From 9dddc9ba2373c186ceb9992b6123f46c6ded8563 Mon Sep 17 00:00:00 2001 From: Unknown Date: Fri, 10 Aug 2018 11:43:49 +0200 Subject: [PATCH] =?UTF-8?q?Ajout=20acc=C3=A8s=20objets=20depuis=20launch?= =?UTF-8?q?=20file?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../test_ASIFT.dir/CXX.includecache | 4 - .../demo_ASIFT_src/results/matching.txt | 73 +- .../demo_ASIFT_src/results/references.txt | 3991 +---------------- ASIFT_tests/demo_ASIFT_src/test_ASIFT | Bin 1916245 -> 1920402 bytes ASIFT_tests/demo_ASIFT_src/test_ASIFT.cpp | 67 +- README.md | 4 +- README.md~ | 1 + .../launch/interface_matching.launch | 7 +- .../launch/interface_matching.launch~ | 7 +- .../rviz_interface/msg/StateSpace.msg | 8 +- .../rviz_interface/msg/StateSpace.msg~ | 2 +- .../rviz_interface/src/RvizInterface.cpp | 54 +- 12 files changed, 183 insertions(+), 4035 deletions(-) create mode 100644 README.md~ 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 2293.73 332.25 205.584 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zE4f_DLCsthTutS@055T7dUv0+t=Qh|;sS; + + ["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)));