pull working package

Author.md

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+Original Authors
+----------------
+
+ * [Chris Dunkers](cmdunkers@cmu.edu)
+ * [Eric Danziger](ericdanziger@cmu.edu)
+
+Contributors
+------------

Author.md~

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+Original Authors
+----------------
+
+ * [Chris Dunkers](cmdunkers@cmu.edu)
+ * [Eric Danziger]()
+
+Contributors
+------------

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(perception_system)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  nav_msgs
+  oddbot_msgs
+  roscpp
+  sensor_msgs
+  std_msgs
+  tf
+  cv_bridge
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   nav_msgs#   oddbot_msgs#   sensor_msgs#   std_msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES trajectory_controller
+#  CATKIN_DEPENDS nav_msgs oddbot_msgs roscpp sensor_msgs std_msgs tf
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(include
+  ${catkin_INCLUDE_DIRS}
+  #${OpenCV_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(trajectory_controller
+#   src/${PROJECT_NAME}/trajectory_controller.cpp
+# )
+
+## Declare a cpp executable
+add_executable(perception_tracker src/perception_tracker.cpp src/bot.cpp)
+#add_executable(local_controller src/local_controller.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(trajectory_controller_node trajectory_controller_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(perception_tracker
+  ${catkin_LIBRARIES}
+  #opencv_ocl
+  #opencv_core
+  #opencv_features2d
+  opencv_nonfree
+  #opencv_highgui
+  #${OpenCV_LIBRARIES}
+)
+
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS trajectory_controller trajectory_controller_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_trajectory_controller.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

README.md

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+perception system 
+==================
+#### 
+
+### License
+For full terms and conditions, see the [LICENSE](LICENSE) file.
+
+### Authors
+See the [AUTHORS](AUTHORS.md) file for a full list of contributors

README.md~

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+trajectory_controller
+==================
+#### trajectory_controller
+The nodes associated with the trajectory control and following
+
+### gloabl_controller
+Node associated with following the global path
+
+### local_controller
+Node associated with following the local path 
+
+### License
+For full terms and conditions, see the [LICENSE](LICENSE) file.
+
+### Authors
+See the [AUTHORS](AUTHORS.md) file for a full list of contributors

include/perception_system/bot.h

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+//Written by Eric Danziger
+//04 March 2015
+//ericdanziger@cmu.edu
+
+#ifndef BOT_H
+#define BOT_H
+
+
+#include <dirent.h>
+#include <assert.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <unistd.h>
+#include <iostream>
+#include <numeric>
+#include "opencv2/imgproc/imgproc.hpp"
+#include "opencv2/core/core.hpp"
+#include "opencv2/features2d/features2d.hpp"
+#include "opencv2/features2d/features2d.hpp"
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/nonfree/nonfree.hpp"
+#include "opencv2/calib3d/calib3d.hpp"
+
+using namespace cv;
+
+class Bot
+{
+ public:
+  Bot();
+  Bot(int);
+  Bot(Point uL, Point lR);
+  ~Bot();
+
+  void updateBoxPos(Mat image1, Mat image2, float*, float*, float*);
+  void findGoalPos(Mat image1, Mat image2, float*, float*, float*);
+  void updateBoxSize(Mat image);
+  bool unitTest(Mat image);
+
+ private:
+  bool showImages;
+  Point upperLeft;
+  Point lowerRight;
+  bool inertialTracking; 
+  Mat templateIm;
+  int updateTemplate;
+
+  std::vector<Mat> confirmedFeatures;
+  std::vector<int> gradientHistory;
+  std::vector<int> xHistory;
+  std::vector<int> yHistory;
+
+  void checkBounds(Mat image, Point* uL, Point* lR);
+  void getTemplateMatch(Mat image, Point* matchUL, Point* matchLR, Mat* templateImage, double* strongestResponse);
+  void matchPoints(std::vector<KeyPoint>* keypointsIn1, std::vector<KeyPoint>* keypointsIn2,Mat image1, Mat image2, std::vector<KeyPoint>* keypointsOut1, std::vector<KeyPoint>* keypointsOut2, int thresh);
+
+
+
+};
+
+
+#endif

include/perception_system/bot.h~

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+//Written by Eric Danziger
+//04 March 2015
+//ericdanziger@cmu.edu
+
+#ifndef BOT_H
+#define BOT_H
+
+
+#include <dirent.h>
+#include <assert.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <unistd.h>
+#include <iostream>
+#include <numeric>
+#include "opencv2/imgproc/imgproc.hpp"
+#include "opencv2/core/core.hpp"
+#include "opencv2/features2d/features2d.hpp"
+#include "opencv2/features2d/features2d.hpp"
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/nonfree/nonfree.hpp"
+#include "opencv2/calib3d/calib3d.hpp"
+
+using namespace cv;
+
+class Bot
+{
+ public:
+  Bot(Point uL, Point lR);
+  ~Bot();
+
+  void updateBoxPos(Mat image1, Mat image2);
+  void findGoalPos(Mat image1, Mat image2);
+  void updateBoxSize(Mat image);
+  bool unitTest(Mat image);
+
+ private:
+  Point upperLeft;
+  Point lowerRight;
+  bool inertialTracking; 
+  Mat templateIm;
+  int updateTemplate;
+
+  std::vector<Mat> confirmedFeatures;
+  std::vector<int> gradientHistory;
+  std::vector<int> xHistory;
+  std::vector<int> yHistory;
+
+  void checkBounds(Mat image, Point* uL, Point* lR);
+  void getTemplateMatch(Mat image, Point* matchUL, Point* matchLR, Mat* templateImage, double* strongestResponse);
+  void matchPoints(std::vector<KeyPoint>* keypointsIn1, std::vector<KeyPoint>* keypointsIn2,Mat image1, Mat image2, std::vector<KeyPoint>* keypointsOut1, std::vector<KeyPoint>* keypointsOut2, int thresh);
+
+
+
+};
+
+
+#endif

include/perception_system/global_controller.h

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+/*
+ * Global controller to follow a trajectory
+ *
+ * By: Christopher Dunkers, cmdunkers@cmu.edu
+ * March 1, 2015
+ */
+
+#ifndef GLOBAL_CONTROLLER_H_
+#define GLOBAL_CONTROLLER_H_
+
+#include <ros/ros.h>
+#include "nav_msgs/Path.h"
+#include <tf/transform_listener.h>
+#include <string>
+#include <cmath>
+
+class global_controller {
+
+  public:
+    global_controller();
+
+  private:
+    void create_path();
+    void update_waypoints(const nav_msgs::Path::ConstPtr& msg);
+    nav_msgs::Path goal_waypoints;
+    tf::TransformListener tf_listener;
+
+    double step;
+    geometry_msgs::PoseStamped cur_robot_pose;
+    nav_msgs::Path plan;
+
+    //alphas start with the constant term and increase 
+    //ie a[0] + a[1]*t + a[2]*t^2 ...
+    std::vector<std::vector<double> > x_alphas;
+    std::vector<std::vector<double> > y_alphas;
+    std::vector<std::vector<double> > h_alphas;
+
+    ros::Subscriber waypoints_sub;
+    ros::Publisher plan_pub;
+
+};
+
+
+#endif