RoboComp

A simple robotics framework.

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Creating test for CNN object detection component in simulation enviornment (rcis)

25 Jun 2016

Design Specifications:

The primary goal is to detect objects in simulation environment using CNN. This component gives a button based control panel to move omnirobot around. It also includes a button to grab image from RGB sensor and send to CNNobjectdetection module and get detections.

CSDL interface file for the component:

import "/robocomp/interfaces/IDSLs/RGBD.idsl";
import "/robocomp/interfaces/IDSLs/OmniRobot.idsl";
import "/robocomp/interfaces/IDSLs/objectDetectionCNN.idsl";

Component testODCNNsimulation
{
	Communications
	{
		requires RGBD;
		requires OmniRobot;
		requires objectDetectionCNN;
	};
	language Cpp;
	gui Qt(QWidget);
};

Specific worker compute method:

  1. grab RGB image from simulator camera

rgbd_proxy->getRGB(rgbMatrix,hState,bState);

  1. show camera output

    imshow(“Display window”,src);

Specific worker constructor:

callback declaration when button pressed.

connect(pushButtonLeft, SIGNAL(clicked()), this, SLOT(moveleft()));
  connect(pushButtonRight, SIGNAL(clicked()), this, SLOT(moveright()));
  connect(pushButtonFront, SIGNAL(clicked()), this, SLOT(movefront()));
  connect(pushButtonBack, SIGNAL(clicked()), this, SLOT(moveback()));
  connect(pushButtonClock, SIGNAL(clicked()), this, SLOT(rotateclock()));
  connect(pushButtonAnticlock, SIGNAL(clicked()), this, SLOT(rotateanticlock()));
  connect(pushButtondetect, SIGNAL(clicked()), this, SLOT(detectobject()));

Callback methods:

void SpecificWorker::moveleft()
{
	///move robot to left and stop		
	
windowmutex=false;
cout<<"move left"<<endl;

try
{
	omnirobot_proxy->setSpeedBase(-100,00,0);
	sleep(1);	
    omnirobot_proxy->setSpeedBase(0,0,0);
}
catch(const Ice::Exception& ex)
{
	cout << "[" << PROGRAM_NAME << "]: Error in  proxy (base). Waiting" << endl;
	cout << "[" << PROGRAM_NAME << "]: Motivo: " << endl << ex << endl;
} } Similarly other callback methods are defined for other button clicked events. The detect object object button is similar to testobjectdetect for real images execpt the image is coming from rgbdproxy.

Results:

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