[ros-users] [Discourse.ros.org] [ROS Projects] ROS Object Analytics Release - V0.3.0

[Sharron LIU]

Hi All,
We are happy to announce the initial release of the Object Analytics packages. These packages aim to provide real-time object analyses over RGB-D camera inputs, enabling ROS developer to easily create amazing robotics advanced features, like intelligent collision avoidance and semantic SLAM. It consumes [sensor_msgs::PointClould2](http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html) data delivered by RGB-D camera, publishing topics on [object detections](https://github.com/intel/object_msgs/blob/master/msg/ObjectsInBoxes.msg), [object tracking](https://github.com/intel/ros_object_analytics/blob/master/object_analytics_msgs/msg/TrackedObjects.msg), and [object localization](https://github.com/intel/ros_object_analytics/blob/master/object_analytics_msgs/msg/ObjectsInBoxes3D.msg) in 3D camera coordination system. Packages and features provided by below 4 projects with tag v0.3.0:

* [ros_object_analytics](https://github.com/intel/ros_object_analytics)
o [object_analytics_nodelet](https://github.com/intel/ros_object_analytics/tree/master/object_analytics_nodelet): ROS publisher and tests for object tracking in a ROS [Image](http://docs.ros.org/api/sensor_msgs/html/msg/Image.html) message, and for object localization 3D in a ROS PointCloud2 message from an RGB-D camera. [OpenCV tracker](https://github.com/opencv/opencv_contrib/tree/master/modules/tracking) is adopted for object tracking, with regular rectification from object detection results. Object segmentation over pointcloud2 image locates the detected objects in 3D camera coordination system.
o [object_analytics_msgs](https://github.com/intel/ros_object_analytics/tree/master/object_analytics_msgs): ROS message interface for the object analytics features
o [object_analytics_launch](https://github.com/intel/ros_object_analytics/tree/master/object_analytics_launch): ROS launch interface for the overall object analytics and its nodelet sub-modules
o [object_analytics_visualization](https://github.com/intel/ros_object_analytics/tree/master/object_analytics_visualization): ROS sample app with visual outputs for the results of object tracking and object localization 3D
* [ros_opencl_caffe](https://github.com/intel/ros_opencl_caffe)
o [opencl_caffe](https://github.com/intel/ros_opencl_caffe/tree/master/opencl_caffe): ROS service, publisher, and tests for object inference in a ROS Image message from an RGB camera. Yolo2 model fitting into [OpenCL Caffe](https://github.com/01org/caffe/wiki/clCaffe#yolo2-model-support) is adopted for object detection
o [opencl_caffe_viewer](https://github.com/intel/ros_opencl_caffe/tree/master/opencl_caffe_viewer): ROS sample app with visual outputs for the results of object detection
* [object_msgs](https://github.com/intel/object_msgs): ROS message interface common for all object detection packages of various detection framework and hardware
* [ros_object_detect_launch](https://github.com/intel/ros_object_detect_launch): ROS launch interface common for all object detection packages of various detection framework and hardware

![0|690x433](upload://fXAiC4pITZk1QLPOfeEmCeVYW49.png)

We have tested on RealSense D400 series camera, Astra camera, and Microsoft Kinect v1 camera. See README of each project for how to setup the environment. Welcome feedbacks and participation.





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