wg-perception · Kukanani · Apr 26, 2017 · Apr 26, 2017 · Apr 26, 2017 · Apr 26, 2017
diff --git a/.gitignore b/.gitignore
@@ -2,7 +2,6 @@
 apps/data/
 *.obj
 *.3ds
-*.png
 *.ply
 *.mtl
 *.bag

diff --git a/doc/doc_config.py.in b/doc/doc_config.py.in
@@ -9,7 +9,7 @@ breathe_default_project = '${PROJECT_NAME}'
 breathe_projects = dict(object_recognition_core='${CMAKE_CURRENT_BINARY_DIR}/../api/xml')
 
 # for release
-ork_module_url_root = 'http://wg-perception.github.com/'
+ork_module_url_root = 'http://wg-perception.github.io/'
 
 intersphinx_mapping = {'orkcapture': (ork_module_url_root + 'capture', None),
                        'orklinemod': (ork_module_url_root + 'linemod', None),

diff --git a/doc/source/api/db.rst b/doc/source/api/db.rst
@@ -21,5 +21,5 @@ Core Types
 Implementing your own DB type
 -----------------------------
 
-If you want to create your own DB type, look at the examples from the core like CouchDb or filesystem.
-You just have to inherit from ``ObjectDb``.
+If you want to create your own DB type, look at the examples from the core, like
+CouchDb or filesystem. Your new database must inherit from ``ObjectDb``.
diff --git a/doc/source/api/index.rst b/doc/source/api/index.rst
@@ -26,9 +26,10 @@ by getting automatic docs from it ...).
 
 .. toctree::
    :maxdepth: 2
-   
+
    generic.rst
    training.rst
    detection.rst
    source_sink.rst
    cells.rst
+   db.rst
diff --git a/doc/source/conf.py b/doc/source/conf.py
@@ -34,7 +34,7 @@
               'sphinx.ext.doctest',
               'sphinx.ext.graphviz',
               'sphinx.ext.intersphinx',
-              'sphinx.ext.pngmath',
+              'sphinx.ext.imgmath',
               'sphinx.ext.todo',
               'sphinx.ext.viewcode',
               'breathe']
@@ -142,7 +142,7 @@
 
 # The name of an image file (relative to this directory) to place at the top
 # of the sidebar.
-html_logo = 'art/or.svg'
+html_logo = 'img/or.svg'
 
 # The name of an image file (within the static path) to use as favicon of the
 # docs.  This file should be a Windows icon file (.ico) being 16x16 or 32x32

diff --git a/doc/source/detection/detection.rst b/doc/source/detection/detection.rst
@@ -1,107 +1,5 @@
-:orphan:
-
-.. _detection:
-
-Detection
-#########
-.. highlight:: ectosh
-
-.. contents::
-
-Using the different trained objects, we can now detect them.
-
-Use
-***
-
-.. toggle_table::
-    :arg1: Non-ROS
-    :arg2: ROS
-
-.. toggle:: Non-ROS
-
-   Just run the detection.py script in /apps. This will run continuously on the input image/point cloud.
-
-   .. code-block:: sh
-
-      ./apps/detection -c detection.ork
-
-   The server requires a configuration file through the ``-c`` option.
-
-.. toggle:: ROS
-
-   If you want continuous detection, you can just run the detection script:
-
-   .. code-block:: sh
-
-      rosrun object_recognition_core detection -c `rospack find object_recognition_tod`/conf/detection.ros.ork
-
-   Then again, there is also an actionlib server as detailed on :ref:`actionlib server <orkros:actionlib>`:
-
-   .. code-block:: sh
+.. Old page, kept to avoid breaking links
 
-      rosrun object_recognition_ros server -c `rospack find object_recognition_tod`/conf/detection.ros.ork
-
-   This will start a server with a given configuration file.
-   If you want to test the server, just execute the client once:
-
-   .. code-block:: sh
-
-      rosrun object_recognition_ros client
-
-   You can also use roslaunch if you want traditional actionlib support. There is a ``config_file`` argument
-   that can help you choose different pipelines:
-
-   .. code-block:: sh
-
-      roslaunch object_recognition_ros server.robot.launch
-
-A typical command line session might look like::
-
-   % apps/detection -c `rospack find object_recognition_tod`/conf/detection.ros.ork
-   [ INFO] [1317692023.717854617]: Initialized ros. node_name: /ecto_node_1317692023710501315
-   Threadpool executing [unlimited] ticks in 5 threads.
-   [ INFO] [1317692024.254588151]: Subscribed to topic:/camera/rgb/camera_info with queue size of 0
-   [ INFO] [1317692024.255467268]: Subscribed to topic:/camera/depth_registered/camera_info with queue size of 0
-   [ INFO] [1317692024.256186358]: Subscribed to topic:/camera/depth_registered/image with queue size of 0
-   [ INFO] [1317692024.256863212]: Subscribed to topic:/camera/rgb/image_color with queue size of 0
-   model_id: e2449bdc43fd6d9dd646fcbcd012daaa
-   span: 0.433393 meters
-   1
-   ***Starting object: 0
-   * starting RANSAC
-    added : 1
-    added : 0
-   * n inliers: 1824
-   [-0.056509789, 0.99800211, 0.028263446;
-     0.94346958, 0.062639669, -0.32548648;
-     -0.32660651, 0.0082725696, -0.94512439]
-   [-0.32655218; 0.03684178; 0.85040951]
-   ********************* found 1poses
-   [ INFO] [1317692117.187226953]: publishing to topic:/object_ids
-   [ INFO] [1317692117.188155476]: publishing to topic:/poses
-
-
-Command Line Interface
-**********************
-.. program-output:: ../../../apps/detection --help
-   :in_srcdir:
-
-Configuration File
-******************
-
-The configuration file is where you define your graph and with the current ORK, you can choose any of the following sources:
-
-.. program-output:: python -c "from object_recognition_core.utils.doc import config_yaml_for_ecto_cells; print '\n'.join(config_yaml_for_ecto_cells('source'))"
-   :shell:
-
-any of the following sinks:
-
-.. program-output:: python -c "from object_recognition_core.utils.doc import config_yaml_for_ecto_cells; print '\n'.join(config_yaml_for_ecto_cells('sink'))"
-   :shell:
-
-or the following pipelines:
-
-.. program-output:: python -c "from object_recognition_core.utils.doc import config_yaml_for_ecto_cells; print '\n'.join(config_yaml_for_ecto_cells('detection_pipeline'))"
-   :shell:
+:orphan:
 
-More of any of those can be added by the user obviously
+This document has moved, please see :ref:`Detection <detection>`.