find-object (standalone)

Linux: Windows:

Find-Object project, visit the home page for more information.

find_object_2d (ROS1 package)

Install

Binaries:

# 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 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) and build it from source following these instructions. Find-Object can build with OpenCV3+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 package yourself (and all ros packages depending on it) so it can link on OpenCV3.

  • On Kinetic, I recommend to use OpenCV3+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 package yourself (and all ros packages depending on it) so it can link on OpenCV2.

# 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

 $ 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 for more information.

find_object_2d (ROS2 package)

Install

Binaries:

To come...

Source:

# 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

 # 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:

 # 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