Food on Fork node V1 #32
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atharva-kashyap
commented
Jun 27, 2023
| # 1. Distance threshold (Note: to index into cv img, we need (row, col) format | ||
| # -> https://stackoverflow.com/questions/9623435/image-processing-mainly-opencv-indexing-conventions) | ||
| min_dist = unchanged_depth_img[(tine1_row, tine1_col)] - 20 # distance @ left-most tine - 2 cm | ||
| max_dist = unchanged_depth_img[(tine1_row, tine1_col)] + 40 # distance @ left-most tine + 4 cm |
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Print out the actual distances at each fork tines
atharva-kashyap
commented
Jun 27, 2023
| result = result & (result > min_dist) | ||
| # result < min_dist -> if true: keeps the result otherwise makes it 0 | ||
| result = result & (result < max_dist) | ||
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- change manipulated_img to bgr
- The pixels where result is true, color red (np.where)
- cv.imshow
atharva-kashyap
commented
Jun 27, 2023
| rclpy.init(args=args) | ||
| food_on_fork = FoodOnFork() | ||
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| rclpy.spin(food_on_fork) |
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atharva-kashyap
commented
Jun 27, 2023
| class FoodOnFork(Node): | ||
| def __init__(self): | ||
| super().__init__('food_on_fork') | ||
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- create a field that has latest_color_img
- update that in the color callback
overlay the color img on the depth img
- otsu thresholding of the depth img
- https://note.nkmk.me/en/python-opencv-numpy-alpha-blend-mask/
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Closing this PR because I am creating another branch that will have code related to the FoF node. |
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Description
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