Introduction

A tool to anonymize images in ros2 bags.

Installation

Clone the repository

git clone git@github.com:leo-drive/rosbag2_anonymizer.git
cd rosbag2_anonymizer

Download the pretrained weights

wget https://dl.fbaipublicfiles.com/segment_anything/sam_vit_h_4b8939.pth

wget https://huggingface.co/ShilongLiu/GroundingDINO/resolve/main/GroundingDINO_SwinB.cfg.py
wget https://huggingface.co/ShilongLiu/GroundingDINO/resolve/main/groundingdino_swinb_cogcoor.pth

Install ros2 mcap dependencies if you will use mcap files

sudo apt install ros-humble-rosbag2-storage-mcap

Install pip packages

pip install -r requirements.txt

Usage

Check config.yaml and run main.py

python3 main.py