Object tracking using Intel depthcamera(d435i) and darknet_ros.
This software is built on the Robotic Operating System(ROS) melodic.
$ sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
$ sudo add-apt-repository "deb http://librealsense.intel.com/Debian/apt-repo bionic main" -u
$ sudo apt-get install librealsense2-dkms
$ sudo apt-get install librealsense2-utils
$ sudo apt-get install librealsense2-dev
$ sudo apt-get install librealsense2-dbg
# test
$ realsense-viewer
$ export ROS_VER=melodic
$ sudo apt-get install ros-melodic-realsense2-camera
$ cd ~/catkin_ws/src/
$ git clone https://github.com/IntelRealSense/realsense-ros.git
$ cd realsense-ros/
$ git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
$ cd ~/catkin_ws/
$ catkin_make
$ sudo apt install build-essential cmake git pkg-config libgtk-3-dev libavcodec-dev libavformat-dev libswscale-dev libv4l-dev libxvidcore-dev libx264-dev libjpeg-dev libpng-dev libtiff-dev gfortran openexr libatlas-base-dev python3-dev python3-numpy libtbb2 libtbb-dev libdc1394-22-dev
$ mkdir ~/opencv && cd ~/opencv
$ git clone https://github.com/opencv/opencv.git
$ git clone https://github.com/opencv/opencv_contrib.git
$ cd ~/opencv/opencv
$ mkdir build && cd build
- If you don't have or use CUDA, then use following option.
cmake -D CMAKE_BUILD_TYPE=RELEASE \
-D CMAKE_INSTALL_PREFIX=/usr/local \
-D INSTALL_C_EXAMPLES=ON \
-D INSTALL_PYTHON_EXAMPLES=ON \
-D OPENCV_GENERATE_PKGCONFIG=ON \
-D OPENCV_EXTRA_MODULES_PATH=~/opencv/opencv_contrib/modules \
-D BUILD_EXAMPLES=ON ..
- Based on Geforce RTX 3070, I used CUDA 11.2 and option as follows
cmake -D CMAKE_BUILD_TYPE=RELEASE \
-D CMAKE_INSTALL_PREFIX=/usr/local \
-D OPENCV_GENERATE_PKGCONFIG=ON \
-D OPENCV_ENABLE_NONFREE=ON \
-D OPENCV_EXTRA_MODULES_PATH=~/opencv/opencv_contrib-4.5.0/modules \
-D INSTALL_C_EXAMPLES=ON \
-D INSTALL_PYTHON_EXAMPLES=ON \
-D BUILD_EXAMPLES=ON \
-D BUILD_DOCS=OFF \
-D BUILD_SHARED_LIBS=ON \
-D BUILD_opencv_python2=ON \
-D BUILD_opencv_python3=ON \
-D BUILD_NEW_PYTHON_SUPPORT=ON \
-D WITH_CUDA=ON \
-D WITH_CUBLAS=ON \
-D CUDA_FAST_MATH=1 \
-D CUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda-11.2 \
-D CUDA_ARCH_BIN=8.6 \
-D WITH_OPENCL=ON \
-D OPENCV_SKIP_PYTHON_LOADER=ON \..
- make
$ sudo make -j{# of CPU cores}
$ sudo make install
# If you don't know your # of CPU cores, then use the following code
$ cat /proc/cpuinfo | grep processor | wc -l
$ cd ~/catkin_ws/src/
$ git clone https://github.com/gmkim97/object_tracker.git
$ cd ~/catkin_ws/
$ catkin_make
$ sudo apt-get install python-pip
$ pip install pyrealsense2
$ roslaunch object_tracker object_tracking_with_py2.launch
This software is built on the Robotic Operating System(ROS) noetic.
$ sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
$ sudo add-apt-repository "deb http://librealsense.intel.com/Debian/apt-repo focal main" -u
$ sudo apt-get install librealsense2-dkms
$ sudo apt-get install librealsense2-utils
$ sudo apt-get install librealsense2-dev
$ sudo apt-get install librealsense2-dbg
# test
$ realsense-viewer
$ export ROS_VER=noetic
$ sudo apt-get install ros-noetic-realsense2-camera
$ cd ~/catkin_ws/src/
$ git clone https://github.com/IntelRealSense/realsense-ros.git
$ cd realsense-ros/
$ git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
$ cd ~/catkin_ws/
$ catkin_make
$ cd ~/catkin_ws/src/
$ git clone https://github.com/gmkim97/object_tracker.git
$ cd ~/catkin_ws/
$ catkin_make
$ sudo apt-get install python-pip
$ pip install pyrealsense2
$ roslaunch object_tracker object_tracking_with_py3.launch
