Overview

This package detects ellipses in camera images and computes the 3D pose of the related circle if the radius of the circle is given. The current 3D pose estimation is based on the [Chen2004] and the successor of the v4r_ellipses package. Various Parameter and algorithm used to find ellipses can be tuned via ROS shared parameters or by using the dynamic reconfigure interface.

Chen2004) Chen, Q.; Wu, H. & Wada, T. Pajdla, T. & Matas, J. (Eds.) Camera Calibration with Two Arbitrary Coplanar Circles Computer Vision - ECCV 2004, Springer Berlin Heidelberg, 2004, 3023, 521-532, http://link.springer.com/chapter/10.1007/978-3-540-24672-5_41

Examples

• First of all you need a camera publisher with calibration information (see MonocularCalibration to calibrate your camera) and lets assume you ar publishing your camera under /camera/image_raw and /camera/camera_info

• Secound you can start the ellipse detection
  

  rosrun tuw_ellipses tuw_ellipses_node image:=/camera/image_raw camera_info:=/camera/camera_info

• running the reconfigure module allows you to tune parameters

  rosrun rqt_reconfigure rqt_reconfigure

Screenshots

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