find_object_2d questions

asked 2022-04-26 14:03:50 -0500

Delbina
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updated 2022-04-26 15:48:25 -0500

I am using find_object_2d to detect multiple objects from a scene. my RGB-D camera is attached to the body of the vehicle, I want to stop the vehicle when specific number of objects detected. is there any flag or output from any topic to be able to identify??

another question is that find_object_2d detects the objects from different distance, i want that when the highest match identified, is there any way to identify when the highest match has happend?

and how to Evaluate the performance of object detection?

thanks

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is there any update?

Delbina ( 2022-04-28 05:39:21 -0500 )edit

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answered 2022-05-09 12:33:14 -0500

matlabbe

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updated 2022-05-14 10:26:29 -0500

find_object published /objectsStampedtopic: http://wiki.ros.org/find_object_2d#Nodes

With the object id in the message, you can then get its corresponding pose with /tf. Look at this example to know how to do this: https://github.com/introlab/find-obje...

What do you mean by "highest"? in elevation? if so, with /tf you could know it in meters, otherwise the homography in the objects topic can be used to know the pixels in the image.

There is no benchmark with this project, so you would have to create your own evaluation.

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hi object id in which message? i cannot find it! Is there any python code for find_2d_object??

thanks

Delbina ( 2022-05-10 03:52:21 -0500 )edit

@matlabbe sorry, is here any python code available to use this 2d-object detection? i mean is there any library in ROS for this pkg? i want to use it and define a subscriber and publisher, to work with the some of the statistics

Delbina ( 2022-05-10 12:58:07 -0500 )edit

@matlabbe hi, is there any topic to be able to specify the distance of the detected object from the camera_reference? the camera is attached to the body of the vehicle, I want to specify the distance of the detected object from the camera_reference, by the movement of the vehicle. Is there any way?

thanks

Delbina ( 2022-05-11 12:49:20 -0500 )edit

With TF and objectsStamped topic, you can derive its 3D position to against the frame you want. To remake the example in python, look at this tutorial http://wiki.ros.org/ROS/Tutorials/Wri...

matlabbe ( 2022-05-14 10:28:37 -0500 )edit

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