cvmeta / perception

Dash Robotics Perception

Dash Robotics Perception

Setup

1. Clone this repository to your ws/src/ folder.
2. Run catkin_make and source devel/setup.bash from your ws/ folder.
3. Note that this repository perception by itself is not a ROS package.

Usage

1. Package: cuboid_detection

The package was created with the following command.

catkin_create_pkg cuboid_detection pcl_ros roscpp sensor_msgs pcl_conversions image_transport opencv3 cv_bridge

For Assignment 3, we are using the cuboid_detection package.

1. Place the downloaded bag files in ws/src/perception/cuboid_detection/bags.
2. To segment the ground plane, run the following (more details within the launch file).

roslaunch cuboid_detection ground_plane_segmentation.launch

3. To generate template cuboid point cloud files (.pcd), run the following script (run with --help for more details).

cd ws/src/perception/cuboid_detection/templates/
python make_cuboid.py

Notes

Camera Info Topics (Intel RealSense D435)

/camera/color/camera_info

header: 
  seq: 431
  stamp: 
    secs: 1553391107
    nsecs: 738674179
  frame_id: "camera_color_optical_frame"
height: 480
width: 640
distortion_model: "plumb_bob"
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [616.8246459960938, 0.0, 321.81976318359375, 0.0, 616.609375, 239.91116333007812, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [616.8246459960938, 0.0, 321.81976318359375, 0.0, 0.0, 616.609375, 239.91116333007812, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi: 
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False

/camera/depth/camera_info

header: 
  seq: 1529
  stamp: 
    secs: 1553391287
    nsecs: 182639969
  frame_id: "camera_depth_optical_frame"
height: 480
width: 640
distortion_model: "plumb_bob"
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [384.0898742675781, 0.0, 322.4656677246094, 0.0, 384.0898742675781, 240.64073181152344, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [384.0898742675781, 0.0, 322.4656677246094, 0.0, 0.0, 384.0898742675781, 240.64073181152344, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi: 
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False