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obstacle_detection [2016/03/13 08:56] zyuan |
obstacle_detection [2016/03/13 08:59] zyuan |
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| 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: | You can simulate the result by using rviz: | ||
| - | $ rosrun rviz rviz | + | //rosrun rviz rviz// |
| Choose the output topic "output" in type of "PointCloud2" | 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// |