Color object detection with ZED camera

[matislovas]

Hi,

 I need to create some approach in finding the colored bag on grey background (blue bag lying on asphalt). The basic approach would be to track the color difference and set ROI where the difference is the densest.

 Is there are some API in find_object_2d package, that I could already feed CV image with ROI and it could give me a tf of the object (3D position)?

 

[matlabbe]

Hi,

No, not directly. You can look at FindObjectROS::publish where 2d points are projected in 3d using the depth image, then TF of the object is published.

You could create a node subscribing to depth image, camera_info and the roi, then compute the object position the same way.

Cheers,
Mathieu