apoorva
fabea45044
git-subtree-dir: find-object git-subtree-mainline: 9bd639e88c266d990f53b2799ba476d34cfc9c89 git-subtree-split: 635efcd6220cabc258b88c54b1ae4279035bbe31
93 lines
2.9 KiB
Markdown
93 lines
2.9 KiB
Markdown
# find-object
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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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<td><a href="https://github.com/introlab/find-object/actions/workflows/cmake.yml"><img src="https://github.com/introlab/find-object/actions/workflows/cmake.yml/badge.svg" alt="Build Status"/> <br> <a href="https://github.com/introlab/find-object/actions/workflows/ros1.yml"><img src="https://github.com/introlab/find-object/actions/workflows/ros1.yml/badge.svg" alt="Build Status"/> <br> <a href="https://github.com/introlab/find-object/actions/workflows/ros2.yml"><img src="https://github.com/introlab/find-object/actions/workflows/ros2.yml/badge.svg" alt="Build Status"/>
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</td>
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</tr>
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<tr>
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<td>Windows</td>
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<td><a href="https://ci.appveyor.com/project/matlabbe/find-object/branch/master"><img src="https://ci.appveyor.com/api/projects/status/hn51r6p5c0peqctb/branch/master?svg=true" alt="Build Status"/>
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</td>
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</tr>
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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
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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
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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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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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See [find_object_2d](http://wiki.ros.org/find_object_2d) for more information (same parameters/topics are used between ROS1 and ROS2 versions).
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