[Personalrobots-commit] SF.net SVN: personalrobots:[7023] pkg/trunk

[<jam...@us...>]

Revision: 7023
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=7023&view=rev
Author:   jamesbowman
Date:     2008-11-20 01:21:22 +0000 (Thu, 20 Nov 2008)

Log Message:
-----------
Moved Pose to robot_msgs/VOPose

Modified Paths:
--------------
    pkg/trunk/vision/visual_odometry/manifest.xml
    pkg/trunk/vision/visual_odometry/nodes/vo.py
    pkg/trunk/vision/visual_odometry/src/visualodometer.py

Added Paths:
-----------
    pkg/trunk/robot_msgs/msg/VOPose.msg

Removed Paths:
-------------
    pkg/trunk/vision/visual_odometry/msg/Pose.msg

Added: pkg/trunk/robot_msgs/msg/VOPose.msg
===================================================================
--- pkg/trunk/robot_msgs/msg/VOPose.msg	                        (rev 0)
+++ pkg/trunk/robot_msgs/msg/VOPose.msg	2008-11-20 01:21:22 UTC (rev 7023)
@@ -0,0 +1,3 @@
+Header header
+std_msgs/Pose pose
+int32 inliers

Modified: pkg/trunk/vision/visual_odometry/manifest.xml
===================================================================
--- pkg/trunk/vision/visual_odometry/manifest.xml	2008-11-20 01:16:05 UTC (rev 7022)
+++ pkg/trunk/vision/visual_odometry/manifest.xml	2008-11-20 01:21:22 UTC (rev 7023)
@@ -9,6 +9,7 @@
   <depend package="rostest"/>
   <depend package="rospy"/>
   <depend package="std_msgs"/>
+  <depend package="robot_msgs"/>
   <depend package="boost"/>
   <depend package="fast_detector"/>
   <depend package="star_detector"/>

Deleted: pkg/trunk/vision/visual_odometry/msg/Pose.msg
===================================================================
--- pkg/trunk/vision/visual_odometry/msg/Pose.msg	2008-11-20 01:16:05 UTC (rev 7022)
+++ pkg/trunk/vision/visual_odometry/msg/Pose.msg	2008-11-20 01:21:22 UTC (rev 7023)
@@ -1,3 +0,0 @@
-Header header
-std_msgs/Pose pose
-int32 inliers

Modified: pkg/trunk/vision/visual_odometry/nodes/vo.py
===================================================================
--- pkg/trunk/vision/visual_odometry/nodes/vo.py	2008-11-20 01:16:05 UTC (rev 7022)
+++ pkg/trunk/vision/visual_odometry/nodes/vo.py	2008-11-20 01:21:22 UTC (rev 7023)
@@ -41,11 +41,11 @@
 from math import *
 
 from std_msgs.msg import Image, ImageArray, String, VisualizationMarker
+from robot_msgs.msg import VOPose
 import std_msgs.msg as stdmsg
 import rospy
 from stereo import DenseStereoFrame, SparseStereoFrame
 from visualodometer import VisualOdometer, FeatureDetectorHarris, FeatureDetector4x4, FeatureDetectorFast
-from visual_odometry.msg import Pose
 import camera
 
 import PIL.Image
@@ -65,7 +65,7 @@
     rospy.TopicSub('/videre/images', ImageArray, self.handle_array)
     rospy.TopicSub('/videre/cal_params', String, self.handle_params)
 
-    self.pub_vo = rospy.Publisher("/vo", Pose)
+    self.pub_vo = rospy.Publisher("/vo", VOPose)
 
     self.vo = None
 
@@ -86,7 +86,7 @@
 
       pose = self.vo.handle_frame(af)
       print self.vo.num_frames, pose.xform(0,0,0), pose.quaternion()
-      p = Pose()
+      p = VOPose()
       p.inliers = self.vo.inl
       p.header = iar.header
       p.pose = stdmsg.Pose(stdmsg.Point(*pose.xform(0,0,0)), stdmsg.Quaternion(*pose.quaternion()))

Modified: pkg/trunk/vision/visual_odometry/src/visualodometer.py
===================================================================
--- pkg/trunk/vision/visual_odometry/src/visualodometer.py	2008-11-20 01:16:05 UTC (rev 7022)
+++ pkg/trunk/vision/visual_odometry/src/visualodometer.py	2008-11-20 01:21:22 UTC (rev 7023)
@@ -110,6 +110,9 @@
     x,y,z = self.xform(0,0,0)
     return sqrt(x * x + y * y + z * z)
 
+  def assert_sane(self):
+    print 
+
 import fast
 
 class FeatureDetector:


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