Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revision Previous revision
Next revision
Previous revision
Next revision Both sides next revision
robocup:objects_detection_package [2016/02/22 08:18]
nfave
robocup:objects_detection_package [2017/03/31 11:49]
mai ↷ Page moved from robobcup:objects_detection_package to robocup:objects_detection_package
Line 1: Line 1:
 ====== 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=====
  
  • robocup/objects_detection_package.txt
  • Last modified: 2019/04/25 14:08
  • (external edit)