robocup:objects_detection_package [roboLabo]

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====== 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|}}

=====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=====