Quasimodo Retrieval

This package contains nodes to interface with the object_3d_retrieval and object_3d_benchmark packages. They are meant to be used together with with the scripts in object_3d_benchmark to build a feature representation than can be used by these nodes for querying. Please look at the package quasimodo_test (specifically the node test_msgs) for an example of this in action.

Retrieval Server

The retrieval server basically takes a point cloud and queries for similar objects observed previously within our feature representation. The definition of the service looks like:

sensor_msgs/PointCloud2 cloud
sensor_msgs/Image image
sensor_msgs/CameraInfo camera
---
retrieval_result result

Please check the message quasimodo_msgs/retrieval_result for the exact format of the return type. Invoke a server instance that can be called with the above service definition by running

rosrun quasimodo_retrieval quasimodo_retrieval_server _vocabulary_path:=/path/to/vocabulary.

Visualization Server

The idea is that the output from the retrieval server can be sent on to another server for visualization. The original query data, together with the result from the retrieval server is passed on to the visualization server. It offers the following service:

sensor_msgs/Image image
sensor_msgs/CameraInfo camera
geometry_msgs/Transform room_transform
retrieval_result result
---
sensor_msgs/Image image

Run the node by simply typing

rosrun quasimodo_retrieval quasimodo_visualization_server.

Original page: https://github.com/strands-project/strands_3d_mapping/blob/hydro-devel/quasimodo/quasimodo_retrieval/README.md