sky_vision

Skyrats computer vision repository

Build

Put this repo inside sky_ws src folder, then build:

cd sky_ws
catkin build

Currently working:

Aruco pose estimator

The aruco detector and pose estimator is writen in the python script. To run the detection:

roslaunch sky_vision aruco.launch

The image from the camera will be processed and the new image with the aruco will be published in the ros topic:

camera/colour/image_new

TODO

Create a structure for the vision features, example, put all information about the aruco detected in different ros topics:

vision/aruco/image
vision/aruco/id
vision/aruco/pose/x
vision/aruco/pose/y
vision/aruco/pose/z
vision/aruco/pose/ang_x
vision/aruco/pose/ang_y

For other applications:

vision/qrcode/image
vision/qrcode/payload
... etc

vision/cbrbase/image
vision/cbrbase/type
... etc

vision/barcode/image
vision/barcode/payload
... etc