A node for DLO tracking.
rosdep install --from-paths src --ignore-src -y
colcon build --symlink-install --packages-up-to cable_observerros2 launch cable_observer cable_observer.launch.py with_rviz:=True| Name | Type | Description |
|---|---|---|
/rgb/camera_info |
sensor_msgs::msg::CameraInfo | RGB camera info. |
/rgb/image_raw |
sensor_msgs::msg::Image | RGB image. |
/depth_to_rgb/image_raw |
sensor_msgs::msg::Image | Depth image (aligned to RGB image). |
| Name | Type | Description |
|---|---|---|
/cable_observer/marker |
visualization_msgs::msg::Marker | DLO visualization. |
/cable_observer/coords |
std_msgs::msg::Float64MultiArray | DLO coordinates (x, y, z) |
| Name | Type | Description |
|---|---|---|
debug |
bool | Print durations. |
depth_ranges |
list[int] | Depth region of interest. |
depth_scale |
float | Depth scalling factor (expecting meters). |
hsv_ranges |
list[int] | HSV color ranges [h_min, s_min, v_min, h_max, s_max, v_max] |
min_length |
int | Minimum lenght (euclidean pxs) for partial paths. |
num_of_knots |
int | Number of knots for output spline. |
num_of_pts |
int | Number of sampled points for output spline. |
vector_dir_len |
int | Number of points which describe path direction on path ends. |
z_vertical_shift |
int | Vertical shift (pxs) between depth and color input |