rgbd_detection2d_3d

Project a 2D detection to 3D within an RGB-D camera.

Notice

• The current version is tested with darknet_ros, that is, subscribing to darknet_ros/bounding_boxes (darknet_ros_msgs/BoundingBoxes) topic. If you need to subscribe to other types, please modify the code yourself.
• The current published message type is vision_msgs/Detection3DArray. Similarly, please modify the code if other types are required.
• The current version requires that the point cloud must be ordered.

How to build

cd ~/catkin_ws/src/
git clone https://github.com/yzrobot/rgbd_detection2d_3d.git
cd ~/catkin_ws
catkin_make

Run

rosrun rgbd_detection2d_3d rgbd_detection2d_3d

Test environment

Ubuntu 20.04 LTS
ROS Noetic

Citation

If you are considering using this code, please reference the following:

@article{io22software,
   author  = {Iaroslav Okunevich and Vincent Hilaire and Stephane Galland and Olivier Lamotte and Liubov Shilova and Yassine Ruichek and Zhi Yan},
   title   = {Software-hardware Integration and Human-centered Benchmarking for Socially-compliant Robot Navigation},
   journal = {CoRR},
   volume = {abs/2210.15628},
   year = {2022},
   url = {http://arxiv.org/abs/2210.15628},
   archivePrefix = {arXiv},
   eprint = {2210.15628}
}