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[jsk_perception] Add Visual Grounding with GroundingDINO #2796

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Kanazawanaoaki
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This PR enables visual grounding using GroundingDINO.

Screenshot from 2023-10-13 19-39-37

How to use

After build the Image with bellow

$ roscd jsk_perception/docker
$ make

You need to specify the port, etc. according to the situation, but you can launch docker as follows

$ roscd jsk_perception/docker
$ ./run_jsk_vil_api dino

Launch the ros node as follows

$ roslaunch jsk_perception detection.launch gui:=true DETECTION_INPUT_IMAGE:=/image_publisher/output

@mqcmd196
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I'll review it on Saturday

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Do you think creating this new msg (ClassificationResult + RectArray) is necessary? There were so many cases of returning detected objects' rect array.

To see jsk-ros-pkg/coral_usb_ros, it publishes RectArray and ClassificationResult at same time.

I want some opinion.

@mqcmd196
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Sorry for late. I left single comment, but overall lgtm

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4 participants