Objects recognition and position calculation (webcam) - Revision history

Fernando at 11:08, 29 September 2014

2014-09-29T11:08:17Z

Fernando at 11:34, 5 September 2014

2014-09-05T11:34:16Z

Fernando at 13:50, 3 September 2014

2014-09-03T13:50:22Z

Fernando at 07:46, 23 July 2014

2014-07-23T07:46:45Z

Fernando at 09:39, 8 July 2014

2014-07-08T09:39:03Z

Victorm at 08:44, 25 June 2014

2014-06-25T08:44:01Z

Fernando at 08:35, 9 June 2014

2014-06-09T08:35:09Z

Fernando: /* Tracking objects */

2014-04-28T10:42:18Z

‎Tracking objects

Fernando at 10:41, 28 April 2014

2014-04-28T10:41:58Z

Fernando: /* Tracking objects */

2014-04-28T10:41:37Z

‎Tracking objects

@@ Line 20: / Line 20: @@
 | valign="top" |
-[[CeRVaNTeS' arm control (maxon+epos2)]]<br/>
+[[CeRVaNTeS' arm and base control (maxon+epos2)]]<br/>
 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>
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-[[CeRVaNTeS' arm control (maxon+epos2)]]<br/>
+[[CeRVaNTeS' arm and base control (maxon+epos2)]]<br/>
 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>

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 [[Integration of MYRAbot in moveIt! (gazebo+moveIt!)]]<br/>
 [[Voice control (sphinx+festival)]]<br/>
-[[Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
+[[MYRAbot's Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
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@@ Line 23: / Line 23: @@
 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>
-[[Integration of CeRVaNTeS in moveIt! (gazebo+moveIt!)]]
+[[Integration of CeRVaNTeS in moveIt! (gazebo+moveIt!)]]<br/>
 |}
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 [[Integration of MYRAbot in moveIt! (gazebo+moveIt!)]]<br/>
 [[Voice control (sphinx+festival)]]<br/>
-[[Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
+[[MYRAbot's Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
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 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>
-[[Integration of CeRVaNTeS in moveIt! (gazebo+moveIt!)]]
+[[Integration of CeRVaNTeS in moveIt! (gazebo+moveIt!)]]<br/>
 |}

@@ Line 20: / Line 20: @@
 | valign="top" |
 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>
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 [[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>

@@ Line 21: / Line 21: @@
 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
-[[CeRVaNTeS model for simulation (urdf+gazebo)]]
+[[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>
 |}
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 [[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
-[[CeRVaNTeS model for simulation (urdf+gazebo)]]
+[[CeRVaNTeS model for simulation (urdf+gazebo)]]<br/>
 |}

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 | valign="top" |
-[[CeRVaNTeS's arm model for simulation (urdf+gazebo)]]<br/>
+[[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]
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 | valign="top" |
-[[CeRVaNTeS's arm model for simulation (urdf+gazebo)]]<br/>
+[[CeRVaNTeS' arm model for simulation (urdf+gazebo)]]<br/>
 [[CeRVaNTeS model for simulation (urdf+gazebo)]]

