yoshito-n-students/moving_object_detector

A ROS nodelet to detect moving objects in a video stream by opencv's background subtruction

moving_object_detector

Dependencies

object_detection_msgs

• https://github.com/yoshito-n-students/object_detection_msgs

Subscribed Topics

image_raw (sensor_msgs/Image)

Published Topics

image_out (sensor_msgs/Image)

• image in which moving objects are found
• never advertised and published unless ~republish_image is ture

objects_out (object_detection_msgs/Objects)

• data and location of detected objects

Parameters

~detection_algorithm (string, default: "CNT")

• "CNT", "GMG", "GSOC", "KNN", "LSBP", "MOG", or "MOG2"
• see opencv's documentation for algorithm details

~republish_image (bool, default: false)

• republish image if moving objects are found in it

~enumerate_objects (bool, default: true)

• publish object names by 1-based indices ("1", "2", ...)

~image_transport (string, default: "raw")

• transport type of the subscribed image topic

Examples

see launch/test.launch