find-object

Linux
Windows

Standalone

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

ROS1: find_object_2d

Install

Binaries:

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).

 cd ~/catkin_ws
 git clone https://github.com/introlab/find-object.git src/find_object_2d
 catkin_make

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.

ROS2: find_object_2d

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
 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:

 # 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