Update README.md
This commit is contained in:
matlabbe
GitHub
parent
f985fa4ff5
commit
ade3e11e06
173
README.md
173
README.md
@ -1,99 +1,6 @@
|
|||||||
## find-object (standalone)
|
# find-object
|
||||||
|
|
||||||
Find-Object project, visit the [home page](http://introlab.github.io/find-object/) for more information.
|
<table>
|
||||||
|
|
||||||
## find_object_2d (ROS1 package)
|
|
||||||
|
|
||||||
### Install
|
|
||||||
|
|
||||||
Binaries:
|
|
||||||
```bash
|
|
||||||
# ROS Kinetic:
|
|
||||||
$ sudo apt-get install ros-kinetic-find-object-2d
|
|
||||||
# ROS Jade:
|
|
||||||
$ sudo apt-get install ros-jade-find-object-2d
|
|
||||||
# ROS Indigo:
|
|
||||||
$ sudo apt-get install ros-indigo-find-object-2d
|
|
||||||
# ROS Hydro:
|
|
||||||
$ sudo apt-get install ros-hydro-find-object-2d
|
|
||||||
```
|
|
||||||
|
|
||||||
Source:
|
|
||||||
|
|
||||||
* 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.
|
|
||||||
|
|
||||||
* 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.
|
|
||||||
|
|
||||||
* 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.
|
|
||||||
|
|
||||||
```bash
|
|
||||||
# Install ROS Groovy/Hydro/Indigo/Jade/Kinetic (catkin build):
|
|
||||||
$ cd ~/catkin_ws
|
|
||||||
$ git clone https://github.com/introlab/find-object.git src/find_object_2d
|
|
||||||
$ catkin_make
|
|
||||||
|
|
||||||
# Install ROS Fuerte (in a directory of your "ROS_PACKAGE_PATH"):
|
|
||||||
$ svn checkout -r176 http://find-object.googlecode.com/svn/trunk/ros-pkg/find_object_2d
|
|
||||||
$ rosmake find_object_2d
|
|
||||||
```
|
|
||||||
|
|
||||||
### 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.
|
|
||||||
|
|
||||||
## find_object_2d (ROS2 package)
|
|
||||||
|
|
||||||
### Install
|
|
||||||
|
|
||||||
Binaries:
|
|
||||||
```bash
|
|
||||||
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
|
|
||||||
```
|
|
||||||
|
|
||||||
### Run
|
|
||||||
```bash
|
|
||||||
# Launch your preferred usb camera driver
|
|
||||||
[...]
|
|
||||||
|
|
||||||
# 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
|
|
||||||
```
|
|
||||||
|
|
||||||
## CI Latest
|
|
||||||
|
|
||||||
<table>
|
|
||||||
<tbody>
|
<tbody>
|
||||||
<tr>
|
<tr>
|
||||||
<td>Linux</td>
|
<td>Linux</td>
|
||||||
@ -108,3 +15,79 @@ A RGB-D camera is required. Example with Realsense D400 camera:
|
|||||||
</tbody>
|
</tbody>
|
||||||
</table>
|
</table>
|
||||||
|
|
||||||
|
## Standalone
|
||||||
|
Find-Object project, visit the [home page](http://introlab.github.io/find-object/) for more information.
|
||||||
|
|
||||||
|
## ROS1: find_object_2d
|
||||||
|
|
||||||
|
### 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: find_object_2d
|
||||||
|
|
||||||
|
### Install
|
||||||
|
|
||||||
|
Binaries:
|
||||||
|
```bash
|
||||||
|
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
|
||||||
|
```
|
||||||
|
|
||||||
|
### 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
|
||||||
|
```
|
||||||
|
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user