This is a ROS package developed for Target object detection using RGB-D camera.

It is assumed that we have pre-trained Object detection system such as YOLO or OpenPose.

If you want to use Azure Kinect as RGBD camera, you should install Kinect SDK.

curl https://packages.microsoft.com/keys/microsoft.asc | sudo apt-key add -
sudo apt-add-repository https://packages.microsoft.com/ubuntu/18.04/prod
sudo apt update
sudo apt install -y libk4a1.3 libk4a1.3-dev k4a-tools

git clone https://github.com/microsoft/Azure_Kinect_ROS_Driver
catkin build

If you have some problem, please follow instrunctios from https://github.com/microsoft/Azure-Kinect-Sensor-SDK

To compile this package, you need to build darknet_ros_msgs

Pleae follow instructions from https://github.com/leggedrobotics/darknet_ros

For more information about YOLO, Darknet, available training data and training YOLO see the following link: YOLO: Real-Time Object Detection.

1. launch rgbd camera node
2. target_frame_id (e.g.,"map") should exist.

roslaunch azure_kinect_ros_driver driver.launch
roslaunch darknet_ros yolov_3.launch
rosrun pointcloud_processing pcl_processing

0. Complie packages: pointcloud_processing, transform_pointcloud, rviz_tools_py
1. launch rgb camera node (or robot)
2. launch darknet_ros (or retinanet_ros)

roslaunch darknet_ros yolov_3.launch

3. launch transform_pointcloud (this node will convert frame_id of pcl data),

roslaunch transform_pointcloud transform.launch

• check pcl data is in target frame_id in launch file and output topic name is changed to : pointcloud_transformer/output_pcl2

4. rosrun rviz_tools_py fov_demo.py

• Parameter should be set: the width, hegiht resolution of rgb image,and the frame_id of rgb image
• You should change these value in fov_demo.py
• WIDTH_RES, HEIGHT_RES, _SENSOR_TF

6. roslaunch pointcloud_processing sep_processing.launch

Also need to test the launch file target_detection/launch/pose_Estimation.launch which appeared to have the correct remap args

• current target class is chair. you might change this clas in sep_processing.cpp directly at this moment. will work on configuration later.