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find_object_2d repository

find_object_2d

ROS Distro
humble

Repository Summary

Description
Checkout URI https://github.com/introlab/find-object.git
VCS Type git
VCS Version humble-devel
Last Updated 2026-10-07
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
find_object_2d 0.7.5

README

find-object

CI Latest

  Build
Desktop Linux Windows macOS
ROS 2 ROS 2

ROS Binaries

  Distro Ubuntu Released In apt Build
ROS 1 Noetic (EOL) 20.04 released apt  
ROS 2 Humble 22.04 released apt build
ROS 2 Jazzy 24.04 released apt build
ROS 2 Kilted 24.04 released apt build
ROS 2 Lyrical 26.04 released apt  
ROS 2 Rolling 26.04 released apt  

Standalone

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

ROS1

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

Install

Binaries:

To come...

Source:

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

See find_object_2d for more information (same parameters/topics are used between ROS1 and ROS2 versions).

CONTRIBUTING

Repo symbol

find_object_2d repository

find_object_2d

ROS Distro
jazzy

Repository Summary

Description
Checkout URI https://github.com/introlab/find-object.git
VCS Type git
VCS Version rolling-devel
Last Updated 2026-10-07
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
find_object_2d 0.7.5

README

find-object

CI Latest

  Build
Desktop Linux Windows macOS
ROS 2 ROS 2

ROS Binaries

  Distro Ubuntu Released In apt Build
ROS 1 Noetic (EOL) 20.04 released apt  
ROS 2 Humble 22.04 released apt build
ROS 2 Jazzy 24.04 released apt build
ROS 2 Kilted 24.04 released apt build
ROS 2 Lyrical 26.04 released apt  
ROS 2 Rolling 26.04 released apt  

Standalone

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

ROS1

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

Install

Binaries:

To come...

Source:

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

See find_object_2d for more information (same parameters/topics are used between ROS1 and ROS2 versions).

CONTRIBUTING

Repo symbol

find_object_2d repository

find_object_2d

ROS Distro
kilted

Repository Summary

Description
Checkout URI https://github.com/introlab/find-object.git
VCS Type git
VCS Version rolling-devel
Last Updated 2026-10-07
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
find_object_2d 0.7.5

README

find-object

CI Latest

  Build
Desktop Linux Windows macOS
ROS 2 ROS 2

ROS Binaries

  Distro Ubuntu Released In apt Build
ROS 1 Noetic (EOL) 20.04 released apt  
ROS 2 Humble 22.04 released apt build
ROS 2 Jazzy 24.04 released apt build
ROS 2 Kilted 24.04 released apt build
ROS 2 Lyrical 26.04 released apt  
ROS 2 Rolling 26.04 released apt  

Standalone

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

ROS1

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

Install

Binaries:

To come...

Source:

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

See find_object_2d for more information (same parameters/topics are used between ROS1 and ROS2 versions).

CONTRIBUTING

Repo symbol

find_object_2d repository

find_object_2d

ROS Distro
lyrical

Repository Summary

Description
Checkout URI https://github.com/introlab/find-object.git
VCS Type git
VCS Version rolling-devel
Last Updated 2026-10-07
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
find_object_2d 0.7.5

README

find-object

CI Latest

  Build
Desktop Linux Windows macOS
ROS 2 ROS 2

ROS Binaries

  Distro Ubuntu Released In apt Build
ROS 1 Noetic (EOL) 20.04 released apt  
ROS 2 Humble 22.04 released apt build
ROS 2 Jazzy 24.04 released apt build
ROS 2 Kilted 24.04 released apt build
ROS 2 Lyrical 26.04 released apt  
ROS 2 Rolling 26.04 released apt  

Standalone

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

ROS1

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

Install

Binaries:

To come...

Source:

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

See find_object_2d for more information (same parameters/topics are used between ROS1 and ROS2 versions).

CONTRIBUTING

Repo symbol

find_object_2d repository

find_object_2d

ROS Distro
rolling

Repository Summary

Description
Checkout URI https://github.com/introlab/find-object.git
VCS Type git
VCS Version rolling-devel
Last Updated 2026-10-07
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
find_object_2d 0.7.5

README

find-object

CI Latest

  Build
Desktop Linux Windows macOS
ROS 2 ROS 2

ROS Binaries

  Distro Ubuntu Released In apt Build
ROS 1 Noetic (EOL) 20.04 released apt  
ROS 2 Humble 22.04 released apt build
ROS 2 Jazzy 24.04 released apt build
ROS 2 Kilted 24.04 released apt build
ROS 2 Lyrical 26.04 released apt  
ROS 2 Rolling 26.04 released apt  

Standalone

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

ROS1

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

Install

Binaries:

To come...

Source:

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

See find_object_2d for more information (same parameters/topics are used between ROS1 and ROS2 versions).

