This is a group of ROS packages responsable for perform computer vision process of BUTIÁBots domestic robot (DoRIS) in Robocup@Home league.
Author: [Igor Maurell], igormaurell@furg.br Author: [Miguel Martins], migueldossantos@furg.br
This software is built on the Robotic Operating System (ROS Noetic), which needs to be installed first. Additionally, the packages depends of a few libraries and frameworks:
- OpenCV (computer vision library);
- Openface (face recognition library);
- scikit-learn (machine learning library);
- darknet_ros (darknet ros package);
- mask_rcnn_ros.
The vision system has main packages, helpers and 3rd helpers.
- object_recognition;
- face_recognition;
- people_tracking.
- butia_vision_bridge;
- butia_vision_msgs;
- image2kinect.
Clone this repository using the follow command:
git clone --recursive https://github.com/butia-bots/butia_vision.git
Run the follow commands:
```
chmod +x install.sh
```
To execute the install file:
```
sudo ./install.sh
```
The script will created a folder named "butia_ws" to be the workspace
Before run catkin_make command, is adiviseble to run:
To bash users:
echo "export PYTHONPATH=/usr/local/lib/:$PYTHONPATH" >> ~/.bashrc
echo "export CMAKE_PREFIX_PATH=/usr/local:$CMAKE_PREFIX_PATH" >> ~/.bashrc
echo "export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH" >> ~/.bashrc
source ~/.bashrc
To zsh users:
echo "export PYTHONPATH=/usr/local/lib/:$PYTHONPATH" >> ~/.zshrc
echo "export CMAKE_PREFIX_PATH=/usr/local:$CMAKE_PREFIX_PATH" >> ~/.zshrc
echo "export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH" >> ~/.zshrc
source ~/.zshrc
Run catkin_make
catkin_make