Description

This repo contains code allowing to convert the 2D output of darknet into 3D boxes.

Dependencies

• numpy
• sensor_msgs
• darknet_ros_msgs
• sara_msgs
• cv2
• matplotlib
• scipy

Launchfile

• wm_darknet_ros_3d_wrapper.launch
  • Start the 3D conversion stack.

Parameters

• darknet_ros_3d_wrapper_node/depth_topic
  • Select the topic from witch to get the depth images
• darknet_ros_3d_wrapper_node/bounding_boxes_topic
  • Select the topic from witch to get the bounding boxes
• darknet_ros_3d_wrapper_node/synchroniser_buffer
  • Set the buffer size for the topic synchronisation argorythm.
• darknet_ros_3d_wrapper_node/synchroniser_time_tolerance
  • Set the time tolerance for the topic synchronisation argorythm.
• darknet_ros_3d_wrapper_node/camera_fov_width
  • Set the angular width of the camera
• darknet_ros_3d_wrapper_node/camera_fov_height
  • Set the angular height of the camera
• darknet_ros_3d_wrapper_node/histogramPrecision
  • Set the number of divisions per meter used for the histogram selector
• darknet_ros_3d_wrapper_node/display_gui
  • Render a plot of the current segmentation. (for debug purpose only)

Nodes

bounding_box_stamp_corrector

Adjust the darknet output to have the desired timestamp.

Topics provided

• Subscriber
  • /darknet_ros/bounding_boxes (darknet_ros_msgs/BoundingBoxes)
    • List of bounding boxes from darknet
• Publisher
  • /darknet_ros/bounding_boxes_correct_stamp (darknet_ros_msgs/BoundingBoxes)
    • List of bounding boxes with adjusted timestamp

darknet_ros_3d_wrapper_node

Perform the 3D convertions of the bounding boxes.

Topics provided

• Subscriber
  • /head_xtion/depth/image_raw (sensor_msgs/Image)
    • Depth image from the same camera used for darknet
  • /darknet_ros/bounding_boxes_correct_stamp (darknet_ros_msgs/BoundingBoxes)
    • List of bounding boxes from darknet
• Publisher
  • /darknet_ros_3d_wrapper_node/boxes3d (sara_msgs/BoundingBoxes3D)
    • List of 3d bounding boxes
  • /darknet_ros_3d_wrapper_node/boxes3d_markers (visualization_msgs/MarkerArray)
    • List of markers for rviz