CONTRIBUTING

No version for distro github showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

find_object_2d repository

find_object_2d

ROS Distro
humble

Repository Summary

Description
Checkout URI https://github.com/introlab/find-object.git
VCS Type git
VCS Version humble-devel
Last Updated 2026-10-07
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
find_object_2d 0.7.5

README

find-object

CI Latest

  Build
Desktop Linux Windows macOS
ROS 2 ROS 2

ROS Binaries

  Distro Ubuntu Released In apt Build
ROS 1 Noetic (EOL) 20.04 released apt  
ROS 2 Humble 22.04 released apt build
ROS 2 Jazzy 24.04 released apt build
ROS 2 Kilted 24.04 released apt build
ROS 2 Lyrical 26.04 released apt  
ROS 2 Rolling 26.04 released apt  

Standalone

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

ROS1

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

Install

Binaries:

To come...

Source:

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

See find_object_2d for more information (same parameters/topics are used between ROS1 and ROS2 versions).

CONTRIBUTING

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

find_object_2d repository

find_object_2d

ROS Distro
humble

Repository Summary

Description
Checkout URI https://github.com/introlab/find-object.git
VCS Type git
VCS Version humble-devel
Last Updated 2026-10-07
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
find_object_2d 0.7.5

README

find-object

CI Latest

  Build
Desktop Linux Windows macOS
ROS 2 ROS 2

ROS Binaries

  Distro Ubuntu Released In apt Build
ROS 1 Noetic (EOL) 20.04 released apt  
ROS 2 Humble 22.04 released apt build
ROS 2 Jazzy 24.04 released apt build
ROS 2 Kilted 24.04 released apt build
ROS 2 Lyrical 26.04 released apt  
ROS 2 Rolling 26.04 released apt  

Standalone

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

ROS1

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

Install

Binaries:

To come...

Source:

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

See find_object_2d for more information (same parameters/topics are used between ROS1 and ROS2 versions).

CONTRIBUTING

Repo symbol

find_object_2d repository

find_object_2d

ROS Distro
iron

Repository Summary

Description
Checkout URI https://github.com/introlab/find-object.git
VCS Type git
VCS Version rolling-devel
Last Updated 2026-10-07
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
find_object_2d 0.7.5

README

find-object

CI Latest

  Build
Desktop Linux Windows macOS
ROS 2 ROS 2

ROS Binaries

  Distro Ubuntu Released In apt Build
ROS 1 Noetic (EOL) 20.04 released apt  
ROS 2 Humble 22.04 released apt build
ROS 2 Jazzy 24.04 released apt build
ROS 2 Kilted 24.04 released apt build
ROS 2 Lyrical 26.04 released apt  
ROS 2 Rolling 26.04 released apt  

Standalone

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

ROS1

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

Install

Binaries:

To come...

Source:

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

See find_object_2d for more information (same parameters/topics are used between ROS1 and ROS2 versions).

CONTRIBUTING

Repo symbol

find_object_2d repository

find_object_2d

ROS Distro
melodic

Repository Summary

Description
Checkout URI https://github.com/introlab/find-object.git
VCS Type git
VCS Version melodic-devel
Last Updated 2022-12-11
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
find_object_2d 0.7.0

README

find-object

Linux Build Status
Build Status
Build Status </td> </tr>
Windows Build Status </td> </tr> </tbody> </table> ## Standalone Find-Object project, visit the [home page](http://introlab.github.io/find-object/) for more information. ## ROS1 ### Install Binaries: ```bash 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). ```bash cd ~/catkin_ws git clone https://github.com/introlab/find-object.git src/find_object_2d catkin_make ``` ### Run ```bash 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](http://wiki.ros.org/find_object_2d) for more information. ## ROS2 ### Install Binaries: ```bash To come... ``` Source: ```bash cd ~/ros2_ws git clone https://github.com/introlab/find-object.git src/find_object_2d colcon build ``` ### Run ```bash # 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: ```bash # 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 ``` See [find_object_2d](http://wiki.ros.org/find_object_2d) for more information (same parameters/topics are used between ROS1 and ROS2 versions).

CONTRIBUTING

Repo symbol

find_object_2d repository

find_object_2d

ROS Distro
noetic

Repository Summary

Description
Checkout URI https://github.com/introlab/find-object.git
VCS Type git
VCS Version noetic-devel
Last Updated 2022-12-11
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
find_object_2d 0.7.0

README

find-object

Linux Build Status
Build Status
Build Status </td> </tr>
Windows Build Status </td> </tr> </tbody> </table> ## Standalone Find-Object project, visit the [home page](http://introlab.github.io/find-object/) for more information. ## ROS1 ### Install Binaries: ```bash 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). ```bash cd ~/catkin_ws git clone https://github.com/introlab/find-object.git src/find_object_2d catkin_make ``` ### Run ```bash 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](http://wiki.ros.org/find_object_2d) for more information. ## ROS2 ### Install Binaries: ```bash To come... ``` Source: ```bash cd ~/ros2_ws git clone https://github.com/introlab/find-object.git src/find_object_2d colcon build ``` ### Run ```bash # 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: ```bash # 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 ``` 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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