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obstacle_detection [2016/03/13 08:59] zyuan |
obstacle_detection [2019/04/25 14:08] (current) |
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| We use the **[[Point Cloud Library PCL]][[http://pointclouds.org/documentation/]]** that aims at detecting obstacles (with Kinect). | We use the **[[Point Cloud Library PCL]][[http://pointclouds.org/documentation/]]** that aims at detecting obstacles (with Kinect). | ||
| + | ====== Objectif ====== | ||
| + | |||
| We catched the depth data and tranformed to point cloud. Then we filter that object which is higher than the ground. We projected this result to create a 2D image. By using this image, we can send back reference position of an obstacle. | We catched the depth data and tranformed to point cloud. Then we filter that object which is higher than the ground. We projected this result to create a 2D image. By using this image, we can send back reference position of an obstacle. | ||
| - | You can also take a look to the tutorial:[[http://wiki.ros.org/pcl/Tutorials]] | + | * You can also take a look to the tutorial:[[http://wiki.ros.org/pcl/Tutorials]] |
| Calibration Parameters for the calculation of 3D coordinates from the raw image measurements include: | Calibration Parameters for the calculation of 3D coordinates from the raw image measurements include: | ||
| - | The height of Kinect. | + | **The height of Kinect.** |
| (In addition, we found that y-axis of the point cloud corresponds to the height, means the z-axis for a tf-tranform of Kinect Sensor) | (In addition, we found that y-axis of the point cloud corresponds to the height, means the z-axis for a tf-tranform of Kinect Sensor) | ||
| - | + | ===== package ===== | |
| - | You can simulate the result by using rviz: | + | |
| - | //rosrun rviz rviz// | + | |
| - | + | ||
| - | Choose the output topic "output" in type of "PointCloud2" | + | |
| The package: {{:pcl_detector.tar.gz|}} | The package: {{:pcl_detector.tar.gz|}} | ||
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| 2. Run | 2. Run | ||
| * //rosrun pcl_detector pcl_detector// | * //rosrun pcl_detector pcl_detector// | ||
| + | |||
| + | ==== Simulation ==== | ||
| + | |||
| + | You can simulate the result by using rviz: | ||
| + | * //rosrun rviz rviz// | ||
| + | |||
| + | Choose the output topic "output" in type of "PointCloud2" | ||
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