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).