Add color space output for rgb/hsl/hsv color filters

k-okada commented 7 years ago

Enable to publish color space during filtering @tongtybj, @chibi314 could you check this node with your example?

rgb space rgb

hls space hls

hsv space hsv

roslaunch opencv_apps hsv_color_filter.launch image:=/camera/rgb/image_color

Discussions

we publish color space by PointCloud2, is it ok? if we use PointCloud2, we need to set frame_id (currently it is map) and define scales (1 for now)
Should we publish threshold? One idea is to publish threshold planes, other is publish point within threshold with colored and publish outlier points with gray scale

==

input image input_color

rgb space screenshot from 2017-04-21 18 02 33

hls space screenshot from 2017-04-21 21 26 32

hsv space screenshot from 2017-04-21 21 27 53

https://gist.github.com/k-okada/5c7531cecc5c04abff0674afe35eba06

tongtybj commented 7 years ago

I tested the data in 柏 while flying towards to target tree.

RGB space rgb_filter

HLS spce hls_filter

HSV space hsv_filter-iloveimg-compressed

I am not familiar with the format of point cloud. And I prefer threshold plane, because we can see the change directly while tuning the filtering parameters from cfg

k-okada commented 7 years ago

very nice example, how about https://github.com/ros-perception/opencv_apps/pull/61/commits/233500fbc9f9f93b08ae05a75e46e5ee2007fb41, this outputs with gray if the point is not within the threshold

screenshot from 2017-04-23 18 21 49

tongtybj commented 7 years ago

I tried with the same rosbag. LVGTM!

RGB space rgb_filter_new2

HLS space hls_filter_new2

HSV space hsv_filter_new

ros-perception / opencv_apps

Add color space output for rgb/hsl/hsv color filters #61