From e3e3dd51bf76b6392ab6a1eb441ee3e587fdb130 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Tue, 12 Aug 2014 19:19:07 +0000 Subject: [PATCH] added azimut3 find_object launch file git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1638 f169173b-cf89-36c8-b27e-44dbe73f0c83 --- launch/azimut3/az3_bag_find_object.launch | 15 ++ launch/azimut3/az3_bag_mapping.launch | 8 +- launch/azimut3/az3_mapping_client.launch | 4 +- launch/azimut3/az3_remote_find_object.launch | 12 ++ launch/config/azimut3_find_object.ini | 136 +++++++++++++++++++ launch/config/books/4.png | Bin 0 -> 23569 bytes launch/config/books/5.png | Bin 0 -> 19764 bytes launch/config/books/6.png | Bin 0 -> 18321 bytes launch/config/books/7.png | Bin 0 -> 13749 bytes launch/config/books/8.png | Bin 0 -> 16528 bytes 10 files changed, 169 insertions(+), 6 deletions(-) create mode 100644 launch/azimut3/az3_bag_find_object.launch create mode 100644 launch/azimut3/az3_remote_find_object.launch create mode 100644 launch/config/azimut3_find_object.ini create mode 100644 launch/config/books/4.png create mode 100644 launch/config/books/5.png create mode 100644 launch/config/books/6.png create mode 100644 launch/config/books/7.png create mode 100644 launch/config/books/8.png diff --git a/launch/azimut3/az3_bag_find_object.launch b/launch/azimut3/az3_bag_find_object.launch new file mode 100644 index 00000000..b887cd84 --- /dev/null +++ b/launch/azimut3/az3_bag_find_object.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/launch/azimut3/az3_bag_mapping.launch b/launch/azimut3/az3_bag_mapping.launch index 17416253..bfcdaa7d 100644 --- a/launch/azimut3/az3_bag_mapping.launch +++ b/launch/azimut3/az3_bag_mapping.launch @@ -20,7 +20,7 @@ - + @@ -41,9 +41,9 @@ - - - + + + diff --git a/launch/azimut3/az3_mapping_client.launch b/launch/azimut3/az3_mapping_client.launch index b5397f5d..fc76400b 100644 --- a/launch/azimut3/az3_mapping_client.launch +++ b/launch/azimut3/az3_mapping_client.launch @@ -7,8 +7,8 @@ - - + + diff --git a/launch/azimut3/az3_remote_find_object.launch b/launch/azimut3/az3_remote_find_object.launch new file mode 100644 index 00000000..36158e24 --- /dev/null +++ b/launch/azimut3/az3_remote_find_object.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/launch/config/azimut3_find_object.ini b/launch/config/azimut3_find_object.ini new file mode 100644 index 00000000..bad854d9 --- /dev/null +++ b/launch/config/azimut3_find_object.ini @@ -0,0 +1,136 @@ +[General] +windowGeometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\xff\xff\xff\xf9\0\0\x1|\0\0\x1]\0\0\x2\xc3\0\0\0\x1\0\0\x1\x98\0\0\x1U\0\0\x2\xbb\0\0\0\0\0\0) +windowState=@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\0\xc8\0\0\x3\a\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x62\0j\0\x65\0\x63\0t\0s\0\0\0\0\x19\0\0\x3\a\0\0\0\x8a\0\xff\xff\xff\0\0\0\x1\0\0\x1h\0\0\x3\a\xfc\x2\0\0\0\x2\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0\x61\0r\0\x61\0m\0\x65\0t\0\x65\0r\0s\0\0\0\0\x19\0\0\x3\a\0\0\0\x9c\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0i\0s\0t\0i\0\x63\0s\0\0\0\0\0\xff\xff\xff\xff\0\0\x1\b\0\xff\xff\xff\0\0\0\x3\0\0\0\0\0\0\0\0\xfc\x1\0\0\0\x1\xfb\0\0\0\x1e\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0l\0o\0t\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\0\0\x1U\0\0\0\xf5\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\0) + +[Camera] +1deviceId=0 +2imageWidth=640 +3imageHeight=480 +4imageRate=0 +5mediaPath= +6useTcpCamera=false +7IP=127.0.0.1 +8port=5000 +9queueSize=1 + +[Feature2D] +1Detector="5:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK" +2Descriptor="2:Brief;ORB;SIFT;SURF;BRISK;FREAK" +3MaxFeatures=0 +BRISK_octaves=3 +BRISK_patternScale=1 +BRISK_thresh=30 +Brief_bytes=32 +Dense_featureScaleLevels=1 +Dense_featureScaleMul=0.1 +Dense_initFeatureScale=1 +Dense_initImgBound=0 +Dense_initXyStep=6 +Dense_varyImgBoundWithScale=false +Dense_varyXyStepWithScale=true +FREAK_nOctaves=4 +FREAK_orientationNormalized=true +FREAK_patternScale=22 +FREAK_scaleNormalized=true +Fast_gpu=false +Fast_keypointsRatio=0.05 +Fast_nonmaxSuppression=true +Fast_threshold=10 +GFTT_blockSize=3 +GFTT_k=0.04 +GFTT_maxCorners=1000 +GFTT_minDistance=1 +GFTT_qualityLevel=0.01 +GFTT_useHarrisDetector=false +MSER_areaThreshold=1.01 +MSER_delta=5 +MSER_edgeBlurSize=5 +MSER_maxArea=14400 +MSER_maxEvolution=200 +MSER_maxVariation=0.25 +MSER_minArea=60 +MSER_minDiversity=0.2 +MSER_minMargin=0.003 +ORB_WTA_K=2 +ORB_edgeThreshold=31 +ORB_firstLevel=0 +ORB_gpu=false +ORB_nFeatures=500 +ORB_nLevels=8 +ORB_patchSize=31 +ORB_scaleFactor=1.2 +ORB_scoreType=0 +SIFT_contrastThreshold=0.04 +SIFT_edgeThreshold=10 +SIFT_nOctaveLayers=3 +SIFT_nfeatures=0 +SIFT_sigma=1.6 +SURF_extended=true +SURF_gpu=false +SURF_hessianThreshold=600 +SURF_keypointsRatio=0.01 +SURF_nOctaveLayers=2 +SURF_nOctaves=4 +SURF_upright=false +Star_lineThresholdBinarized=8 +Star_lineThresholdProjected=10 +Star_maxSize=45 +Star_responseThreshold=30 +Star_suppressNonmaxSize=5 + +[%General] +autoScroll=true +autoStartCamera=false +autoUpdateObjects=true +controlsShown=false +imageFormats=*.png *.jpg *.bmp *.tiff *.ppm +invertedSearch=true +mirrorView=false +multiDetection=false +multiDetectionRadius=30 +nextObjID=9 +port=0 +sendNoObjDetectedEvents=false +threads=1 +videoFormats=*.avi *.m4v *.mp4 +vocabularyIncremental=false +vocabularyUpdateMinWords=2000 +autoPauseOnDetection=false + +[Homography] +homographyComputed=true +ignoreWhenAllInliers=false +method="1:LMEDS;RANSAC" +minimumInliers=10 +ransacReprojThr=5 +rectBorderWidth=4 +allCornersVisible=false +minAngle=50 + +[NearestNeighbor] +1Strategy="1:Linear;KDTree;KMeans;Composite;Autotuned;Lsh" +2Distance_type="0:EUCLIDEAN_L2;MANHATTAN_L1;MINKOWSKI;MAX;HIST_INTERSECT;HELLINGER;CHI_SQUARE_CS;KULLBACK_LEIBLER_KL;HAMMING" +3nndrRatioUsed=true +4nndrRatio=0.8 +5minDistanceUsed=false +6minDistance=1.6 +7search_checks=32 +8search_eps=0 +9search_sorted=true +Autotuned_build_weight=0.01 +Autotuned_memory_weight=0 +Autotuned_sample_fraction=0.1 +Autotuned_target_precision=0.8 +Composite_branching=32 +Composite_cb_index=0.2 +Composite_centers_init="0:RANDOM;GONZALES;KMEANSPP" +Composite_iterations=11 +Composite_trees=4 +KDTree_trees=4 +KMeans_branching=32 +KMeans_cb_index=0.2 +KMeans_centers_init="0:RANDOM;GONZALES;KMEANSPP" +KMeans_iterations=11 +Lsh_key_size=20 +Lsh_multi_probe_level=2 +Lsh_table_number=12 diff --git a/launch/config/books/4.png b/launch/config/books/4.png new file mode 100644 index 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