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)

2. 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