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obstacle_detection [2016/03/13 08:56] zyuan |
obstacle_detection [2016/03/13 09:08] zyuan |
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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. (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) | + | **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) | ||
- | You can simulate the result by using rviz: | + | ===== package ===== |
- | $ rosrun rviz rviz | + | |
- | Choose the output topic "output" in type of "PointCloud2" | + | |
- | + | ||
- | TODO: add FindingBlob to optimize the results. | + | |
The package: {{:pcl_detector.tar.gz|}} | The package: {{:pcl_detector.tar.gz|}} | ||
- | To use it: | ||
1. Launch Kinect Sensor | 1. Launch Kinect Sensor | ||
- | $roslaunch openni_launch openni.launch | + | * //roslaunch openni_launch openni.launch// |
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" | ||
+ |