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Nextage hackathon

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nextage hackathon in KAWADA Robotics

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Nextage hackathon

  1. 1. Nextage にカラーの似顔絵を書かせてみる In 第4回 ROS勉強会 in KAWADA ROBOTICS terakoji
  2. 2. もともとやりたかったこと 3Dペンで3Dプリント
  3. 3. 夢みすぎでした。
  4. 4. 2D絵を書こう 普通なのでカラーで書こう!! ー> 間に合いませんでした。
  5. 5. モノクロで  今回のシステム image(sensor_msgs/Image) 画像 find_contours find_contours(find_contours/FindContours) 正規化された輪郭データ nextage_paint_commander 今回作成set_target_pose 今回作成 moveit_commander
  6. 6. find_contours  Pythonのopencvを利用  blur+canny_filter+find_contours+ 短い点のよう なエッジを削除  画像のサイズでスケーリングしたデータを発 行  画像処理は素人なので適当です。
  7. 7. nextage_paint_commander  ROS勉強会3のコードを参考に作成 (Thanks!!)  点をターゲットにして投げてるだけです
  8. 8. 書かせてみた  Threshold をいじれば綺麗な絵になると思いま す  rosparam とかにしてないので暇だったら
  9. 9. 今回のコード  <https://github.com/terakoji/ros_nextage_painter>
  10. 10. 謝辞  KAWADA Robotics様楽しい一時を有難うござ います。

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