butia_vision

Overview

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], [email protected] Author: [Miguel Martins], [email protected]

Dependencies

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.

Packages

The vision system has main packages, helpers and 3rd helpers.

Main Packages

• object_recognition;
• face_recognition;
• people_tracking.

Helper Packages

• butia_vision_bridge;
• butia_vision_msgs;
• image2kinect.

Helper 3rd Packages

• iai_kinect2;
• libfreenect2;
• yolov5.

Clone

Clone this repository using the follow command:

git clone --recursive https://github.com/butia-bots/butia_vision.git

Instalation

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