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WIP: Volume Config #62

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WIP: Volume Config #62

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9caa17d
initial commit; translation
Nov 18, 2020
521333a
Update to new ros_industrial_cmake_boilerplate package name
Jan 28, 2021
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4 changes: 2 additions & 2 deletions yak/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@ if(NOT DEFINED CMAKE_CUDA_STANDARD)
set(CMAKE_CUDA_STANDARD_REQUIRED True)
endif()

find_package(cmake_common_scripts REQUIRED)
find_package(ros_industrial_cmake_boilerplate REQUIRED)
find_package(CUDA 9.0 REQUIRED)
find_package(OpenCV REQUIRED COMPONENTS core highgui)
find_package(PCL 1.8 REQUIRED COMPONENTS common io geometry surface)
Expand Down Expand Up @@ -150,7 +150,7 @@ target_link_libraries(marching_cubes_tests
install(DIRECTORY include/${PROJECT_NAME}
DESTINATION include)

# cmake_common_scripts package configure
# ros_industrial_cmake_boilerplate package configure
configure_package(NAMESPACE yak TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_frontend ${PROJECT_NAME}_marching_cubes)

# uninstall target
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2 changes: 1 addition & 1 deletion yak/package.xml
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Expand Up @@ -8,7 +8,7 @@
<maintainer email="[email protected]">Joseph Schornak</maintainer>
<license>MIT</license>

<build_depend>cmake_common_scripts</build_depend>
<build_depend>ros_industrial_cmake_boilerplate</build_depend>

<depend>libpcl-all-dev</depend>
<depend>eigen</depend>
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7 changes: 4 additions & 3 deletions yak/src/kfusion/kinfu.cpp
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Expand Up @@ -59,7 +59,8 @@ kfusion::KinFu::KinFu(const KinFuParams& params) : frame_counter_(0), params_(pa
params_.volume_dims[1] * params_.volume_resolution,
params_.volume_dims[2] * params_.volume_resolution);
volume_->setSize(volumeSize);
// volume_->setPose(params_.volume_pose);
//This is not enough to translate the actual volume; still @ world 0
//volume_->setPose(params_.volume_pose);

volume_->setRaycastStepFactor(params_.raycast_step_factor);
volume_->setGradientDeltaFactor(params_.gradient_delta_factor);
Expand All @@ -76,7 +77,7 @@ kfusion::KinFu::KinFu(const KinFuParams& params) : frame_counter_(0), params_(pa
poses_.reserve(30000);

// TODO: Allow loading of robot pose instead of default volume pose
poses_.push_back(params_.volume_pose.matrix);
poses_.push_back(params_.volume_pose);
}

const kfusion::KinFuParams& kfusion::KinFu::params() const { return params_; }
Expand Down Expand Up @@ -139,7 +140,7 @@ void kfusion::KinFu::resetPose()
poses_.reserve(30000);

// TODO: Allow loading of robot pose instead of default volume pose
poses_.push_back(params_.volume_pose.matrix);
poses_.push_back(params_.volume_pose);
cout << "Resetting to: " << params_.volume_pose.matrix << endl;

// volume_->clear();
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2 changes: 2 additions & 0 deletions yak/src/yak_server.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
#include <yak/yak_server.h>
#include <opencv2/core/eigen.hpp>
#include <opencv2/highgui/highgui.hpp> // named-window apparatus; TODO: Remove this

yak::FusionServer::FusionServer(const kfusion::KinFuParams& params, const Eigen::Affine3f& world_to_volume)
Expand Down Expand Up @@ -47,6 +48,7 @@ bool yak::FusionServer::reset()
bool yak::FusionServer::resetWithNewParams(const kfusion::KinFuParams& params)
{
kinfu_.reset(new kfusion::KinFu(params));
cv::cv2eigen(params.volume_pose.inv().matrix, volume_to_world_.matrix());
return true;
}

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2 changes: 1 addition & 1 deletion yak_ext/CMakeLists.txt
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@@ -1,7 +1,7 @@
cmake_minimum_required(VERSION 3.5.0)
project(yak_ext VERSION 0.1.0)

find_package(cmake_common_scripts REQUIRED)
find_package(ros_industrial_cmake_boilerplate REQUIRED)

if(BUILD_TESTING)
find_package(GTest QUIET)
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2 changes: 1 addition & 1 deletion yak_ext/package.xml
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Expand Up @@ -6,7 +6,7 @@
<maintainer email="[email protected]">Joseph Schornak</maintainer>
<author email="[email protected]">Joseph Schornak</author>
<license>Apache 2.0</license>
<build_depend>cmake_common_scripts</build_depend>
<build_depend>ros_industrial_cmake_boilerplate</build_depend>
<export>
<build_type>cmake</build_type>
</export>
Expand Down