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robocup:objects_detection_package [2016/02/19 14:36]
nfave
robocup:objects_detection_package [2019/04/25 14:08] (current)
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-====== ​Robotic_arm ​(ROS package) ======+====== ​Object_detection ​(ROS package) ====== 
 +{{tag> ROS ros_package software Kinect}} 
 +=====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===== 
 + 
 +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=====
 +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=====
 +====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=====
 +
  • robocup/objects_detection_package.1455892605.txt.gz
  • Last modified: 2019/04/25 14:08
  • (external edit)