Target object detector pkg

This is for detecting taget object(human) at Tsukuba Challenge 2016.

• コード重複多すぎ
• スケーリングパラメータのハードコートは良くない

Requirements

• PCL 1.7+
• boost
• ROS(indigo)

Usage

This package is using 3D pointcloud(pointcloud2) to recognize.

$ roslaunch target_object_detector target_object_detector.launch

• tf(/map, /base_link and sensor_frame)
• /amcl_pose (geometry_msgs/PoseWithCovarianceStamped)
• /hokuyo3d/hokuyo_cloud2

Train

First, make dataset/traian directory in this pkg. Then move there.

roscd target_object_detector
mkdir -p dataset/train
cd dataset/train

Run the segmentation node in the directory.

rosrun target_object_detector segment_cluster_creator_node

Take a poingcloud by running the robot or play bag file include pointclioud2 msg. You will get a lot of pcd files in the directory.
Next, classify the pcd files.

rosrun target_object_detector train_data_create_tool

After classified all pcd files, you will get train.csv in the directory.
Third, making svm model.

roscd targe_object_detector/src/libsvm/tools/
python easy.py path/to/train.csv

Human detection

Actual detection :

roslaunch target_object_detector target_object_detector.launch

Fake detaction：

You can utilied fake_target_detector to assume a target is virtually detected, if you just check navigation behaivior without actual human detection.

A virtually detected target human point can be set by clicking a point in a map with Publish point in Rviz.

The following command shows a coordinate of clicked point.

rostopic echo /clicked_point

Save the coordinate x, y totargetlist/targetlist.csv (a sample file).

To place an virtual target, run the following command.

rosrun fake_target_detector fake_target_detector

Bounding boxes will be showin at positions specified in targetlist.csv and the virtually detected positions are also to be published.

Common specification :

Satisfying all of the following conditions invoke approching to a target.

• A currently reached waypoint is placed in detecting area.
• A target human is within 5 [m] from the robot.
• The target is NOT close to points where other targets are previously detected.

Usage in GAZEBO

1. Start GAZEBO world with human models.

roslaunch cirkit_unit03_autorun autorun_gazebo_with_human.launch

2. Tune robot position with 2D Pose Estimate on Rviz.

3. Move Human models to an arbitary place on Rviz, if needed.

4. Run detector.

roslaunch target_object_detector target_object_detector.launch