Parking detection

parking_detection: parking_detection


  • Homepage:
  • parking_detection is a package that calculates the coordinates of an empty parking space (If there is one)

    That package includes 3 nodes, kinect_freq_mod, pub_transformations and parking_detection


    How to use?


    This node is responsible to modulate the frequency of the pointclouds publication (ex. kinect pointclouds) and to 'trim' the pointcloud at certain values (ex. z>0.5, which means that only points with a z coordinate bbigger than 0.5m are published)

    // This section defines the frequency of publication (10Hz)
    ros::Rate loop_rate(10);
    // Limitation of the admissible points
    for (int i=0;i<(int)pc_cut.points.size();i++)
        if (pc_cut.points[i].z>0.6 && pc_cut.points[i].z<1.5)


    Here is necessary to define the transformation matrix between the kinect frame and the axis of the robotic vehicle frame

    // Coordinates of the kinect frame on the atlasMV vehicle (
    float alpha=(38.5)*(3.1415/180);// 38.5 is obtained by multiplying the tillt angle by -1
    tf::Transform transform(btMatrix3x3(0,-1,0, cos(alpha),0,sin(alpha), -sin(alpha),0,cos(alpha)),
                                                      btVector3(0.236, -0.05, 0.68));


    This node is the one that is responsibe to search for an empty parking space. The conditions of what is a parking space are defined with the existance/no existance of points in four diferent volumes (represented by convexhulls); Those convexhulls change their colour from red to green, if the conditions are satisfied.

    Launch Files

    There are three important launch files on this package, parking_detection_bagplay.launch, parking_detection_bagrecord.launch and parking_detection.launch

    The first one is to run the packadge from a recorded point cloud message, the second one is to recor the point cloud message, and the third one is to run the package in live action.

     All Files Functions Variables Defines

    Author(s): joel
    autogenerated on Wed Jul 23 04:35:35 2014