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Get RGB image of Segmented Objects?

asked 2012-06-05 13:25:55 -0500

Alireza gravatar image

Hi, is there any way to get rgb image of segmented objects in tabletop_object_detector node?

(Actually i want to send the rgb image of segmented objects to a 2d object recognition node which is using sift library!)

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answered 2012-06-05 13:48:37 -0500

Yep, just requires a few steps.

  1. Choose which camera you want to use (on a PR2, narrow_stereo might be a good choice). I'll refer to this as camera.
  2. Create a [image_geometry](http://www.ros.org/wiki/image_geometry).PinholeCameraModel using camera/camera_info.
  3. Let's say you have a PointStamped called object_center which represents the center of mass of some detected object. Transform that point into camera's frame using a tf.TransformListener.
  4. Project that point onto camera's image plane using your camera model's project3dToPixel.
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Asked: 2012-06-05 13:25:55 -0500

Seen: 175 times

Last updated: Jun 05 '12