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detect a red object in my world

asked 2016-12-23 12:28:14 -0500

iguma gravatar image

Hi guys, i'm trying to make my robot rotating until he "see" a red object and then drive to this object. i tried to do it with point cloud library ,i understand i need to subscribe to a certain topic but i don't know which one? also after subscribing i don't know how to isolate the color of the frame from the message just received, can someone please help me? i'm using ros indigo with armadillo model. Thx.

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answered 2016-12-24 09:21:26 -0500

lucasw gravatar image

updated 2016-12-24 09:22:33 -0500

If you are using a depth camera then the PCL library would be appropriate, but if it is a regular color camera then you would want to use OpenCV, and could try out colored blob detection like in https://www.learnopencv.com/blob-dete... (it mentions the blobcolor doesn't work as of that blog post, but I see in http://answers.opencv.org/question/26... that it was fixed which may be available in your version). Or try out inRange to get a binary image of just the places in the image that are red ( http://stackoverflow.com/questions/26... ) and do some other operations to your object.

You should use http://answers.opencv.org for OpenCV specific questions.

If there is a single topic with a name that ends in image_raw or image_color then that might be the topic to subscribe to- use rqt_image_view to select from available image topics and find the right one if there are several options.

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answered 2016-12-25 08:51:01 -0500

iguma gravatar image

Hi, first of all thanks , but i have to work with PCL. maybe do you have a guide for how to detect object by color with PCL? it think i suppose to subscribe for this topic "/sr300/depth/points", but i don't know how to analyse the msg received.

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Asked: 2016-12-23 12:28:14 -0500

Seen: 1,264 times

Last updated: Dec 25 '16