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