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MoscowskyAntonMoscowskyAnton
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message refact
1 parent c9acfe2 commit 5ecb8d6

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10 files changed

+371
-22
lines changed

10 files changed

+371
-22
lines changed

‎CMakeLists.txt‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -8,8 +8,8 @@ add_compile_options(-std=c++11)
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set(opencv_contrib OFF)
99
set(zbar_lib OFF)
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set(TensorFlow OFF)
11-
set(DLib OFF)
12-
set(igraph OFF)
11+
set(DLib ON)
12+
set(igraph ON)
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1414
## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
@@ -51,7 +51,7 @@ add_message_files(
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Track.msg
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ExtractedInfo.msg
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Contour.msg
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SimpleObject.msg
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BaseObject.msg
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SimpleObjectArray.msg
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ComplexObject.msg
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ComplexObjectArray.msg
@@ -139,7 +139,7 @@ set ( EOD_INCLUDE
139139
# main node
140140
add_executable(
141141
extended_object_detection_node
142-
src/extended_object_detection_node/extended_object_detection_node.cpp
142+
src/extended_object_detection_node/eod_node.cpp
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${EOD_SRC}
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)
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‎config/eod_example_oak.rviz‎

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Panels:
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- Class: rviz/Displays
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Help Height: 0
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Name: Displays
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Property Tree Widget:
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Expanded: ~
7+
Splitter Ratio: 0.5
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Tree Height: 304
9+
- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: SRC Image
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Class: rviz/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: true
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camera_link:
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Value: true
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map:
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Value: true
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oak-d-base-frame:
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Value: true
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oak-d_frame:
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Value: true
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oak_imu_frame:
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Value: true
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oak_left_camera_frame:
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Value: true
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oak_left_camera_optical_frame:
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Value: true
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oak_model_origin:
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Value: true
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oak_rgb_camera_frame:
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Value: true
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oak_rgb_camera_optical_frame:
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Value: true
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oak_right_camera_frame:
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Value: true
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oak_right_camera_optical_frame:
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Value: true
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Marker Alpha: 1
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: true
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Tree:
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map:
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camera_link:
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{}
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Update Interval: 0
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: RGB8
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Min Color: 0; 0; 0
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Name: Kinect scan
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Flat Squares
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Topic: /camera/depth_registered/points
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Class: rviz/MarkerArray
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Enabled: true
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Marker Topic: /extended_object_detection/simple_objects_markers
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Name: SimpleObjects
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Namespaces:
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{}
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Queue Size: 100
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Value: true
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- Class: rviz/MarkerArray
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Enabled: true
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Marker Topic: /extended_object_detection/complex_objects_markers
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Name: ComplexObjects
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Namespaces:
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{}
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Queue Size: 100
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Value: true
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- Class: rviz/Image
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Enabled: true
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Image Topic: /extended_object_detection/detected_image
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: Detected Image
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Normalize Range: true
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Queue Size: 2
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Transport Hint: raw
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Unreliable: false
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Value: true
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- Class: rviz/Image
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Enabled: true
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Image Topic: /rgb_stereo_publisher/color/image
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: SRC Image
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Normalize Range: true
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Queue Size: 2
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Transport Hint: raw
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Unreliable: false
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Value: true
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- Class: rviz/Image
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Enabled: true
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Image Topic: /rgb_stereo_publisher/stereo/depth
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: SRC Depth
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Normalize Range: true
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Queue Size: 2
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Transport Hint: raw
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Unreliable: false
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Default Light: true
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Fixed Frame: map
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Theta std deviation: 0.2617993950843811
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Topic: /initialpose
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X std deviation: 0.5
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Y std deviation: 0.5
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Class: rviz/Orbit
202+
Distance: 5.1412224769592285
203+
Enable Stereo Rendering:
204+
Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Field of View: 0.7853981852531433
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Focal Point:
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X: 1.535446047782898
211+
Y: -0.4598390758037567
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Z: -0.15033507347106934
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Focal Shape Fixed Size: true
214+
Focal Shape Size: 0.05000000074505806
215+
Invert Z Axis: false
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Name: Current View
217+
Near Clip Distance: 0.009999999776482582
218+
Pitch: 0.43979617953300476
219+
Target Frame: <Fixed Frame>
220+
Yaw: 2.5604374408721924
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Saved: ~
222+
Window Geometry:
223+
Detected Image:
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collapsed: false
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Displays:
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collapsed: false
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Height: 1015
228+
Hide Left Dock: false
229+
Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd00000004000000000000016a00000341fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000420000017d000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001200530052004300200049006d00610067006501000001c0000000d60000002201000003fb000000120053005200430020004400650070007400680100000297000000ec0000002201000003000000010000037e00000341fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc0000004200000341000000ef0100001bfa000000000100000002fb0000001c0044006500740065006300740065006400200049006d0061006700650100000000ffffffff000000a201000003fb0000000a005600690065007700730100000670000001100000011001000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000001e8fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000004efc0100000002fb0000000800540069006d0065010000000000000780000002ad01000003fb0000000800540069006d00650100000000000004500000000000000000000002960000034100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
231+
SRC Depth:
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collapsed: false
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SRC Image:
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collapsed: false
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
241+
Views:
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collapsed: false
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Width: 1920
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X: 0
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Y: 0

‎launch/extended_object_detection_oakd_example.launch‎

Lines changed: 1 addition & 1 deletion
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@@ -8,7 +8,7 @@
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<node name="extended_object_detection" pkg="extended_object_detection" type="extended_object_detection_node" output="screen" >
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11-
<param name="objectBasePath" value="$(arg objectBasePath)"/>
11+
<param name="object_base" value="$(arg objectBasePath)"/>
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<param name="subscribe_depth" value="true"/>
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<param name="rate_limit_sec" value="0.1"/>

‎msg/BaseObject.msg‎

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# id of type, corresponded to object base
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int32 type_id
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4+
# name of type, corresponded to object base
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string type_name
6+
7+
# confidence coefficient of current result
8+
float64 score
9+
10+
# additional info represended as dictionary
11+
extended_object_detection/ExtractedInfo extracted_info
12+
13+
# object position and geometry
14+
15+
## transform to object center
16+
geometry_msgs/Transform transform
17+
18+
## object frames on image and 3d coordinates
19+
extended_object_detection/Rect rect
20+
21+
# information about tracking if it is enabled
22+
extended_object_detection/Track track
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24+
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‎msg/ComplexObject.msg‎

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@@ -1,9 +1,5 @@
1-
int32 type_id # id of object type, according to ObjectBase
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string type_name # name of object type, according to ObjectBase
1+
# aggregated info of an object
2+
extended_object_detection/BaseObject complex_object
33

4-
float64 score # confidence coefficient of current result
5-
extended_object_detection/ExtractedInfo extracted_info
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7-
extended_object_detection/Rect rect # object frames on image and 3d coordinates
8-
geometry_msgs/Transform transform # transform to object center in meters, if z=1 distance is unknow, only direction
9-
extended_object_detection/SimpleObject[] objects # set of simple objects form current complex
4+
# sub parts of complex objects
5+
extended_object_detection/BaseObject[] simple_objects

‎msg/ComplexObjectArray.msg‎

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std_msgs/Header header
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extended_object_detection/ComplexObject[] complex_objects
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extended_object_detection/ComplexObject[] objects

‎msg/SimpleObjectArray.msg‎

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std_msgs/Header header
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extended_object_detection/SimpleObject[] objects
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extended_object_detection/BaseObject[] objects

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