Target object detector pkg

This is for detecting taget object(human) at Tsukuba Challenge 2016.

• コード重複多すぎ
• スケーリングパラメータのハードコートは良くない

Requirements

• PCL 1.7+
• boost
• ROS(indigo)

Usage

This package is using 3D pointcloud(pointcloud2) to recognize.

$ roslaunch target_object_detector target_object_detector.launch

• tf(/map, /base_link and sensor_frame)
• /amcl_pose (geometry_msgs/PoseWithCovarianceStamped)
• /hokuyo3d/hokuyo_cloud2

Train

First, make dataset/traian directory in this pkg. Then move there.

roscd target_object_detector
mkdir -p dataset/train
cd dataset/train

Run the segmentation node in the directory.

rosrun target_object_detector segment_cluster_creator_node

Take a poingcloud by running the robot or play bag file include pointclioud2 msg. You will get a lot of pcd files in the directory.
Next, classify the pcd files.

rosrun target_object_detector train_data_create_tool

After classified all pcd files, you will get train.csv in the directory.
Third, making svm model.

roscd targe_object_detector/src/libsvm/tools/
python easy.py path/to/train.csv