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TescaF edited this page Jul 28, 2016 · 30 revisions

Welcome to the hlpr_perception wiki!

Installing perception nodes

  1. Link the perception packages to your workspace, e.g.:

    • ln -s ~/software/HLP-R/hlpr_perception/ ~/vector_ws/src/

  2. Build your workspace.

    • cd ~/vector_ws
    • catkin_make

  3. Launch the segmentation node.

    • roslaunch segmentation pc_seg.launch

  4. In another window, launch the feature extraction node.

    • roslaunch feature_extraction ft_ex.launch

Parameters

  • You can set any parameters using the rosparam convention in your launch file. For an example, see launch/hello_world.launch.
  • You can set any of the following parameters:
  • dt: distance threshold for segmentation (float)
  • ct: color threshold for segmentation (float) (currently set a very high (e.g. 100000) threshold to do proximity only segmentation)
  • v: set hue value to select the cluster of interest (float)
  • m: set whether to do merging or not (boolean)
  • t: set hue threshold for merging
  • z: set depth threshold for merging (float)
  • p: set whether to pre process the point cloud or not (boolean)
  • c: set color segmentation options, 0,1,2 correspond to none, rgb, hue
  • src: point cloud source options 0,1,2 correspond to ROS, OPENNI, and KinectV2 respectively (int).
  • rt: name of the ros topic of the incoming poin cloud (string)
  • out: output options 0,1,2 corresponding to none, IRCP, ROS (int). IRCP support may not exist, exercise caution.
  • comm: Communication options 0,1,2 corresponding to none, IRCP, ROS (int). IRCP support may not exist, exercise caution.
  • b: set whether to display all bounding boxes or just the selected one (boolean)
  • sh: set saturation hack on/off (boolean)
  • st: set saturation threshold for the hack (float)
  • sv: set saturation value to be mapped to (float)
  • ri: set robot id for ircp (byte)
  • pr: set the freenect2 processor options 0,1,2 correspond to CPU, OPENCL, and OPENGL respectively (int)
  • fn: filter noise, warning slows things down (bool)
  • nv: no vizualization (bool)

Troubleshooting

There is an issue with PCL and Boost being compiled under different c++ standards. If the segmentation node immediately exits, you may need to rebuild PCL from source:

  • cd ~/software
  • git clone https://github.com/PointCloudLibrary/pcl.git
  • cd pcl && mkdir build && cd build
  • cmake ..
  • make -j2
  • sudo make -j2 install

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