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Exercise: Live Instagram

Modified 2019-09-22 by Andrea Censi

Skills learned

Modified 2019-09-22 by Andrea Censi

  • Live image processing

Instructions

Modified 2019-09-22 by Andrea Censi

You may find useful: (unknown ref software_devel/ros-python-howto)

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Created by function n/a in module n/a.
. That tutorial is about listening to text messages and writing back text messages. Here, we apply the same principle, but to images.

Create a ROS node that takes camera images and applies a given operation, as specified in the next section, and then publishes it.

Specification for the node dt_live_instagram_robot name_node

Create a ROS node dt_live_instagram_robot name_node that takes a parameter called filter, where the filter is something from the list Subsection 4.3.1 - List of filters.

You should launch your camera and joystick from ‘~/duckietown’ with

duckiebot $ make demo-joystick-camera

Then launch your node with

duckiebot $ roslaunch dt_live_instagram_robot name dt_live_instagram_robot name_node.launch filter:=filter

This program should do the following:

  • Subscribe to the camera images, by finding a topic that is called .../compressed. Call the name of the topic topic (i.e., topic = ...).

  • Publish to the topic topic/filter/compressed a stream of images (i.e., video frames) where the filter is applied to the images.

Check that it works

Modified 2019-09-22 by Andrea Censi

$ rqt_image_view

and look at topic/filter/compressed