Table of Contents
fingerpub and surfaceClassifier
In order to do surface classification these two nodes should be running. Start the fingerpub node (./bin/fingerpub) first and then the surfaceClassifier (./bin/surfaceClassifier).
fingerpub reads information directly from the sensors and publishes it as adns messages (adns.msg) in the fingertip/adns topic. It also implements a service called ChangeActiveSensor that the surfaceClassifier node uses to specify the active sensor.
surfaceClassifier subscribes to the fingertip/adns topic and is used to create, save and edit models, as well as doing the surface classification (prediction). This node also subscribes to a topic fingertip/classifier_command, which one can use to send commands to it in order to do the mentioned tasks (create, save, edit, etc). When “predicting” (recognizing surfaces) this node publishes the recognized surfaces as a string message in the fingertip/detected_class.
Command list
You can send commands to the surfaceClassifier using the following instruction:
rostopic pub -1 /fingertip/classifier_command std_msgs/String <command_name> rostopic pub -1 /fingertip/classifier_command std_msgs/String <command_name:parameter>
This is the list of commands that you can send:
| Command | Function |
|---|---|
| normal | Sets normal mode, this means no image is sent in the adns message and data from all connected sensors is sent. This mode is used for other purposes but not for surface recognition. |
| frame0 | Chooses sensor 0 as active sensor. The fingerpub node will send adns messages (including images) belonging only to this sensor. If sensor is not connected a message will be displayed. When adding a class to the model or predicting, the selected sensor can be changed “on the fly”, before stoptraining or stoppredict. |
| frame1 | Same as frame0 but selects sensor 1. |
| frame2 | Same as frame0 but selects sensor 2. |
| frame3 | Same as frame0 but selects sensor 3. |
| addclass:classname | Adds a new class to the model and automatically starts adding frames to it. The stoptraining command must be sent to stop adding frames for this class. If you want to use the model at a later time, remember to save it using the savemodel command. |
| removeclass:classname | Removes the specified class from the current loaded model. To save the changes permanently in the model file remember to savemodel. |
| listclasses | List the classes in the current loaded model. |
| clearmodel | Clears all the classes in the current loaded model. The model file is not affected if you don't savemodel. |
| stoptraining | To stop adding frames to a class. |
| pausetraining | To pause adding frames to a class. |
| resumetraining | To resume adding frames to a class. |
| buildsvm | To build the SVM (Support Vector Machine). A model must be created or loaded first. |
| predict | To start recognizing surfaces. An SVM must be built first. The recognized surfaces are published in the fingertip/detected_class topic. |
| stoppredict | To stop prediction (surface recognition) and stop publishing the recognized surfaces. |
| savemodel | Saves changes made to the current loaded model permanently into the model file for later use. IMPORTANT: it always writes to model.bin |
| loadmodel | It adds classes in model.bin to the current loaded model. |
command sequence example
Assuming sensor 0 is connected.
rostopic pub -1 /fingertip/classifier_command std_msgs/String frame0 rostopic pub -1 /fingertip/classifier_command std_msgs/String addclass:table rostopic pub -1 /fingertip/classifier_command std_msgs/String stoptraining rostopic pub -1 /fingertip/classifier_command std_msgs/String addclass:paper rostopic pub -1 /fingertip/classifier_command std_msgs/String stoptraining rostopic pub -1 /fingertip/classifier_command std_msgs/String addclass:breadboard rostopic pub -1 /fingertip/classifier_command std_msgs/String pausetraining rostopic pub -1 /fingertip/classifier_command std_msgs/String resumetraning rostopic pub -1 /fingertip/classifier_command std_msgs/String stoptraining rostopic pub -1 /fingertip/classifier_command std_msgs/String buildsvm rostopic pub -1 /fingertip/classifier_command std_msgs/String predict rostopic pub -1 /fingertip/classifier_command std_msgs/String stoppredict
If you want to save the model for a later time then
rostopic pub -1 /fingertip/classifier_command std_msgs/String savemodel
To use the saved model at a later time, load it, build the svm, choose a sensor that is connected and then start predicting or editing the model. For example:
rostopic pub -1 /fingertip/classifier_command std_msgs/String loadmodel rostopic pub -1 /fingertip/classifier_command std_msgs/String buildsvm rostopic pub -1 /fingertip/classifier_command std_msgs/String frame0 rostopic pub -1 /fingertip/classifier_command std_msgs/String predict rostopic pub -1 /fingertip/classifier_command std_msgs/String stoppredict
Viewing sensor images
rosrun image_view image_view image:=/fingertip/image<X>
Where <X> is the sensor you want to see (0-3).
