Contents
Overview
The stair-step-detector allows the detection of stair steps using a LiDAR depth camera. Currently, the Intel RealSense L515 is supported (see below, hardware requirements).
The repository contains packages for ROS2 Galactic Geochelone:
stair_step_detector_pkg |
- stair-step-detector node, publishes stairs messages |
stairs_msg |
- message definition of the stairs data |
example_subscriber_pkg |
- example subscriber to stairs messages |
stairs_visualizer_pkg |
- offers something for the eye via RViz |
The _pkg's are essentially small Python scripts. The actual detector is written in C++ and has no dependencies on ROS.
Hardware Requirements
The stair-step-detector requires a depth camera. It was developed and tested using the RealSense L515. It can be adapted to use a different depth camera. The effort involved depends on the features of this camera. The adaptation is relative easy if the camera (or the SDK) had the following features:
- delivers a point cloud in Cartesian coordinates
- delivers the 3D spatial points for specific 2D image points*
- additionally supplies an infrared stream*
*) required for the geometric calibration
