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RoboEarth - Distance of Detected Object

asked 2012-05-26 03:34:58 -0500

AksatShah gravatar image

updated 2016-10-24 08:59:47 -0500

ngrennan gravatar image

Hey,

I am trying to use RoboEarth to detect some objects. Once I've detected the object I wanted to know the distance to this object but am unsure how to obtain this information. Does anyone know how I can do this? The tutorial page for detecting objects says: "Also, a new tf transformation is published that specifies the objects estimated position." so I am assuming it is possible to get the distance?

Running rostopic list at runtime will give:

/camera/depth/camera_info
/camera/depth/disparity
/camera/depth/image
/camera/depth/image_raw
/camera/depth/image_rect
/camera/depth/image_rect_raw
/camera/depth/points
/camera/depth/rectify_depth/parameter_descriptions
/camera/depth/rectify_depth/parameter_updates
/camera/depth_registered/camera_info
/camera/depth_registered/disparity
/camera/depth_registered/image
/camera/depth_registered/image_raw
/camera/depth_registered/image_rect
/camera/depth_registered/image_rect_raw
/camera/depth_registered/points
/camera/depth_registered/rectify_depth/parameter_descriptions
/camera/depth_registered/rectify_depth/parameter_updates
/camera/driver/parameter_descriptions
/camera/driver/parameter_updates
/camera/ir/camera_info
/camera/ir/image_raw
/camera/ir/image_rect
/camera/ir/rectify_ir/parameter_descriptions
/camera/ir/rectify_ir/parameter_updates
/camera/projector/camera_info
/camera/rgb/camera_info
/camera/rgb/debayer/parameter_descriptions
/camera/rgb/debayer/parameter_updates
/camera/rgb/image_color
/camera/rgb/image_mono
/camera/rgb/image_raw
/camera/rgb/image_rect
/camera/rgb/image_rect_color
/camera/rgb/rectify_color/parameter_descriptions
/camera/rgb/rectify_color/parameter_updates
/camera/rgb/rectify_mono/parameter_descriptions
/camera/rgb/rectify_mono/parameter_updates
/re_kinect/detection_results
/re_kinect/feature_pcl
/re_kinect/model_path
/re_vslam/new_model
/rosout
/rosout_agg
/tf

Any help is much appreciated.

Thank You

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answered 2012-05-28 22:28:53 -0500

ddimarco gravatar image

The detected pose of the object is published as a tf transformation named "OBJECTCLASS.OBJECTNAME", as written on this page.

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Thanks ddimarco. In the end I just wrote a subscriber which subscribed to the re_kinect/detection_results topic and filtered out only the points3d data..Then by getting the max and min values of each x,y,z I could get the box around the object. Thank you for the help!!

AksatShah gravatar image AksatShah  ( 2012-06-07 05:16:44 -0500 )edit

Thanks ddimarco

AksatShah gravatar image AksatShah  ( 2012-06-07 05:16:48 -0500 )edit

Thanks ddimarco

AksatShah gravatar image AksatShah  ( 2012-06-07 05:16:51 -0500 )edit

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Asked: 2012-05-26 03:34:58 -0500

Seen: 308 times

Last updated: May 28 '12