Merge pull request #3 from ethz-asl/feature/minor-fixes

Minor changes to make abb_odn work for abb demo

.gitmodules

@@ -4,3 +4,9 @@
 [submodule "dependencies/kcf_catkin"]
 	path = dependencies/kcf_catkin
 	url = [email protected]:ethz-asl/kcf_catkin.git
+[submodule "dependencies/maplab"]
+	path = dependencies/maplab
+	url = [email protected]:ethz-asl/maplab.git
+[submodule "dependencies/pcl_catkin"]
+	path = dependencies/pcl_catkin
+	url = [email protected]:ethz-asl/pcl_catkin.git

abb_odn/launch/launch_odn.launch

@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<launch>
+  <arg name="visualize" default="false" />
+  <arg name="sensor" default="realsense"/>
+
+  <!-- Object detection -->
+  <node name="object_detection" pkg="abb_odn" type="abb_odn" args="--sensor_calibration_file $(find abb_odn)/share/camchain.yaml --darknet_cfg_path $(find abb_odn)/share/yolov3.cfg --darknet_weights_path $(find abb_odn)/share/yolov3.weights" />
+
+  <!-- Voxblox++ -->
+  <!-- <node name="mask_rcnn" pkg="mask_rcnn_ros" type="mask_rcnn_node.py" output="log">
+    <remap from="~input" to="/camera/color/image_raw" />
+    <param name="~visualization" value="$(arg visualize)" />
+  </node> -->
+
+  <!-- <include file="$(find depth_segmentation)/launch/depth_segmentation.launch">
+    <arg name="depth_segmentation_params_file" value="$(find depth_segmentation)/cfg/$(arg sensor)_config.yaml"/>
+    <arg name="sensor_topics_file" value="$(find depth_segmentation)/cfg/$(arg sensor)_topics.yaml"/>
+    <param name="semantic_instance_segmentation/enable" value="true"/>
+    <param name="label_display" value="$(arg visualize)"/>
+  </include> -->
+
+  <!-- <arg name="gsm_node_params_name" default="$(find gsm_node)/cfg/yumi.yaml"/> -->
+
+  <!-- <node name="gsm_node" pkg="gsm_node" type="gsm_node" output="screen">
+    <rosparam command="load" file="$(arg gsm_node_params_name)" />
+    <param name="meshing/visualize" value="$(arg visualize)"/>
+    <param name="meshing/update_mesh_every_n_sec" value="0.0" unless="$(arg visualize)"/>
+  </node> -->
+</launch>
+

abb_odn/src/object-tracking-pipeline.cc

@@ -61,11 +61,11 @@ void ObjectTrackingPipeline::imageCallback(
     triangulateTracks(observations);
   }
 
-  cv::Mat debug_image = image;
-  tracker_.debugDrawTracks(&debug_image);
+  // cv::Mat debug_image = image;
+  // tracker_.debugDrawTracks(&debug_image);
 
-  cv::imshow("Image", image);
-  cv::waitKey(1);
+  // cv::imshow("Image", image);
+  // cv::waitKey(1);
 }
 
 void ObjectTrackingPipeline::poseCallback(