detic_ros

Docker environment for Detic ROS driver. This repository was inspired by HiroIshida/detic_ros.

Features

• ROS Noetic package for Facebook Detic
• Docker environment to execute the detic with Microsoft Azure Kinect
• Docker environment to execute the detic with Intel RealSense D435 (or UVC camera)

Docker build environment (tested)

• Ubuntu 20.04 PC (22.04 is not supported)
  • ROS Noetic (Python3)
  • Docker 20.10.22
  • Docker Compose v2.4.1
  • nvidia-docker2 2.11.0-1

Installation

sudo apt install graphicsmagick-imagemagick-compat byobu -y && git clone [email protected]:Osaka-University-Harada-Laboratory/detic_ros.git --recursive --depth 1 && cd detic_ros/docker && COMPOSE_DOCKER_CLI_BUILD=1 DOCKER_BUILDKIT=1 docker compose build --no-cache --parallel 

Usage

1. Connect the camera device to the computer with a USB3.0 cable

2. Execute the below command according to the sensing device connected

   cd detic_ros/docker && docker compose up

   ./utils/k4a_demo.sh

   ./utils/rsd435_demo.sh

   ./utils/usbcam_demo.sh

   

Detic

Azure Kinect

xhost + && docker exec -it detic_1804_container bash -it -c "roslaunch detic_ros k4a_bringup.launch"

xhost + && docker exec -it detic_2004_container bash -it -c "roslaunch detic_ros resize.launch"

xhost + && docker exec -it detic_2004_container bash -it -c "roslaunch detic_ros sample.launch out_debug_img:=true out_debug_segimg:=false compressed:=false device:=auto input_image:=/resized_image_color"

xhost + && docker exec -it detic_2004_container bash -it -c "rosrun image_view image_view image:=/docker/detic_segmentor/debug_image"

xhost + && docker exec -it detic_2004_container bash -it -c "rosrun image_view image_view image:=/docker/detic_segmentor/debug_segmentation_image _do_dynamic_scaling:=true"

xhost + && docker exec -it detic_2004_container bash -it -c "rostopic echo /docker/detic_segmentor/segmentation_info/detected_classes"

RealSense D435

xhost + && docker exec -it detic_2004_container bash -it -c "roslaunch detic_ros rsd435_bringup.launch"

xhost + && docker exec -it detic_2004_container bash -it -c "roslaunch detic_ros sample.launch out_debug_img:=true out_debug_segimg:=false compressed:=false device:=auto input_image:=/camera/color/image_raw"

xhost + && docker exec -it detic_2004_container bash -it -c "rosrun image_view image_view image:=/docker/detic_segmentor/debug_image"

xhost + && docker exec -it detic_2004_container bash -it -c "rosrun image_view image_view image:=/docker/detic_segmentor/debug_segmentation_image _do_dynamic_scaling:=true"

xhost + && docker exec -it detic_2004_container bash -it -c "rostopic echo /docker/detic_segmentor/segmentation_info/detected_classes"

USB camera

xhost + && docker exec -it detic_2004_container bash -it -c "roslaunch detic_ros usbcam_bringup.launch" 

xhost + && docker exec -it detic_2004_container bash -it -c "roslaunch detic_ros sample.launch out_debug_img:=true out_debug_segimg:=false compressed:=false device:=auto input_image:=/usb_cam/image_raw"

xhost + && docker exec -it detic_2004_container bash -it -c "rosrun image_view image_view image:=/docker/detic_segmentor/debug_image"

xhost + && docker exec -it detic_2004_container bash -it -c "rosrun image_view image_view image:=/docker/detic_segmentor/debug_segmentation_image _do_dynamic_scaling:=true"

xhost + && docker exec -it detic_2004_container bash -it -c "rostopic echo /docker/detic_segmentor/segmentation_info/detected_classes"

Other examples

Single image

xhost + && docker exec -it detic_2004_container bash -it -c "cd /catkin_ws/src/Detic && python3 demo.py --config-file configs/Detic_LCOCOI21k_CLIP_SwinB_896b32_4x_ft4x_max-size.yaml --input ../detic_ros/data/(image_name).png --output /tmp/out.png --opts MODEL.WEIGHTS models/Detic_LCOCOI21k_CLIP_SwinB_896b32_4x_ft4x_max-size.pth"

docker cp detic_2004_container:/tmp/out.png /tmp/out.png && display /tmp/out.png

Author / Contributor

Takuya Kiyokawa
Masato Tsuru

We always welcome collaborators!

License

Please refer to each package.xml of the ROS packages