cmvision - Fast color blob detector

cmvision port for ROS Noetic. Tested on Ubuntu 20.04

Dependancies

• WxWidgets

    apt install --no-install-recommends -y \
    libgtk-3-dev  \
    wx3.0-headers \
    libwxgtk3.0-gtk3-dev

Usage

1. Use colorgui node to select the color ranges for your blobs (Sample launch file in launch/colorgui.launch)

* Click on the colors you want as the images play on the window. The **AB** range will get updated with the each click. 
  Use this range in the colors file (Sample file in `config/colors.txt`)

1. Use cmvision node for blob detection (Sample launch file in launch/cmvision.launch)

* Pass the colors file with param `cmvision/color_file`

* Set param `cmvision/debug_on` to `true` to display the detections

TODO

1. Remove WxWidgets dependancy and use OpenCV highgui for colorgui

2. Publish debug image to a rostopic with a new param to enable it

3. Remove the need for the spaces being exactly correctly for specifying colors in colors.txt

Credits

• Original work by Nate Koenig

• ROS Hydro port by Piyush Khandelwal

• ROS Melodic port by Kenneth Bogert