fugashy / image_proc_chain

Way to validate result of image process every step.

image_proc_chain

Way to validate result of image process every step.

Simple image processors(chain_piece) are chained by Pub/Sub. I named this as image_proc_chain.

chain_piece has:

• parameters that are reconfigurable by using ros parameters. (ex: kernel size of gaussian filter)
• a ros service that can switch the type of image processor. (ex: gaussian spacial filter, canny edge detection, etc...)

image_proc_chain has a ros service that can change length of the chain_piece.

Develop environment

• ROS2 humble

Overview

Processors

• Bilateral space filter
• Canny edge detection
• Dilation
• Erosion
• Gamma correction of gray image
• Gaussian spacial filter

How to use

Build this packages with dependencies

mkdir ~/ipc_ws/src -p
cd ~/ipc_ws/src
git clone -b feature/humble https://github.com/fugashy/image_proc_chain.git
git clone https://github.com/fugashy/image_proc_chain_msgs.git
cd ~/ipc_ws
source /opt/ros/humble/setup.bash
colcon build --symlink-install

Run

cd ~/ipc_ws
source install/setup.bash
ros2 launch image_proc_chain image_proc_chain.launch.py

Change length of the chain

cd ~/ipc_ws
source install/setup.bash
ros2 service call /image_proc_chain/component_container/change_length image_proc_chain_msgs/srv/ChangeChainNum "{num: 3}"

Change type of image processors

Switch the type from gaussian to erosion

cd ~/ipc_ws
source install/setup.bash
ros2 service call /image_proc_chain/pieces/no_1/switch_processor_type image_proc_chain_msgs/srv/SwitchProcessorType "type: 'erosion'"

Dockerfile

docker build -t ipc:humble .
docker run -it --rm ipc:humble ros2 launch image_proc_chain image_proc_chain.launch.py

Lisence

Under 3-claused BSD lisence.