robotec_image_filtering

Image filtering based on color detection. The package uses OpenCV package to obtain precise coordinates of the predefined color and draw boxes over it to visualize the result.

ROS Interfaces

This part describes various ROS-related interfaces such as parameters and topics.

Parameters

• ~visualization: bool

  If true, the node publish visualized images to ~visualization topic. Default: true

• ~lower_color_boundary: int[]

  Minimum value of color in RGB to be detected.

• ~upper_color_boundary: int[]

  Maximum value of color in RGB to be detected.

• ~box_color: int[]

  Color of the box to be drawn over the detected object.

Topics Published

• ~filtered_image: sensor_mgs/Image

  Result of filtering (the image which contains a specified color)

• ~visualization: sensor_mgs/Image

  Visualized result over an input image.

Topics Subscribed

• ~input: sensor_msgs/Image

  Input image to be proccessed

Project structure

.
├── launch
│   └── filtering.launch
├── scripts
│   └── filter.py
├── CMakeLists.txt
├── LICENSE
├── package.xml
└── README.md

Folders

• ./launch - *.yaml roslaunch files
• ./scripts - main folder of the project (contains executables)

Files

The project uses following files

Launch

• filtering.launch - starting the filtering node

Package

• filter.py - image filtering node (performance tweak)

ROS

• CMakeLists.txt - package building instructions
• package.xml - data about the package
• setup.py - rospy instructions

Example of use

That's not good to try detecting objects on pictures that aren't containing any desired objects. For optimization purposes, there should be a filter. This filter would try to detect some objects based on colors of the desired object and send the image further if there any object you would like it to be.

To start the filtering you should change the parameters in launch/filtering.launch and then run :

$ roslaunch agrotec_image_filtering filtering.launch