - // // "robobo_references/4.jpg", - // // "robobo_references/5.jpg", - // // "robobo_references/6.jpg", + // "robobo_references/0.jpg", + // "robobo_references/1.jpg", + // "robobo_references/2.jpg", + // "robobo_references/3.jpg", + // "robobo_references/4.jpg", + // "robobo_references/5.jpg", + // "robobo_references/6.jpg", + // "robobo_references/7.jpg", + // "robobo_references/8.jpg", + // "robobo_references/9.jpg", + // "robobo_references/10.jpg", + // "robobo_references/11.jpg", + // "robobo_references/12.jpg", + // "robobo_references/13.jpg", + // "robobo_references/14.jpg", + // "robobo_references/15.jpg", + // "robobo_references/16.jpg", + // "robobo_references/17.jpg", + // "robobo_references/18.jpg", + // "robobo_references/19.jpg", + // "robobo_references/20.jpg", + // "robobo_references/21.jpg", + // "robobo_references/22.jpg", + // "robobo_references/23.jpg", + // "robobo_references/24.jpg", + // "robobo_references/25.jpg", - // "robobo_references/000.jpg", - // "robobo_references/001.jpg", - // "robobo_references/002.jpg", - // "robobo_references/003.jpg", - // "robobo_references/004.jpg", - // "robobo_references/005.jpg", - // "robobo_references/006.jpg", + // // "robobo_references/000.jpg", + // // "robobo_references/001.jpg", + // // "robobo_references/002.jpg", + // // "robobo_references/003.jpg", + // // "robobo_references/004.jpg", + // // "robobo_references/005.jpg", + // // "robobo_references/006.jpg", - // "robobo_references/000_2.jpg", - // "robobo_references/001_2.jpg", - // "robobo_references/002_2.jpg", - // "robobo_references/003_2.jpg", - // "robobo_references/004_2.jpg", - // "robobo_references/005_2.jpg", - // "robobo_references/006_2.jpg", - // "robobo_references/007_2.jpg", + // // "robobo_references/000_2.jpg", + // // "robobo_references/001_2.jpg", + // // "robobo_references/002_2.jpg", + // // "robobo_references/003_2.jpg", + // // "robobo_references/004_2.jpg", + // // "robobo_references/005_2.jpg", + // // "robobo_references/006_2.jpg", + // // "robobo_references/007_2.jpg", //Super lent ?!! // "robobo_references/000.png", // "robobo_references/001.png", @@ -279,7 +298,7 @@ int main(int argc, char **argv) cout<<"Nb matching reference : "< + + ["Foo", "KungFoo", "Panda", "Boo"] + [3, 2, 1, 0] + - + - diff --git a/rviz_interface/rviz_interface/launch/interface_matching.launch~ b/rviz_interface/rviz_interface/launch/interface_matching.launch~ index e73c77f..26abb77 100644 --- a/rviz_interface/rviz_interface/launch/interface_matching.launch~ +++ b/rviz_interface/rviz_interface/launch/interface_matching.launch~ @@ -6,13 +6,14 @@ - + - + ["Foo", "KungFoo", "Panda", "Boo"] + [3, 2, 1, 0] - + diff --git a/rviz_interface/rviz_interface/msg/StateSpace.msg b/rviz_interface/rviz_interface/msg/StateSpace.msg index 6e2a2f6..98e0126 100644 --- a/rviz_interface/rviz_interface/msg/StateSpace.msg +++ b/rviz_interface/rviz_interface/msg/StateSpace.msg @@ -12,10 +12,10 @@ string name # STATE_2D : Expect a 2D position and orientation (Dimension = 3). # STATE_3D : Expect a 3D position and orientation (quaternion) (Dimension = 7). # STATE_BOOL : Expect a single boolean information (ie bouton on/off) (Dimension = 1). -uint8 ORDINARY=0 -uint8 STATE_2D=1 -uint8 STATE_3D=2 -uint8 STATE_BOOL=3 +uint8 ORDINARY=0 +uint8 STATE_BOOL=1 +uint8 STATE_2D=2 +uint8 STATE_3D=3 uint8 state_type diff --git a/rviz_interface/rviz_interface/msg/StateSpace.msg~ b/rviz_interface/rviz_interface/msg/StateSpace.msg~ index cb8dca5..6e2a2f6 100644 --- a/rviz_interface/rviz_interface/msg/StateSpace.msg~ +++ b/rviz_interface/rviz_interface/msg/StateSpace.msg~ @@ -1,7 +1,7 @@ # Represents a state space. # General info. -#Header header +Header header # Identifying string for this state space. (ID ?) string name diff --git a/rviz_interface/rviz_interface/src/RvizInterface.cpp b/rviz_interface/rviz_interface/src/RvizInterface.cpp index 16dad51..6222664 100644 --- a/rviz_interface/rviz_interface/src/RvizInterface.cpp +++ b/rviz_interface/rviz_interface/src/RvizInterface.cpp @@ -11,15 +11,14 @@ RvizInterface::RvizInterface(): _server("RvizInterface") { std::string objective_topic, vizualization_topic, config_topic, position_topic; - //Need to load multiple object - std::string object_name; + std::vector object_names; + std::vector object_types; - //Load Param + //Load Topics param _n.param("objective_topic", objective_topic,"/RvizInterface/state_objective"); _n.param("vizualization_topic", vizualization_topic,"/RvizInterface/visual_marker"); _n.param("config_topic", config_topic,"/RvizInterface/interface_config"); _n.param("object_center_topic", position_topic,"/ASIFT_matcher/object_center"); - _n.param("tracked_object", object_name,"Object"); //Topic you want to publish _objective_pub = _n.advertise(objective_topic, 10); @@ -29,10 +28,51 @@ RvizInterface::RvizInterface(): _server("RvizInterface") _config_sub = _n.subscribe(config_topic, 1, &RvizInterface::configCallback, this); _position_sub = _n.subscribe(position_topic, 1, &RvizInterface::positionCallback, this); - _objects.push_back(new InteractiveObject(&_server, object_name, (int) rviz_interface::StateSpace::STATE_3D, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(0,0,0))); - _objects[0]->add6DOFcontrol(); + //Load objects + _n.getParam("tracked_object_names",object_names); + _n.getParam("tracked_object_types",object_types); - // _objects.push_back(new InteractiveObject(&_server, "3DOF", (int) rviz_interface::StateSpace::STATE_2D, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(1,1,0))); + int names_size = object_names.size(); + + if(names_sizeobject_types.size()) + { + ROS_WARN("Missing object types. Missing types are set to Ordinary by default..."); + while(names_size>object_types.size()) + { + object_types.push_back(0); + } + } + + for(unsigned int i=0; i< names_size;i++) + { + switch(object_types[i]) + { + case 0: + _objects.push_back(new InteractiveObject(&_server, object_names[i], (int) rviz_interface::StateSpace::ORDINARY, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(0,0,0))); + _objects[i]->add6DOFcontrol(); + break; + case 1: + _objects.push_back(new InteractiveObject(&_server, object_names[i], (int) rviz_interface::StateSpace::STATE_BOOL, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(0,0,0))); + _objects[i]->addButtoncontrol(); + break; + case 2: + _objects.push_back(new InteractiveObject(&_server, object_names[i], (int) rviz_interface::StateSpace::STATE_2D, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(0,0,0))); + _objects[i]->add3DOFcontrol(); + break; + case 3: + _objects.push_back(new InteractiveObject(&_server, object_names[i], (int) rviz_interface::StateSpace::STATE_3D, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(0,0,0))); + _objects[i]->add6DOFcontrol(); + break; + } + } + // _objects.push_back(new InteractiveObject(&_server, object_name, (int) rviz_interface::StateSpace::STATE_3D, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(0,0,0))); + // _objects[0]->add6DOFcontrol(); + + // _objects.push_back(new InteractiveObject(&_server, "3DOF", (int) rviz_interface::StateSpace::STATE_2D, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(0,0,0))); // _objects[1]->add3DOFcontrol(); // _objects.push_back(new InteractiveObject(&_server, "3DOF 2", (int) rviz_interface::StateSpace::STATE_2D, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(-1,1,0)));