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raw images topic output with colour contrast

asked 2020-08-24 05:37:33 -0500

MrRivi

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Hello,

I would like to know if there is a way to apply contrast to an image raw topic. Or if there is a package which inputs the raw images and outputs user-configured/edited raw images to another topic.

I have node which publishes coloured images, and then I use orb_slam2 for SLAM mapping (which processes automatically the images into greyscale). The problem is that the greyscale image still has many information I don't want to map. So the solution I have thought of is to give more contrast to the images published by the camera node in order to reduce the details that orb_slam2 sees when mapping.

Thank you for your help!

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answered 2020-08-24 07:47:20 -0500

rfn123

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ROS itself does not provide image processing capabilities, what you could do is to use OpenCV to process the image, then republish it to another topic of your choice.

Have a look at the cv_bridgepackage to see how to convert ROS image formats to OpenCV image formats and back. Here are some tutorials

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Understood. Looking at the tutorials you mentioned and searching a bit more on my own I found this package: opencv_apps . It provides various nodes that run internally OpenCV's functionalities and publish the result as ROS topics. I think it can be used a workaround for my issue. Also image_proc is useful. And finally if the camera node can be dynamically reconfigured rqt_reconfigure can be a solution.

MrRivi ( 2020-08-25 10:55:59 -0500 )edit

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Asked: 2020-08-24 05:37:33 -0500

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Last updated: Aug 24 '20

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