## repository: https://code.ros.org/svn/wg-ros-pkg
<<PackageHeader(rf_detector)>>

== Video ==

<<Youtube(J8NiCoO38Gc)>>

== Nodes ==

=== rf_detector ===

rf_detector is a categorical object detector using Random Forests. It runs a ROS node that expects stereo input data (with textured light) input from the [[texture_light_on_off]] node.

==== Subscribed topics ====

rf_detector subscribes to three ROS topics:

 * '''/t_on_off/image'''
 * '''/t_on_off/caminfo'''
 * '''/t_on_off/dense_cloud'''

After the `rf_detector` node receive all three topics, it will start detecting objects in the image.

== launch files ==

`rf_pcd_hogshape_detector_3Class.launch` will start the rf_detector with some default parameter settings. There are five groups of parameters which need to be set.

1. table-top object related parameters :

 * !PrineTableFlag -- if true, do table-top object candidate reasoning.
 * max_depth -- the maximum depth that the system will search for objects.
 * min_depth -- the minimum depth that the system will search for objects.
 * plane_axis_x -- the x component of the surface number orientation of the table in the image_frame.
 * plane_axis_y -- the y component of the surface number orientation of the table in the image_frame.
 * plane_axis_z -- the z component of the surface number orientation of the table in the image_frame.
 * eps_angle -- the tolerance of the different between the estimated surface norm direction and the one set by plane_axis.

2. patch sample related parameters

 * Radius -- Radius of corresponding the 3d sphere to be sampled.
 * !SampleStep -- The step size (in pixel) between two nearby sampled patches .
 * winStep -- The incremental step of the patch size in pixel.
 * numCellPerWin -- the number of cells in each patch for both vertical and horizontal direction.
 * numCellPerBlock -- the number of cells in each Block for both vertical and horizontal direction.
 * padding -- The padding in pixel for both top-left and bottom-right corner.
 * ObjHeight2winHeightRatio -- Object height / Patch height

3. model related parameters

 * !RFmodel_filename -- the file describing the trained random forest.
 * !FgBgProb_filename -- the Foreground/Background probability of each lead nodes in the random forest.
 * !ClassIdBinary_filename -- the Class Id of each trained Foreground patch.
 * !NormVotesBinary_filename --The normalized voting direction, the relative object height to patch height, the aspect ratio of the object.
 * !MaxClassId -- the Maximum Class Id.
 * ClassId2ViewObjClassMapFile -- the file which map each Class Id into object Class index and Viewpoint index.

4. voting related parameters

 * hitThreshold -- The minimum  Foreground/Background ratio of a node to cast votes.
 * !MeanShiftMaxIter -- The maximum mean-shift iteration to search for local mode.
 * !ObjHeightStep --  The incremental step of the object height in pixel.
 * !ObjASStep -- The incremental step of the object aspect ratio.

5. detection post processing related parameters

 * !RectOverlapRatio -- The threshold to decide if two bounding boxes are overlapping each other.
 * !ConfThre -- It defines the minimum score for a object detector could return.


## AUTOGENERATED DON'T DELETE
## CategoryPackage