armando-genis / niagara_vision_processing

vision algorithms

Vision_pkgs_ROS2

Ros2 packages for object detection using Camera and Lidar

Set up ROS2

cd ~/ros2_ws
source /opt/ros/foxy/setup.bash #for ros2 foxy
source /opt/ros/humble/setup.bash #for ro2 humble

Voxel Grid Filter

colcon build --packages-select voxel_grid_filter
source install/setup.bash
ros2 launch voxel_grid_filter filter.launch.py

Yolo version 5 - cpp

colcon build --packages-select yolov5_cpp
source install/setup.bash
ros2 launch yolov5_cpp yolov5cpp.launch.py

Yolo version 5 - Python

colcon build --packages-select yolov5_niagara
source install/setup.bash
ros2 launch yolov5_niagara yolov5.launch.py

Yolo version 8 - Python

colcon build --packages-select yolov8_niagara
source install/setup.bash
ros2 launch yolov8_niagara yolov8.launch.py

Points Cloud Detector

colcon build --packages-select pointscloud_detector
source install/setup.bash
ros2 launch pointscloud_detector pcloudsDetec.launch.py

Lidar Detector

colcon build --packages-select pointscloud_clustering
source install/setup.bash
ros2 launch pointscloud_clustering obstaclesLidar.launch.py

Install for usage

Intalling ultalytics will install everthing.

OpenCV 4.5.4+ PCL 1.10.0+

sudo apt install python3-pip
pip3 install ultalytics
sudo apt-get install libpcl-dev
sudo apt-get install ros-foxy-vision-msgs
sudo apt-get install ros-foxy-image-geometry

Links

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