1_abot_ws2024-DMX.zip

## find-object (standalone) Linux: [](https://travis-ci.com/introlab/find-object) Windows: [](https://ci.appveyor.com/project/matlabbe/find-object/branch/master) Find-Object project, visit the [home page](http://introlab.github.io/find-object/) for more information. ## find_object_2d (ROS package) ### Install Binaries: ```bash # 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](http://opencv.org/) 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](https://github.com/Itseez/opencv/archive/2.4.11.zip)) and build it from source following these [instructions](http://docs.opencv.org/doc/tutorials/introduction/linux_install/linux_install.html#building-opencv-from-source-using-cmake-using-the-command-line). Find-Object can build with OpenCV3+[xfeatures2d](https://github.com/Itseez/opencv_contrib/tree/master/modules/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](https://github.com/ros-perception/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](https://github.com/Itseez/opencv_contrib/tree/master/modules/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](https://github.com/ros-perception/vision_opencv) package yourself (and all ros packages depending on it) so it can link on OpenCV2. ```bash # 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 ```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.