ROS TP - Computer vision module

This package contains computer vision methods to:

• Adapt to lighting conditions dynamically and reduce image to a region of interest (the setup)
• Track orange ping-pong balls
• Track aruco markers on the robot

Dependencies

• Opencv3 (with opencv-contrib)

Adapting to lighting conditions

Tracking orange ping-pong balls

Tracking aruco markers on the robot

Compiling & running the examples

To compile the examples you should first invoke the following commands:

catkin_make -DBUILD_EXAMPLES=true

And then run the examples:

# where X is the camera device (the first webcam would be 0) for your configuration

# Adaptive lighting
./adaptive_gamma_example X 

# Ball tracking
./ball_detector_example X 

# Aruco detection and pose estimation
./aruco_detector_example X 

# Setup detection
./ball_detector_example X