/destin_package

This is a ROS package which integrated DeSTIN.

Primary LanguagePythonGNU General Public License v3.0GPL-3.0

A ROS-DeSTIN package

Introduction

This project is aiming to create a easy-to-use package for using DeSTIN in ROS with TurtleBot.

Current Nodes:

  • grow_destin: planning to create a growing DeSTIN with ROS.
  • destin_scene_collector: a simple DeSTIN network collector for different scene.

Updates and Development Plan

Updates

  • 2013-12-26
    • The linking problem of DeSTIN is sloved.
    • The basic structure is established.
    • 2 collection of libraries are added.
  • 2013-12-27
    • First roughly working version is updated.
    • Some bugs are fixed
  • 2014-01-08
    • DeSTIN Scene Collector is updated.

Development Plan

  • Create a set of utility functions [DONE, STILL IMPROVING]
  • Growing DeSTIN network [FIRST VERSION COMPLETED, TESTED]
  • Add condition to deal with initial situation [DONE]
  • Add condition to deal with when the selected DeSTIN network is updated (now everytime will create new DeSTIN network) [DONE]
  • Add some messages to control the flow [DONE]
  • Add a pause [DONE]
  • The numbering of extracted features and DeSTIN network is not same, should be fixed [NOT SO SURE, NEED A CLOSER LOOK]
  • Change a distance measurement method by using Gaussian-like distribution.
  • Add a full log when the program is crushed so the program can be recovered. (and some functions to utilize this)
  • Testing Growing DeSTIN network with slow moving speed [DONE]
  • Memory monitoring [DONE]
  • Test if the signal transmit is working well; if not, find out a way to control the speed.
  • Make libraries linking more flexible
  • Integrate RGB channels
  • Change sleep() function for DeSTIN Scene Collector

Notes

  • You need to change the linking libraries part in the CMakeLists.txt, the format is as following
    include_directories(/home/your_hostname/destin/Destin/Common)
    include_directories(/home/your_hostname/destin/Destin/DavisDestin/include)
    target_link_libraries(grow_destin /home/your_hostname/destin/Destin/Common/libcommon.so)
    target_link_libraries(grow_destin /home/your_hostnamedestin/Destin/DavisDestin/libdestinalt.so)

Replace your_hostname to your own machine's username, then the building should be fine.

  • The basic idea of this program is as following (first draft)

    • The robot is trained by DeSTIN for 1000 frames in one scene.
    • Then the robot close and save the current configuration and then turn to a new scene
    • If the new scene is similar to saved DeSTIN networks enough, then will select a best fit network to update.
    • Otherwise will create a new DeSTIN network.

  • In ROS, the ros::spinOnce() function is useful when you want to drag all the data from subscribed topic to your main program. And in this package, we use a global variable to copy out the data and then process it in a endless loop in main.

  • When network->load(filename) is executed, the layers of training are automatically closed. You need to open them manually. [IMPROTANT]

  • DeSTIN Scene Collector is a simple DeSTIN network collector for different scenes. Each DeSTIN network is trained for 1000 frames with 512*512 gray scale image. After the scene is trained, the user has enough time to switch to another scene for training next DeSTIN network.

Contact

Yuhuang Hu (duguyue100)

Advanced Robotic Lab,

Department of Artifical Intelligence,

Faculty of Computer Science & IT,

University of Malaya.

duguyue100@gmail.com