Observation registration services¶
This package defines a number of service messages, which should be included by the packages using observation/additional view registration (thus avoiding a dependency on the registration packages, which in turn depend on CUDA).
ObservationRegistrationService¶
string source_observation_xml
string target_observation_xml
---
geometry_msgs/Transform transform
int32 total_correspondences
This service returns the 3D transformation aligning the source
observation to the target observation (i.e.
source * transform = target). The number of correspondences in
total_correspondences gives an indication of the quality of the
registration (specifically, if total_correspondences = 0 the
registration has failed).
ObjectAdditionalViewRegistrationService¶
string observation_xml # can be blank
string object_xml
---
geometry_msgs/Transform[] additional_view_transforms
int32[] additional_view_correspondences
geometry_msgs/Transform observation_transform
int32 observation_correspondences
This service registers the additional views acquired for a specific
object a) with respect to each other and b) with an observation. The
inputs to this service are the object_xml file, pointing to the
object containing the additional views to be registered. The object is
loaded from the disk using the
metaroom_xml_parser.
The second parameter is the observation_xml previously acquired
using the
strands_3d_mapping
pipeline. If this parameters is not blank, the additional views of the
object will also be registered to the observation intermediate clouds.
The underlying registration is done using siftgpu and
the CERES optimization engine.
The registered poses of the object additional views are recorded in the
vector additional_view_transforms, while the number of
correspondences used per view are stored in
additional_view_correspondences. Similarly, the transform that
aligns the views to the observation is stored in
observation_transform and the number of correspondences used to
computed it in observation_correspondences.
AdditionalViewRegistrationService¶
string observation_xml # can be blank
sensor_msgs/PointCloud2[] additional_views
geometry_msgs/Transform[] additional_views_odometry_transforms
---
geometry_msgs/Transform[] additional_view_transforms
int32[] additional_view_correspondences
geometry_msgs/Transform observation_transform
int32 observation_correspondences
This service can be used for the same purpose as the previous one. The
difference is that, instead of passing an object_xml file, one can
pass a number of additional_view (in the form of point clouds), and,
optionally (though strongly advised), odometry poses for the additional
views, which the optimizer will use as initial guesses for the
additional view poses.