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commit 85de6947ad28504af59be166b03aa5de986f5fd0 1 parent 3ee6b06
@thomas-moulard thomas-moulard authored
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84 msg/MovingEdge.msg
@@ -1,16 +1,68 @@
-int64 mask_size
-int64 n_mask
-int64 range
-float64 threshold
-float64 mu1
-float64 mu2
-int64 sample_step
-int64 ntotal_sample
-
-int64 strip
-float64 min_samplestep
-float64 aberration
-float64 init_aberration
-
-float64 lambda
-float64 first_threshold
+# This message contains tracking parameters.
+#
+# These parameters determine how precise, how fast and how
+# reliable will be the tracking.
+#
+# It should be tuned carefully and can be changed dynamically.
+#
+# For more details, see the ViSP documentation:
+# http://www.irisa.fr/lagadic/visp/publication.html
+
+
+# Moving edge parameters.
+
+int64 mask_size # Mask size (in pixel) used to compute the image gradient
+ # and determine the object contour.
+ # A larger mask size is better for larger images.
+ # 3 pixels is enough for 640x480 images.
+ # Increasing this value makes the tracking slower.
+ #
+ # Caution: this value cannot be changed dynamically
+ # without resetting the tracking.
+
+int64 n_mask # Number of masks applied to determine the object contour.
+ # Increasing this value makes the tracking slower.
+
+int64 range # Maximum seek distance on both sides of the reference pixel.
+ # It should match the maximum distance in pixel between
+ # the current position of the feature projection and
+ # its next position.
+ # I.e. if the object moves fast and your tracking
+ # frequency is low, this value should be increased.
+ # Increasing this value makes the tracking slower.
+
+float64 threshold # Value used to determine if a moving edge is valid
+ # or not.
+
+float64 mu1 # Minimum image contrast allowed to detect a contour.
+float64 mu2 # Maximum image contrast allowed to detect a contour.
+
+int64 sample_step # Minimum distance in pixel between two
+ # discretization points.
+ # It avoids having too many discretization points when
+ # the tracked object is far away (and its projection
+ # in the image is small).
+ # Increasing this value makes the tracking *faster*.
+
+int64 ntotal_sample # How many discretization points are used to track the
+ # feature.
+ # Higher is better but slow down the tracking.
+ # The best value depends on your model and its distance
+ # with respect to the camera.
+ # Increasing this value makes the tracking slower.
+
+int64 strip # How many pixels are ignored around the borders.
+float64 min_samplestep # Minimum allowed samplestep. Useful to specify
+ # a lower bound when the samplestep is changed
+ # dynamically.
+ # This is not done by visp_tracker currently.
+float64 aberration # Ignored.
+float64 init_aberration # Ignored.
+
+
+# Tracker parameters.
+
+float64 lambda # Gain used to compute the control law.
+float64 first_threshold # What proportion of points should be valid to
+ # acccept an initial pose.
+ # Value should be between 0 et 1.
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13 msg/MovingEdgeSite.msg
@@ -1,3 +1,10 @@
-float64 x
-float64 y
-int32 suppress
+# Moving edge position.
+
+float64 x # X position in the image
+float64 y # Y position in the image
+int32 suppress # Is the moving edge valid?
+ # - 0: yes
+ # - 1: no, constrast check has failed.
+ # - 2: no, threshold check has failed.
+ # - 3: no, M-estimator check has failed.
+ # - >=4: no, undocumented reason.
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10 msg/MovingEdgeSites.msg
@@ -1,2 +1,8 @@
-Header header
-MovingEdgeSite[] moving_edge_sites
+# Stamped list of moving edge positions.
+#
+# Moving edge positions associated with a particular timestamp.
+# Used by the viewer to display moving edge positions and allow
+# tracking debug.
+
+Header header # Header (required for synchronization).
+MovingEdgeSite[] moving_edge_sites # List of moving dge sites (i.e. positions).
View
11 msg/TrackingResult.msg
@@ -1,3 +1,8 @@
-Header header
-bool is_tracking
-geometry_msgs/Transform cMo
+# Object pose at a particular point of time.
+#
+# If the tracking fails (is_tracking is false), the
+# cMo attribute value can be anything and must be ignored.
+
+Header header # Header (required for synchornization).
+bool is_tracking # Did the tracking succeed?
+geometry_msgs/Transform cMo # Object pose (translation and quaternion).
View
11 srv/Init.srv
@@ -1,8 +1,19 @@
+# Initialize the tracking.
+#
+# During the initialization the tracked object
+# is chosen and its initial pose is required
+# to start the tracking.
+
+# Model database location on the filesystem.
std_msgs/String model_path
+# Model name
std_msgs/String model_name
+# Object initial pose.
geometry_msgs/Transform initial_cMo
+# Tracking parameters
MovingEdge moving_edge
---
+# Did the initialization succeed?
bool initialization_succeed
View
8 srv/TrackingMetaData.srv
@@ -1,4 +1,6 @@
---
-std_msgs/String camera_prefix
-std_msgs/String model_path
-std_msgs/String model_name
+std_msgs/String camera_prefix # Namespace in which image_rect and camera_info
+ # topics are published.
+
+std_msgs/String model_path # Model location on the filesystem.
+std_msgs/String model_name # Model name.
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