/Velodyne_ObjectDetection_ROS

This code is object detection code using velodyne. Object points are extracted from background points that is set in initialize step.

Primary LanguageC++

README

Environment

install environment: ubuntu 16.04

Dependency

  • OpenGL
  • QT5
  • PCL
  • ROS

Installation

You must install these dependency in order because VTK have dependency with qt5 and PCL have dependecy with VTK.

  1. git clone this repository

  2. run essential_install.sh

cd third-party
chmod 777 ./essential_install.sh
sudo ./essential_install.sh
  1. install qt5

There is shell file for installation of qt5 in third party folder.

sudo ./install_qt.sh
  1. Install VTK
git clone https://github.com/Kitware/VTK.git

make build folder and cmake with option to inform qt path.

cd VTK
mkdir build
cd build
cmake -DVTK_QT_VERSION:STRING=5 -DQT_QMAKE_EXECUTABLE:PATH=/opt/Qt5.6.1/5.6/gcc_64/bin/qmake -DVTK_Group_Qt:BOOL=ON -DCMAKE_PREFIX_PATH:PATH=/opt/Qt5.6.1/5.6/gcc_64/lib/cmake -DBUILD_SHARED_LIBS:BOOL=ON ..

make -j8
sudo make install
  1. INstall PCL

other dependent library is installed when you run essential_install.sh.

git clone https://github.com/PointCloudLibrary/pcl.git

To use Qt5 you installed, cmake prefix should be set in /pcl/cmake/pcl_find_qt5.cmake file. Add follow line on the top of /pcl/cmake/pcl_find_qt5.cmake file.

set(CMAKE_PREFIX_PATH /opt/Qt5.6.1/5.6/gcc_64/lib/cmake)

Then, make build folder and make.

mkdir build
cd build
cmake ..
make -j8
make install
  1. Install ROS

refer to page

ROS-Base version is recommended because some package of ROS is comflict to pcl or qt

sudo apt-get install ros-kinetic-ros-base

Fianlly, git clone to catkin workspace, and make!

shortcut

  • I: initial point grab(This step is essential to detect moving object)

  • A: Auto rotation

  • D: Auto rotation speed down

  • U: Auto rotation speed up

  • V: background vexel on/off

  • S: Moving object detection on/off

  • F: Full screen

  • C: Point filtering depend on height(z-value)

  • 1: Minimum z value decrease

  • 2: Minimum z value increase

  • 3: Maximum z value decrease

  • 4: Maximum 2 value increase

  • C: Show object search region

  • 5: x range of object search region decrease

  • 6: x range of object search region increase

  • 7: y range of object search region decrease

  • 8: y range of object search region increase

  • 9: z range of object search region decrease

  • 0: z range of object search region increase