Detector2d

Detection 2d node for CoRE-1 2024

test

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/StrayedCats/detector2d.git -b humble

cd ..
colcon build

source install/setup.bash
ros2 run detector2d_node detector2d_node_exec --ros-args -p load_target_plugin:=detector2d_plugins::PublishCenter

Node Structure

Topic (Subscribe)

Topic Name	Type	Description
image_raw	sensor_msgs/msg/Image	Raw image from camera

Topic (Publish)

Topic Name	Type	Description
positions	geometry_msgs/msg/Detection2DArray	Detected 2d poses

Class Diagram

---
title: Detector2d Plugin hierarchy
---
classDiagram
    Detector2dNode <-- DetectorPluginA : load as dll
    Detector2dNode <-- DetectorPluginB : load as dll
    DetectorPluginA <|-- DetectorBase : include
    DetectorPluginB <|-- DetectorBase : include
    Detector2dNode <|-- DetectorBase : include
    Detector2dNode: params
    Detector2dNode: image_callback(Image)
    class DetectorPluginA{
        filter_kernel_param_a
        init(params)
        processing(cv::Mat)
    }
    class DetectorPluginB{
        filter_kernel_param_b
        init(params)
        processing(cv::Mat)
    }

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