BaxterInterface/README.md

BaxterInterface

Bricks for an Rviz based interface for objective sending.

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

This ROS modules implements a wrapper for a SIFT based algorithm (Affine SIFT). It publish the position of a desired object, defined by its references, on a topic. Thus refrences are required for the module to work properly. It can be loaded through a text file or a series of images (which paths are defined in the launch file).

• texte reference generation (BaxterInterface/asift_gen folder):

• Add the images used for reference in the "references" folder.
• open asift_match.cpp
• Search at the beggining of the file the "REFERENCE DEFINITION"
• In refData, enter the path/name of your reference images.
• In nb_ref, enter the number of images.
• $ cmake . && make
• You can now run the program which is going to build the references and try to match with an image given in input : asift_match input.png
• The generated text file will be located in the results folder.

Status

Done

Todo

• asift_matching - ROS_matcher : Working loader of images for reference.
• asift_matching - ROS_matcher : Improve reactivity. Slow process due to the message queue length ?
• asift_matching - ROS_matcher : Swap the callback function to a service called for matching.

How to use it ?

Requirements

• ROS Indigo
• 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 (server_topic parameter)/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 (server_topic parameter)/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 (server_topic parameter)/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).