86 lines
3.1 KiB
Markdown
86 lines
3.1 KiB
Markdown
# BaxterInterface
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Bricks for an Rviz based interface for objective sending.
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Maintainer: Antoine Harlé antoine.harle@etu.upmc.fr
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## What is this ?
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This is a ROS package implementing two working ROS modules : rviz_interface & asift_matching
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It also include other ongoing non-ROS modules, mostly for test purposes.
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### rviz_interface
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This ROS modules implements markers and a panel for Rviz for sending StateSpace messages.
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### asift_matching
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* texte reference generation :
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## Status
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### Done
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### Todo
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REGLER LE PROBLEME DE FRAME ...
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Problème dans le filtrage : nombre de points _> probleme de reset du nombre
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## How to use it ?
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### Requirements
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* ROS Indigo (probably works in other versions too)
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* PCL
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* QT 5
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* Eigen 3
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### Usage
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* Clone the repository to your catkin src
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* catkin_make
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#### Simple Rviz interface
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* Run : roslaunch rviz_interface interface.launch
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* Setup rviz :
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- set fixed frame to camera_rgb_optical_frame.
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- add an InteractiveMarker and set topic to /RvizInterface/update.
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- add a Marker and set topic to vizualization_topic parameter.
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- add the Rviz interface panel.
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#### Rviz interface with simple moving tracker
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* Run :
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- roslaunch openni_launch openni.launch
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- roslaunch rviz_interface interface_plannar_seg.launch
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* Setup rviz :
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- set fixed frame to camera_rgb_optical_frame.
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- add an InteractiveMarker and set topic to /RvizInterface/update.
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- add a Marker and set topic to vizualization_topic parameter.
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- add the Rviz interface panel.
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- add a PointCloud2 and set topic to /camera/depth_registered/points.
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#### ASIFT matching (no vizualisation)
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* Run :
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- roslaunch openni_launch openni.launch
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- asift_matching : roslaunch asift_matching asift_match.launch
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#### ASIFT matching & Rviz interface
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* Run :
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- roslaunch openni_launch openni.launch
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- roslaunch rviz_interface interface_matching.launch
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* Setup rviz :
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- set fixed frame to camera_rgb_optical_frame.
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- add an InteractiveMarker and set topic to /RvizInterface/update.
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- add a Marker and set topic to vizualization_topic parameter.
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- add the Rviz interface panel.
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- add a PointCloud2 and set topic to /camera/depth_registered/points.
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### Parameters
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* The topic names are defined as parameters in the launchfiles.
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* 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).
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* asift_matching parameters are defined as parameters in the asift_matching launchfiles :
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-> 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).
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-> Tracked object is defined by the object name (must be one of the interface object to work properly with rviz_interface).
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-> Number of tilts is defined by an integer value (1-no tilt, 7-recommended value). Higher value means slower process.
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-> 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).
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