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README.md
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README.md
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## find-object (standalone)
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# find-object
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Find-Object project, visit the [home page](http://introlab.github.io/find-object/) for more information.
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## find_object_2d (ROS1 package)
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### Install
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Binaries:
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```bash
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# ROS Kinetic:
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$ sudo apt-get install ros-kinetic-find-object-2d
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# ROS Jade:
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$ sudo apt-get install ros-jade-find-object-2d
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# ROS Indigo:
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$ sudo apt-get install ros-indigo-find-object-2d
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# ROS Hydro:
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$ sudo apt-get install ros-hydro-find-object-2d
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```
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Source:
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* If you want SURF/SIFT on Indigo/Jade/Kinetic (Hydro has already SIFT/SURF), you have to build [OpenCV](http://opencv.org/) from source to have access to *nonfree* module. Install it in `/usr/local` (default) and the Find-Object should link with it instead of the one installed in ROS.
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* On Indigo/Jade, I recommend to use latest 2.4 version ([2.4.11](https://github.com/Itseez/opencv/archive/2.4.11.zip)) and build it from source following these [instructions](http://docs.opencv.org/doc/tutorials/introduction/linux_install/linux_install.html#building-opencv-from-source-using-cmake-using-the-command-line). Find-Object can build with OpenCV3+[xfeatures2d](https://github.com/Itseez/opencv_contrib/tree/master/modules/xfeatures2d) module, but find_object_2d package will have libraries conflict as cv-bridge is depending on OpenCV2. If you want OpenCV3, you should build ros [vision-opencv](https://github.com/ros-perception/vision_opencv) package yourself (and all ros packages depending on it) so it can link on OpenCV3.
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* On Kinetic, I recommend to use OpenCV3+[xfeatures2d](https://github.com/Itseez/opencv_contrib/tree/master/modules/xfeatures2d) module (*to confirm* OpenCV3 installed with ROS already includes SIFT/SURF, so no need to rebuild OpenCV). You can also install OpenCV2, but find_object_2d package will have libraries conflict as cv-bridge is depending on OpenCV3. Thus if you want OpenCV2 on Kinetic, you should build ros [vision-opencv](https://github.com/ros-perception/vision_opencv) package yourself (and all ros packages depending on it) so it can link on OpenCV2.
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```bash
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# Install ROS Groovy/Hydro/Indigo/Jade/Kinetic (catkin build):
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$ cd ~/catkin_ws
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$ git clone https://github.com/introlab/find-object.git src/find_object_2d
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$ catkin_make
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# Install ROS Fuerte (in a directory of your "ROS_PACKAGE_PATH"):
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$ svn checkout -r176 http://find-object.googlecode.com/svn/trunk/ros-pkg/find_object_2d
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$ rosmake find_object_2d
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```
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### Run
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```bash
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$ roscore &
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# Launch your preferred usb camera driver
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$ rosrun uvc_camera uvc_camera_node &
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$ rosrun find_object_2d find_object_2d image:=image_raw
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```
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See [find_object_2d](http://wiki.ros.org/find_object_2d) for more information.
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## find_object_2d (ROS2 package)
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### Install
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Binaries:
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```bash
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To come...
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```
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Source:
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```bash
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# Install ROS Foxy/Galactic/Humble (colcon build):
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$ cd ~/ros2_ws
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$ git clone https://github.com/introlab/find-object.git src/find_object_2d
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$ colcon build
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```
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### Run
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```bash
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# Launch your preferred usb camera driver
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[...]
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# Launch find_object_2d node:
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$ ros2 launch find_object_2d find_object_2d.launch.py image:=/camera/color/image_raw
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# Draw objects detected on an image:
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$ ros2 run find_object_2d print_objects_detected --ros-args -r image:=/camera/color/image_raw
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```
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#### 3D Pose (TF)
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A RGB-D camera is required. Example with Realsense D400 camera:
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```bash
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# Launch your preferred usb camera driver
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ros2 launch realsense2_camera rs_launch.py align_depth.enable:=true
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# Launch find_object_2d node:
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$ ros2 launch find_object_2d find_object_3d.launch.py \
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rgb_topic:=/camera/color/image_raw \
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depth_topic:=/camera/aligned_depth_to_color/image_raw \
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camera_info_topic:=/camera/color/camera_info
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# Show 3D pose in camera frame:
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$ ros2 run find_object_2d tf_example
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```
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## CI Latest
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<table>
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<table>
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<tbody>
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<tr>
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<td>Linux</td>
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@ -108,3 +15,79 @@ A RGB-D camera is required. Example with Realsense D400 camera:
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</tbody>
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</table>
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## Standalone
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Find-Object project, visit the [home page](http://introlab.github.io/find-object/) for more information.
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## ROS1: find_object_2d
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### Install
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Binaries:
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```bash
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sudo apt-get install ros-$ROS_DISTRO-find-object-2d
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```
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Source:
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* 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).
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```bash
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cd ~/catkin_ws
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git clone https://github.com/introlab/find-object.git src/find_object_2d
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catkin_make
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```
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### Run
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```bash
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roscore
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# Launch your preferred usb camera driver
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rosrun uvc_camera uvc_camera_node
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rosrun find_object_2d find_object_2d image:=image_raw
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```
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See [find_object_2d](http://wiki.ros.org/find_object_2d) for more information.
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## ROS2: find_object_2d
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### Install
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Binaries:
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```bash
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To come...
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```
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Source:
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```bash
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# Install ROS Foxy/Galactic/Humble (colcon build):
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cd ~/ros2_ws
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git clone https://github.com/introlab/find-object.git src/find_object_2d
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colcon build
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```
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### Run
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```bash
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# Launch your preferred usb camera driver
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ros2 launch realsense2_camera rs_launch.py
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# Launch find_object_2d node:
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ros2 launch find_object_2d find_object_2d.launch.py image:=/camera/color/image_raw
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# Draw objects detected on an image:
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ros2 run find_object_2d print_objects_detected --ros-args -r image:=/camera/color/image_raw
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```
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#### 3D Pose (TF)
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A RGB-D camera is required. Example with Realsense D400 camera:
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```bash
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# Launch your preferred usb camera driver
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ros2 launch realsense2_camera rs_launch.py align_depth.enable:=true
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# Launch find_object_2d node:
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ros2 launch find_object_2d find_object_3d.launch.py \
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rgb_topic:=/camera/color/image_raw \
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depth_topic:=/camera/aligned_depth_to_color/image_raw \
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camera_info_topic:=/camera/color/camera_info
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# Show 3D pose in camera frame:
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ros2 run find_object_2d tf_example
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```
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