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robocup:objects_detection_package [2016/02/22 08:18] nfave |
robocup:objects_detection_package [2017/03/31 11:46] mai tag |
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====== Object_detection (ROS package) ====== | ====== Object_detection (ROS package) ====== | ||
- | {{tag> ROS ros_package}} | + | {{tag> ROS ros_package software}} |
=====Overview===== | =====Overview===== | ||
+ | |||
+ | This package use a kinect with the ros package openni_launch in order to detect a specific type of object. Currently, it can only detect the red objects. | ||
+ | |||
=====Installation===== | =====Installation===== | ||
+ | |||
+ | This package was developed for the Indigo distro and is using the catkin package type. | ||
+ | |||
+ | To install it, you just have to download the following archives and extract it in .../catkin_ws/src, then open a console, go to catkin_ws and enter the command : | ||
+ | catkin_make | ||
+ | |||
+ | You must also have the openni_launch package. | ||
+ | |||
{{:object_detection.tar.gz|}} | {{:object_detection.tar.gz|}} | ||
+ | |||
=====Quick tests===== | =====Quick tests===== | ||
+ | Connect the kinect to the computer. | ||
+ | |||
+ | Open a console and enter the command | ||
+ | roslaunch openni_launch openni.launch | ||
+ | |||
+ | Open a new console and enter the command | ||
+ | rosrun object_detection object_detection | ||
+ | |||
+ | Then open another console and enter the command | ||
+ | rosrun image_view image_view image:=/object_detection/red_objects | ||
+ | |||
+ | A window will open, showing the view of the kinect with the detected object shown. | ||
+ | |||
=====API===== | =====API===== | ||
+ | ====Subscribed topics==== | ||
+ | |||
+ | /camera/rgb/image_raw (sensor_msgs/ImageConstPtr) | ||
+ | |||
+ | image rgb from openni_launch | ||
+ | |||
+ | /camera/depth/image (sensor_msgs/ImageConstPtr) | ||
+ | |||
+ | image depth from openni_launch | ||
+ | |||
+ | /object_detection/object_type (std_msgs/Int32) | ||
+ | |||
+ | type of object to detect. Currently it is not use because there is only one type of object detected | ||
+ | |||
+ | ====Published topics==== | ||
+ | /object_detection/red_objects (sensor_msgs/ImageConstPtr) | ||
+ | |||
+ | rgb image with the detected objects highlighted | ||
+ | |||
+ | /object_detection/mask | ||
+ | |||
+ | Not used and not working | ||
+ | |||
+ | /object_detection/red_objects_position (geometry_msgs/PoseArray) | ||
+ | |||
+ | coordinates of the detected objects | ||
+ | |||
=====Bug reports and feature requests===== | =====Bug reports and feature requests===== | ||