Step1 Open terminal Launch Gazebo and Ros: roscore & rosrun gazebo_ros gazebo rosrun rviz rviz Step2 Simulate objects in the Gazebo Step3 Set Pointcloud2 and TF in Rviz Step4 Set parameters in codes: set following parameter in codes objectNum = 2 #set 1 single object situation set 2 multiple object maxIteration = 30 #registration iteration time tolerance = 0.0005 #error tolerance for registration controlPoints = 500 #maximum sample point number for ICP turtlename = 'beer' #tagrget name to be tracked Imgtemp='beer.jpg' # recognition template template='beer.pcd' #ICP tmeplate run main.py Besides : There are some template for test and Expriment records listed above
xiyao23/project
Point Cloud Object Tracking Program is only in main.py!!! Users Guidance is readme.txt. Thank you. Have any question,please contact gavin_xiyao@163.com The project have used third-party library python-pcl and python-OpenCV. External library link: https://github.com/strawlab/python-pcl and https://github.com/skvark/opencv-python.
Python