Documentation

The RBO interactive perception project (RBO-IAP) is concerned with the detection and interactive exploration of kinematic objects, i.e. objects with degrees of freedom. It currently features algorithms for

• tracking visual features in a sequence of images feature_tracker

• segmenting visual features into rigid bodies visual_net

• analyzing joint types kinematic_analyzer

All modules are available as separate ROS packages which can be easily combined. They all depend on a shared packaged named iap_common.

Below you find help for installing IAP. If you want to dive right in, check out the iap_tutorials.

Tutorials

Installation

Prerequisites

• ROS electric or fuerte
• pcl, pcl_ros
• opencv2
• openni_camera (if you want to use Kinect)

Included software

• Bayes++ http://bayesclasses.sourceforge.net

• ROS package for Bayes++ provided by Miquel Massot https://github.com/miquelmassot/bayes_filter_ros

• Bundler http://phototour.cs.washington.edu/bundler/

• BkGraph http://pub.ist.ac.at/~vnk/software.html

The packages were tested on Ubuntu 10.10 and Ubuntu 11.10

Troubleshooting

I get a segmentation fault in pcl::SampleConsensusModelRegistration when running FeatureSet::estimateRigidTransformation

This is due to a bug in the PCL version of ROS electric. You need to apply a patch and recompile the PCL package. Note: It assumes that your ROS installation is located in /opt/ros/electric/. If not, you have to adapt the path of the file Correspondence_types.hpp in the patch file.

Copy the following snippet into a file called Correspondence_types.patch‎:

--- /opt/ros/electric/stacks/perception_pcl/pcl/include/pcl-1.1/pcl/registration/impl/correspondence_types.hpp  2011-11-17 17:21:26.000000000 +0100
+++ correspondence_types.hpp    2012-07-13 15:46:39.657054489 +0200
@@ -68,9 +68,9 @@
       }
       /** \brief Ctor */
       inline Correspondence(int _indexQuery, int _indexMatch, float _distance)
-      : indexQuery (indexQuery)
-      , indexMatch (indexMatch)
-      , distance (distance)
+      : indexQuery (_indexQuery)
+      , indexMatch (_indexMatch)
+      , distance (_distance)
       { 
        data[3] = 1.0f;
       }

Then apply the patch:

 patch -p0 -i Correspondence_types.patch

Then recompile your ROS PCL package

1. Change the ownership of the folder perception_pcl in /opt/ros/electric/stacks: sudo chown -R your_user_name /opt/ros/electric/stacks/perception_pcl

2. Remove the ROS_NOBUILD files in /opt/ros/electric/stacks/perception_pcl/pcl and /opt/ros/electric/stacks/perception_pcl/pcl_ros or type: rosmake -u in both folders

3. Remove the folder build in /opt/ros/electric/stacks/perception_pcl/pcl/msg/

4. Go to /opt/ros/electric/stacks/perception_pcl/pcl/msg/ and type rosmake

More information

For more information please visit http://www.robotics.tu-berlin.de/menue/research/interactive_perception/

<<TracLink(REPO COMPONENT)>>