pal_vision_segmentation repository

Repository Summary

Checkout URI https://github.com/pal-robotics/pal_vision_segmentation.git
VCS Type git
VCS Version hydro-devel
Last Updated 2014-11-12
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
pal_vision_segmentation 1.0.0

README

=========

Software package providing segmentation nodes based on various techniques. Masked image or mask is provided, and can be tuned via dynamic_reconfigure. More information can be found in http://wiki.ros.org/pal_vision_segmentation.

Segmentation based on color histogram

Hereafter an example based on images recorded in a rosbag is presented.

Play the rosbag

Play the rosbag provided as example in pal_vision_segmentation:

rosbag play `rospack find pal_vision_segmentation`/etc/pringles.bag --loop

which publishes images of a pringles pot:

Object template

In order to segment the pringles pot based on its color an image template like the following one is required:

histogram_segmentation node

Launch the 'histogram_segmentation' node as follows so that the appropriate object template is used:

rosrun pal_vision_segmentation histogram_segmentation `rospack find pal_vision_segmentation`/etc/pringles_template.png image:=/stereo/left/image _dilate_iterations:=5 _erode_iterations:=1    

Visualize the segmentation mask

rosrun image_view image_view image:=/histogram_segmentation/mask

Visualize the segmented image:

rosrun image_view image_view image:=/histogram_segmentation/image_masked

CONTRIBUTING

No CONTRIBUTING.md found.