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Package Summary

Find-Object's ROS package. Find-Object is a simple Qt interface to try OpenCV implementations of SIFT, SURF, FAST, BRIEF and other feature detectors and descriptors for objects recognition.

Package Summary

Find-Object's ROS package. Find-Object is a simple Qt interface to try OpenCV implementations of SIFT, SURF, FAST, BRIEF and other feature detectors and descriptors for objects recognition.

Package Summary

Find-Object's ROS package. Find-Object is a simple Qt interface to try OpenCV implementations of SIFT, SURF, FAST, BRIEF and other feature detectors and descriptors for objects recognition.

Package Summary

The find_object_2d package

Overview

Simple Qt interface to try OpenCV implementations of SIFT, SURF, FAST, BRIEF and other feature detectors and descriptors. Using a webcam, objects can be detected and published on a ROS topic with ID and position (pixels in the image). This package is a ROS integration of the Find-Object application.

this

Citing

@misc{labbe11findobject,
   Author = {{Labb\'{e}, M.}},
   Howpublished = {\url{http://introlab.github.io/find-object}},
   Note = {accessed YYYY-MM-DD},
   Title = {{Find-Object}},
   Year = 2011
}

Quick start

 $ roscore &
 # Launch your preferred usb camera driver
 $ rosrun uvc_camera uvc_camera_node &
 $ rosrun find_object_2d find_object_2d image:=image_raw

Visit Find-Object on GitHub for some tutorials.

Description

 $ rosrun find_object_2d print_objects_detected
  (...)
  ---
  Object 6 detected at (271.389282,138.113373)
  Object 7 detected at (115.537971,151.215271)
  ---
  Object 6 detected at (271.389862,138.345398)
  Object 7 detected at (115.422760,163.439835)
  (...)

3D position of the objects

When using Kinect-like sensors, 3D position of the objects can be computed in Find-Object ros-pkg.

this

$ roslaunch openni_launch openni.launch depth_registration:=true
$ roslaunch find_object_2d find_object_3d.launch
$ rosrun rviz rviz  (for visualisation purpose: set "fixed_frame" to "/camera_link" and add TF display)

Kinect v2 example (you will need iai_kinect2 package and find_object_3d_kinect2.launch):

$ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true
$ roslaunch find_object_2d find_object_3d_kinect2.launch

Nodes

find_object_2d

Subscribed Topics

image (sensor_msgs/Image) rgb/image_rect_color (sensor_msgs/Image) rgb/camera_info (sensor_msgs/CameraInfo) registered_depth/image_raw (sensor_msgs/Image)

Published Topics

objects (std_msgs/Float32MultiArray) objectsStamped (find_object_2d/ObjectsStamped)

Parameters

~subscribe_depth (bool, default: "true") ~gui (bool, default: "true") ~objects_path (string, default: "") ~session_path (string, default: "") ~settings_path (string, default: "") ~object_prefix (string, default: "object")


2019-06-22 12:41