ros_img_processor

Just a simple template node receiving an image and doing something. Links to OpenCV and ROS wrapped. EeasyRobotic.

Tip

Check your webcam encodings (yuyv,mjpeg,...) and set them accordingly at file launch/usb_camera.launch

CODE

There are the following functions:

1. process()(where it processes the main code) -> it has the circle detection algorithm and also computes the direction of the circle, referenced to the camera.
2. publishImage()(Image publisher) -> it publishes the image with its detected circles, its squares and its directors.
3. publishMarker()(Marker publisher) -> it publishes the marker to RVIZ.
4. getMarker()(NEW - Director publisher) -> it publishes the director vector of the circle by a geometry_msgs::vector3.

Output

It obtains the following outputs:

1. /usb_cam/image_raw -> original image
2. /ros_img_processor/image_out -> image with circles with its boxes and also a simple plotting of the director.
3. RVIZ: representation of the direction in rviz axis.

Run the code

1. Add this repository in a catkin_workspace/src
2. in catkin_workspace source make catkin_make --only-pkg-with-deps ros_img_processor
3. Run launch file .ros_img_processor ros_img_processor.launch
4. In a new terminal run rostopic echo /ros_img_processor/direction