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Only released in EOL distros:  

austinvilla: color_table | ground_truth

Package Summary

Gets the ground truth for the naos using a kinect sensor

ROS Nodes

calibrate

Obtain the position and orientation of the kinect sensor by using landmarks on the field

Subscribed Topics

/camera/rgb/points (sensor_msgs/PointCloud2) /camera/rgb/image_color (sensor_msgs/Image)

Placing the Kinect

1. Although the algorithm is independent of the sensor position, careful placement of a single sensor allows it to cover half the SPL field size (3m x 4m). I have had success placing it on the side of the half field at a height of about 2.5 - 3.5 meters.

2. Launch the calibrate node and adjust sensor appropriately until the field is visible as desired.

Calibrating the Kinect

1. Launch the kinect driver

2. Launch the calibrate node

3. Follow the instructions on the bottom of the pointcloud visualizer screen. Remember that you have to click on the image and not the pointcloud!. A small sphere should appear in the point cloud visualizer window to indicate the point you clicked.

4. After you have selected all the ground plane points and the landmarks, the point cloud visualization should change so that the coordinate axes are aligned with the cloud. If you think the results look good you can terminate the program, as the calibration file has already been saved.

Command line arguments

1. The program supports a couple of command line arguments.

2. The launch/calibrate.launch file can be used to specify these arguments, so that they do not have to be supplied every time. These arguments are the ones that are supplied every time you run the binary through the roslaunch command.

3. Alternatively, you can supply these parameters at command line directly

detect

Find the locations of the robots and the orange ball on the field

Subscribed Topics

/camera/rgb/points (sensor_msgs/PointCloud2)

Running the detect node

1. Launch the kinect driver

2. Launch the detect node

Command line arguments

1. The program supports a couple of command line arguments.

2. The launch/detect.launch file can be used to specify these arguments, so that they do not have to be supplied every time. These arguments are the ones that are supplied every time you run the binary through the roslaunch command.

3. Alternatively, you can supply these parameters at command line directly

logFile

Currently nothing is written to the log file. Check src/nodes/detect.cc for comments specifying where you could write to this log file.

mode

mode supports 2 values

Current Status

Sep/17/2011 NOTE(piyushk): The detect binary currently implements slightly different version of the heuristics for robot detection in comparison to those reported in the paper. This version is what we used for estimating parameters for our localization algorithm. I will try and revert back to the original algorithm soon


2019-07-13 12:41