RenFukatsu/color_detector

color_detector

Environment

• Ubuntu 20.04
• ROS Noetic
• OpenCV 4
• PCL 1.10
• theta_s_ros

Install and Build

sudo apt install ros-noetic-realsense2-camera \
                 ros-noetic-rgbd-launch \
                 ros-noetic-image-transport \
                 ros-noetic-image-transport-plugins
cd catkin_ws/src
git clone https://github.com/RenFukats/color_detector.git
cd ..
rosdep install -i --from-paths src
catkin build

Topics

Subscribed topics

• /equirectangular/image_raw (sensor_msgs/Image)
• /camera/depth_registered/points (sensor_msgs/PointCloud2)

Published topics

• /target/angle (color_detector_msg/TargetAngleList)
• /target/position (color_detector_msg/TargetPosition)

for debug

• dynamic reconfigure: only_publish_mask = true
  • /color_detector/masked/$COLOR/cloud (sensor_msgs/PointCloud2)
    • realsense
  • /color_detector/masked/$COLOR/image_raw (sensor_msgs/Image)
    • theta s
• dynamic reconfigure: publish_target = true
  • /color_detector/target/$COLOR/cloud (sensor_msgs/PointCloud2)
    • realsense
  • /color_detector/target/$COLOR/image_raw (sensor_msgs/Image)
    • theta s

How to Use

Theta S in live mode and then

roslaunch color_detector run_color_detector_node.launch

arguments

• is_bag : use bagfile
• use_colors : enable colors ex) bash

roslaunch color_detector run_color_detector_node.launch is_bag:=true use_colors:=blue

yaml

<include file="$(find color_detector)/launch/run_color_detector_node.launch" >
  <arg name="is_bag" default="true" />
  <arg name="use_colors" default="green,red,blue" />
</include>

How to Debug

• terminal 1

  rviz
  

  1. Fixed Frame map -> camera_color_optical_frame
  2. Add topics
• terminal 2

  rosrun rqt_reconfigure rqt_reconfigure
  

  1. Optimize the parameters.
  2. Write parameters to ~/catkin_ws/src/color_detector/color_detector_params/config/config.yaml

Parameters

• TOLERANCE : If the distance between each point is less than TOLERANCE, they are in the same group.
• MIN_CLUSTER_SIZE : Do not publish if the size of the target cluster is less than MIN_CLUSTER_SIZE
• MAX_CLUSTER_SIZE : If the number of masked point clouds is more than MAX_CLUSTER_SIZE, reduce the number of points to be less than MAX_CLUSTER_SIZE to improve the computational complexity.