@@ Line 27: / Line 27: @@
-==Objects recognition==
+=Objects recognition=
 We have used the ''package'' [http://code.google.com/p/find-object/ find_object_2d] which has been develop by [https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/Mathieu_Labb%C3%A9 Mathieu Labbé] (Université de Sherbrooke). The program can recognizes objects in the scene using an image of the object. The program has a graphical user interface which allow to capture an image of the scene and save it.
@@ Line 41: / Line 41: @@
 * Position of the corners of the object image in the scene.
-===Utilization of a new OpenCV version in ROS Electric===
+==Utilization of a new OpenCV version in ROS Electric==
 The previous ''package'' needs in order to compile the [http://opencv.org/ OpenCV] version 2.4.3 or higher, but [http://wiki.ros.org/ ROS] Electric has the [http://opencv.org/ OpenCV] version 2.3.1. We will install the [http://opencv.org/ OpenCV] version 2.4.3, modify the ''package'' [http://wiki.ros.org/cv_bridge?distro=electric cv_bridge] and modify the ''package'' [http://code.google.com/p/find-object/ find_object_2d].
-====Installation of OpenCV====
+===Installation of OpenCV===
 First we will [http://opencv.org/downloads.html download] the [http://opencv.org/ OpenCV] version 2.4.3 by the official web. We will extract the content of the downloaded file in the personal folder. We will execute the next commands in a terminal in order to update the [http://www.ubuntu.com/ ubuntu] ''packages'':
@@ Line 88: / Line 88: @@
 We will restart the PC to finish the installation.
-====Modification of the ''package'' cv_bridge====
+===Modification of the ''package'' cv_bridge===
 We must modify the file "manifest.xml" of the ''package'' [http://wiki.ros.org/cv_bridge?distro=electric cv_bridge] in order to avoid the use of the previous version of [http://opencv.org/ OpenCV]. We will execute the next commands in a terminal:
@@ Line 105: / Line 105: @@
 </syntaxhighlight>
-====Modification of the ''package'' find_object_2d====
+===Modification of the ''package'' find_object_2d===
 We must modify the file "CMakeLists.txt" of the package [http://code.google.com/p/find-object/ find_object_2d] in order to avoid the use of the previous version of OpenCV for the compilation. We will execute the next commands in a terminal:
@@ Line 131: / Line 131: @@
 </syntaxhighlight>
-==Position calculation==
+=Position calculation=
 We will use the data provided by the ''package'' [http://code.google.com/p/find-object/ find_object_2d] in order to calculate the approximate position of the objects towards the [[Control brazo MYRAbot (bioloid+arduino) |MYRAbot's arm]] coordinates. We have to know the next physical parameters:
@@ Line 145: / Line 145: @@
 [[file:Webcam MYRAbot ecuaciones-en.jpg]]
-===Program to publish the position of the objects===
+==Program to publish the position of the objects==
 First [[MYRAbot's arm control (bioloid+arduino)#Creating custom messages in ROS|we will create some custom messages]] within the ''package'' "[http://code.google.com/p/find-object/ find_object_2d]" in order to publish the position of the recognized objects in the scene. We will create the basis message that contains the identifier and the placement point of the recognized object. We will create a file named "Point_id.msg" with the content that is shown below:
@@ Line 278: / Line 278: @@
 </syntaxhighlight>
-====Compiling the program====
+===Compiling the program===
 We have to add the next code lines at the end to the file "CMakeLists.txt" of the ''package'' "[http://code.google.com/p/find-object/ find_object_2d]", in order to compile and create the executable file:
@@ Line 294: / Line 294: @@
 </syntaxhighlight>
-====Executing the program====
+===Executing the program===
 We have to install the ''package'' "[http://wiki.ros.org/camera_umd?distro=electric camera_umd]" in order to launch our [http://en.wikipedia.org/wiki/USB USB] webcam. We will execute the next command in a terminal in order to launch the webcam:
@@ Line 326: / Line 326: @@
 <syntaxhighlight>roslaunch find_object_2d encontrar_objetos.launch</syntaxhighlight>
-==To point objects (Choose)==
+=To point objects (Choose)=
 We will use the previous program in order to control the [[MYRAbot's arm control (bioloid+arduino)|arm]] to point the selected object. The program subscribes the ''topics'' "point" (published by the previous program), "selected_object" (where we publish the identifier of the selected object) and "pose_arm" (where the states of the [[MYRAbot's arm control (bioloid+arduino)|arm]] are published). Also the program publishes the ''topics'' "move_arm" and "hand_arm" in order to control the [[MYRAbot's arm control (bioloid+arduino)|arm]]. When we start the program, the [[MYRAbot's arm control (bioloid+arduino)|arm]] goes to the initial position. When we publish the identifier of the selected object in the ''topic'' "selected_object" (we use the identifier 100 to return the arm to the initial position), the arm moves to point the object if it is present in the scene. Passed a short time, the [[MYRAbot's arm control (bioloid+arduino)|arm]] returns to the initial position. We will create a file named "escoja.cpp" within the folder "src" of the ''package'' "[[MYRAbot's arm control (bioloid+arduino)#Control programs|brazo_fer]]" with the content that is shown below:
@@ Line 673: / Line 673: @@
 -->
-==Tracking objects==
+=Tracking objects=
 The program subscribes the ''topics'' "selected_object" (where we publish the identifier of the selected object) and "pose_arm" (where the states of the [[MYRAbot's arm control (bioloid+arduino)|arm]] are published). Also the program publishes the ''topics'' "move_arm" and "hand_arm" in order to control the [[MYRAbot's arm control (bioloid+arduino)|arm]]. When we start the program, the [[MYRAbot's arm control (bioloid+arduino)|arm]] goes to the initial position. When we publish the identifier of the selected object in the ''topic'' "selected_object" (we use the identifier 100 to return the arm to the initial position), the arm moves to track the object if it is present in the scene. We will create a file named "seguir_objetos.cpp" within the folder "src" of the ''package'' "[[MYRAbot's arm control (bioloid+arduino)#Control programs|brazo_fer]]" with the content that is shown below:

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 ----
-Related articles
+{| style="border: solid 0px white; width: 100%"
 ----
 [[MYRAbot's arm control (bioloid+arduino)]]<br/>
 [[MYRAbot's arm model for simulation (urdf+gazebo)]]<br/>
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 [[Voice control (sphinx+festival)]]<br/>
 [[Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
 ----
@@ Line 956: / Line 969: @@
 ----
-Related articles
+{| style="border: solid 0px white; width: 100%"
 ----
 [[MYRAbot's arm control (bioloid+arduino)]]<br/>
 [[MYRAbot's arm model for simulation (urdf+gazebo)]]<br/>
@@ Line 964: / Line 983: @@
 [[Voice control (sphinx+festival)]]<br/>
 [[Teleoperation with xbox360 wireless controller (xbox360 controller+joy)]]
 ----
 [[Mobile manipulation | < go back to main]]

← Older revision		Revision as of 10:41, 28 April 2014
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	[[Mobile manipulation \| < go back to main]]		[[Mobile manipulation \| < go back to main]]
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← Older revision		Revision as of 10:41, 28 April 2014
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	We can see in this [[MYRAbot model for simulation (urdf+gazebo)#Execution_2\|video]] the execution of this program in [http://wiki.ros.org/simulator_gazebo?distro=electric gazebo] simlator.		We can see in this [[MYRAbot model for simulation (urdf+gazebo)#Execution_2\|video]] the execution of this program in [http://wiki.ros.org/simulator_gazebo?distro=electric gazebo] simlator.
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