[Personalrobots-commit] SF.net SVN: personalrobots:[12781] pkg/trunk

[<ve...@us...>]

Revision: 12781
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=12781&view=rev
Author:   veedee
Date:     2009-03-20 21:59:13 +0000 (Fri, 20 Mar 2009)

Log Message:
-----------
cleaner door message

Modified Paths:
--------------
    pkg/trunk/mapping/door_handle_detector/src/door_handle_detector.cpp
    pkg/trunk/mapping/door_handle_detector/src/doors_detector.cpp
    pkg/trunk/prcore/robot_msgs/msg/Door.msg

Modified: pkg/trunk/mapping/door_handle_detector/src/door_handle_detector.cpp
===================================================================
--- pkg/trunk/mapping/door_handle_detector/src/door_handle_detector.cpp	2009-03-20 21:53:11 UTC (rev 12780)
+++ pkg/trunk/mapping/door_handle_detector/src/door_handle_detector.cpp	2009-03-20 21:59:13 UTC (rev 12781)
@@ -470,7 +470,7 @@
       }
 
 
-      resp.door.door_boundary = polygon_transformed;
+      //resp.door.door_boundary = polygon_transformed; -> gone from Door.msg
 
       duration = ros::Time::now () - ts;
       ROS_INFO ("Door found. Result in frame %s \n  P1 = [%f, %f, %f]. P2 = [%f, %f, %f]. \n  Height = %f. \n  Handle = [%f, %f, %f]. \n  Total time: %f.",

Modified: pkg/trunk/mapping/door_handle_detector/src/doors_detector.cpp
===================================================================
--- pkg/trunk/mapping/door_handle_detector/src/doors_detector.cpp	2009-03-20 21:53:11 UTC (rev 12780)
+++ pkg/trunk/mapping/door_handle_detector/src/doors_detector.cpp	2009-03-20 21:59:13 UTC (rev 12781)
@@ -510,20 +510,13 @@
         resp.doors[nr_d].door_p1 = min_p;
         resp.doors[nr_d].door_p2 = max_p;
 
-        resp.doors[nr_d].door_boundary = pmap_.polygons[cc];
         resp.doors[nr_d].normal.x      = coeff[cc][0];
         resp.doors[nr_d].normal.y      = coeff[cc][1];
         resp.doors[nr_d].normal.z      = coeff[cc][2];
-        resp.doors[nr_d].plane_d       = coeff[cc][3];
 
         // Need min/max Z
         cloud_geometry::statistics::getMinMax (&pmap_.polygons[cc], min_p, max_p);
         resp.doors[nr_d].height = fabs (max_p.z - min_p.z);
-        resp.doors[nr_d].width  = sqrt ((resp.doors[nr_d].door_p1.x - resp.doors[nr_d].door_p2.x) *
-                                        (resp.doors[nr_d].door_p1.x - resp.doors[nr_d].door_p2.x) +
-                                        (resp.doors[nr_d].door_p1.y - resp.doors[nr_d].door_p2.y) *
-                                        (resp.doors[nr_d].door_p1.y - resp.doors[nr_d].door_p2.y)
-                                       );
         nr_d++;
       }
 
@@ -545,7 +538,11 @@
       {
         ROS_INFO ("  %d -> P1 = [%g, %g, %g]. P2 = [%g, %g, %g]. Width = %g. Height = %g. Weight = %g.", cd,
                   resp.doors[cd].door_p1.x, resp.doors[cd].door_p1.y, resp.doors[cd].door_p1.z, resp.doors[cd].door_p2.x, resp.doors[cd].door_p2.y, resp.doors[cd].door_p2.z,
-                  resp.doors[cd].width, resp.doors[cd].height, resp.doors[cd].weight);
+                  sqrt ((resp.doors[nr_d].door_p1.x - resp.doors[nr_d].door_p2.x) *
+                        (resp.doors[nr_d].door_p1.x - resp.doors[nr_d].door_p2.x) +
+                        (resp.doors[nr_d].door_p1.y - resp.doors[nr_d].door_p2.y) *
+                        (resp.doors[nr_d].door_p1.y - resp.doors[nr_d].door_p2.y)
+                       ), resp.doors[cd].height, resp.doors[cd].weight);
       }
       ROS_INFO ("  Total time: %g.", duration.toSec ());
 

Modified: pkg/trunk/prcore/robot_msgs/msg/Door.msg
===================================================================
--- pkg/trunk/prcore/robot_msgs/msg/Door.msg	2009-03-20 21:53:11 UTC (rev 12780)
+++ pkg/trunk/prcore/robot_msgs/msg/Door.msg	2009-03-20 21:59:13 UTC (rev 12781)
@@ -3,16 +3,13 @@
 robot_msgs/Point32 frame_p2  ## position of the door frame
 robot_msgs/Point32 door_p1   ## Ground plane projection of a point on the plane of the door 
 robot_msgs/Point32 door_p2   ## Ground plane projection of a point on the plane of the door
-robot_msgs/Point32 handle    ## Position of the door handle w.r.t a frame defined at the axis of the door and on the ground plane with Z axis pointing up and X axis along the door
+robot_msgs/Point32 handle    ## Position of the door handle
 
-float32 width
 float32 height
 float32 weight               ## Given some perception algorithm, how sure are we that this is a good candidate
 
 int32 hinge                  ## is the hinge at frame_p1 (=1), frame_p2 (=2) or unknown (=-1)
 int32 rot_dir                ## does the door rotate open clockwise (=1), counterclockwise (=2), or unknown (=-1)
 
-Polygon3D door_boundary
+Vector3 normal               ## <a,b,c> plane coefficients, i.e., the door plane normal
 
-Vector3 normal               ## <a,b,c> plane coefficients
-float32 plane_d              ## <d> plane coefficient


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