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@ -18,7 +18,7 @@
## Standalone
Find-Object project, visit the [home page](http://introlab.github.io/find-object/) for more information.
## ROS1: find_object_2d
## ROS1
### Install
@ -32,21 +32,21 @@ 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
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
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: find_object_2d
## ROS2
### Install
@ -58,36 +58,35 @@ To come...
Source:
```bash
# Install ROS Foxy/Galactic/Humble (colcon build):
cd ~/ros2_ws
git clone https://github.com/introlab/find-object.git src/find_object_2d
colcon build
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 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
# 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
# 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 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 \
# 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
# Show 3D pose in camera frame:
ros2 run find_object_2d tf_example
```