Parking detection

parking_detection: parking_detection

parking_detection

  • Homepage: http://ros.org/wiki/parking_detection
  • 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

    Usage

    How to use?

    Kinect_freq_mode

    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)
        {
          processed_pc.push_back(pc_cut.points[i]);
        }
      }
    

    pub_transformations

    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 (lars.mec.ua)
    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));
    

    parking_detection

    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


    parking_detection
    Author(s): joel
    autogenerated on Thu Jul 26 2012 21:39:08