Vision

front_cam.py

This node performs image processing algorithms on the video feed.

This feed is acquired over the topic ‘/alpheus_cam/front/image_raw’ to which this node subscribes.

This video feed is then processed and accordingly, the x and y coordinates of the gate are published to the ‘/offsetData’ topic. This topic is subscribed to by the controller.cpp node to update offset x and y values.

Also, the processed video feed, with rectangles marking the gate pipes is published to the ‘/front/gate’ topic. This video feed is then rendered via the frontCamUI.py node in the gui.