{"action":"created","issue":{"url":"https://api.github.com/repos/CentroEPiaggio/pacman-DR53/issues/20","labels_url":"https://api.github.com/repos/CentroEPiaggio/pacman-DR53/issues/20/labels{/name}","comments_url":"https://api.github.com/repos/CentroEPiaggio/pacman-DR53/issues/20/comments","events_url":"https://api.github.com/repos/CentroEPiaggio/pacman-DR53/issues/20/events","html_url":"https://github.com/CentroEPiaggio/pacman-DR53/issues/20","id":60639098,"number":20,"title":"Visual object tracking for visual servoing","user":{"login":"carlosjoserg","id":4049053,"avatar_url":"https://avatars.githubusercontent.com/u/4049053?v=3","gravatar_id":"","url":"https://api.github.com/users/carlosjoserg","html_url":"https://github.com/carlosjoserg","followers_url":"https://api.github.com/users/carlosjoserg/followers","following_url":"https://api.github.com/users/carlosjoserg/following{/other_user}","gists_url":"https://api.github.com/users/carlosjoserg/gists{/gist_id}","starred_url":"https://api.github.com/users/carlosjoserg/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/carlosjoserg/subscriptions","organizations_url":"https://api.github.com/users/carlosjoserg/orgs","repos_url":"https://api.github.com/users/carlosjoserg/repos","events_url":"https://api.github.com/users/carlosjoserg/events{/privacy}","received_events_url":"https://api.github.com/users/carlosjoserg/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/CentroEPiaggio/pacman-DR53/labels/enhancement","name":"enhancement","color":"84b6eb"}],"state":"open","locked":false,"assignee":{"login":"Tabjones","id":1950251,"avatar_url":"https://avatars.githubusercontent.com/u/1950251?v=3","gravatar_id":"","url":"https://api.github.com/users/Tabjones","html_url":"https://github.com/Tabjones","followers_url":"https://api.github.com/users/Tabjones/followers","following_url":"https://api.github.com/users/Tabjones/following{/other_user}","gists_url":"https://api.github.com/users/Tabjones/gists{/gist_id}","starred_url":"https://api.github.com/users/Tabjones/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Tabjones/subscriptions","organizations_url":"https://api.github.com/users/Tabjones/orgs","repos_url":"https://api.github.com/users/Tabjones/repos","events_url":"https://api.github.com/users/Tabjones/events{/privacy}","received_events_url":"https://api.github.com/users/Tabjones/received_events","type":"User","site_admin":false},"milestone":{"url":"https://api.github.com/repos/CentroEPiaggio/pacman-DR53/milestones/4","html_url":"https://github.com/CentroEPiaggio/pacman-DR53/milestones/Demo%20trial%20with%20sensors","labels_url":"https://api.github.com/repos/CentroEPiaggio/pacman-DR53/milestones/4/labels","id":1030800,"number":4,"title":"Demo trial with sensors","description":"Goal: test integration with IMU-based gloves and F/T sensors, hopefully for both hands. \r\n\r\nInvolved members:\r\n- @hamalMarino\r\n- @carlosjoserg\r\n- @GaspareSantaera\r\n- @emalbt\r\n\r\nIt would be nice to have also object visual tracking at this point, so @Tabjones might be an involved member as well.","creator":{"login":"carlosjoserg","id":4049053,"avatar_url":"https://avatars.githubusercontent.com/u/4049053?v=3","gravatar_id":"","url":"https://api.github.com/users/carlosjoserg","html_url":"https://github.com/carlosjoserg","followers_url":"https://api.github.com/users/carlosjoserg/followers","following_url":"https://api.github.com/users/carlosjoserg/following{/other_user}","gists_url":"https://api.github.com/users/carlosjoserg/gists{/gist_id}","starred_url":"https://api.github.com/users/carlosjoserg/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/carlosjoserg/subscriptions","organizations_url":"https://api.github.com/users/carlosjoserg/orgs","repos_url":"https://api.github.com/users/carlosjoserg/repos","events_url":"https://api.github.com/users/carlosjoserg/events{/privacy}","received_events_url":"https://api.github.com/users/carlosjoserg/received_events","type":"User","site_admin":false},"open_issues":3,"closed_issues":0,"state":"open","created_at":"2015-03-20T11:26:22Z","updated_at":"2015-03-20T11:38:32Z","due_on":"2015-04-21T22:00:00Z","closed_at":null},"comments":3,"created_at":"2015-03-11T10:38:47Z","updated_at":"2015-04-14T15:36:35Z","closed_at":null,"body":"This