/find_object_2d

Find object 2d with ROS Service to load image

Primary LanguageC++BSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

find-object (standalone)

find_object_2d (ROS package)

Install

Binaries:

# ROS Kinetic:
 $ sudo apt-get install ros-kinetic-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 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.

Run

 $ roscore 
 $ rosrun usb_cam usb_cam

In another terminale

$ ssh -Y lar-UR5 -l lar
$ export ROS_MASTER_URI=http://192.168.7.95:11311
$ rosrun find_object_2d find_object_2d image:=/usb_cam/image_raw