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https://github.com/introlab/find-object
Find-Object project
https://github.com/introlab/find-object
Last synced: 5 days ago
JSON representation
Find-Object project
- Host: GitHub
- URL: https://github.com/introlab/find-object
- Owner: introlab
- License: bsd-3-clause
- Created: 2014-08-11T20:14:33.000Z (over 10 years ago)
- Default Branch: master
- Last Pushed: 2024-06-27T03:19:21.000Z (6 months ago)
- Last Synced: 2024-12-01T14:27:28.753Z (12 days ago)
- Language: C++
- Homepage: http://introlab.github.io/find-object/
- Size: 33.5 MB
- Stars: 448
- Watchers: 33
- Forks: 189
- Open Issues: 75
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
- awesome-robotic-tooling - find-object - Simple Qt interface to try OpenCV implementations of SIFT, SURF, FAST, BRIEF and other feature detectors and descriptors (Sensor Processing / Image Processing)
- awesome-robotic-tooling - find-object - Simple Qt interface to try OpenCV implementations of SIFT, SURF, FAST, BRIEF and other feature detectors and descriptors. (Sensor Processing / Image Processing)
README
# find-object
Linux
Windows
## Standalone
Find-Object project, visit the [home page](http://introlab.github.io/find-object/) for more information.
## ROS1
### Install
Binaries:
```bash
sudo apt-get install ros-$ROS_DISTRO-find-object-2d
```
Source:
* To include `xfeatures2d` and/or `nonfree` modules of OpenCV, to avoid conflicts with `cv_bridge`, build same OpenCV version that is used by `cv_bridge`. Install it in `/usr/local` (default).
```bash
cd ~/catkin_ws
git clone https://github.com/introlab/find-object.git src/find_object_2d
catkin_make
```
### Run
```bash
roscore
# Launch your preferred usb camera driver
rosrun uvc_camera uvc_camera_node
rosrun find_object_2d find_object_2d image:=image_raw
```
See [find_object_2d](http://wiki.ros.org/find_object_2d) for more information.
## ROS2
### Install
Binaries:
```bash
To come...
```
Source:
```bash
cd ~/ros2_ws
git clone https://github.com/introlab/find-object.git src/find_object_2d
colcon build
```
### Run
```bash
# Launch your preferred usb camera driver
ros2 launch realsense2_camera rs_launch.py
# Launch find_object_2d node:
ros2 launch find_object_2d find_object_2d.launch.py image:=/camera/color/image_raw
# Draw objects detected on an image:
ros2 run find_object_2d print_objects_detected --ros-args -r image:=/camera/color/image_raw
```
#### 3D Pose (TF)
A RGB-D camera is required. Example with Realsense D400 camera:
```bash
# Launch your preferred usb camera driver
ros2 launch realsense2_camera rs_launch.py align_depth.enable:=true
# Launch find_object_2d node:
ros2 launch find_object_2d find_object_3d.launch.py \
rgb_topic:=/camera/color/image_raw \
depth_topic:=/camera/aligned_depth_to_color/image_raw \
camera_info_topic:=/camera/color/camera_info
# Show 3D pose in camera frame:
ros2 run find_object_2d tf_example
```
See [find_object_2d](http://wiki.ros.org/find_object_2d) for more information (same parameters/topics are used between ROS1 and ROS2 versions).