issue depends on #19 and the `rigid-body-tracker` that will be used to improve CentroEPiaggio/phase-space#2\r\n\r\nThe algorithm for the __object-not-grasped__ situation could be something like:\r\n\r\n_init_\r\n1. Estimate object pose (O) from the complete object database\r\n2. Init `rigid-body-tracker` with O\r\n3. Use the `rigid-body-tracker` uncertainty measure to build the corresponding uncertainty box (B) (this is not the bounding box, it is a box whose size is inversely proportional to how certain the `rigid-body-tracker` is w.r.t. to the tracked pose)\r\n_loop_\r\n4. Use the `rigid-body-tracker` prediction to update pose and size of B\r\n5. Filter the scene point cloud using a pass-through filter using the updated B as limits\r\n6. Estimate object pose O in the filtered scene using the recognized object in step 1 only\r\n7. Update `rigid-body-tracker` with the new measurement O\r\n_end_\r\n\r\nIn the __object-grasped__ situation, we need to handle hand occlusions. With the IMU-glove we can have an accurate estimation of the joint angles, so we can extract points that belong to the hand. in the counterpart, we can benefit from knowing the hand pose (H) when it is mounted in the arm. The algorithm is to be modified in the following steps:\r\n4. Use the `rigid-body-tracker` prediction to update the size of B. Use the hand pose H to update the pose of B, if the hand is mounted on the arm, or use `rigid-body-tracker` prediction to update pose otherwise .\r\n5. Filter the scene point cloud using a pass-through filter using the updated B as limits and extract points corresponding to the hand.\r\n\r\n\r\n\r\n\r\n "},"comment":{"url":"https://api.github.com/repos/CentroEPiaggio/pacman-DR53/issues/comments/92914291","html_url":"https://github.com/CentroEPiaggio/pacman-DR53/issues/20#issuecomment-92914291","issue_url":"https://api.github.com/repos/CentroEPiaggio/pacman-DR53/issues/20","id":92914291,"user":{"login":"Tabjones","id":1950251,"avatar_url":"https://avatars.githubusercontent.com/u/1950251?v=3","gravatar_id":"","url":"https://api.github.com/users/Tabjones","html_url":"https://github.com/Tabjones","followers_url":"https://api.github.com/users/Tabjones/followers","following_url":"https://api.github.com/users/Tabjones/following{/other_user}","gists_url":"https://api.github.com/users/Tabjones/gists{/gist_id}","starred_url":"https://api.github.com/users/Tabjones/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Tabjones/subscriptions","organizations_url":"https://api.github.com/users/Tabjones/orgs","repos_url":"https://api.github.com/users/Tabjones/repos","events_url":"https://api.github.com/users/Tabjones/events{/privacy}","received_events_url":"https://api.github.com/users/Tabjones/received_events","type":"User","site_admin":false},"created_at":"2015-04-14T15:36:35Z","updated_at":"2015-04-14T15:36:35Z","body":"Hi all, i made a prototype visual object tracker this morning. It's not that fast nor super accurate, but it actually works!\r\nI made some videos to show you, get them [there](http://131.114.31.70:8080/share.cgi?ssid=0qZE5kV).\r\n\r\nRight now it goes at roughly at 3Hz and it doesn't get all the poses right, but as i said it's a prototype and i could improve it. \r\n\r\nA few things to notice are:\r\n * Rotations around the object axis of simmetry (the blue Z axis in the videos) are not detected correctly or fully. I think i can improve it, but IMO it's not a big issue and it should not happen for non-simmetric objects.\r\n * The tracker does not care much if you put hands on the object, estimations are reasonably correct with hands on it.\r\n * For standard movements, like pick and place, trackers seems to perform nicely."}}