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This package detects ellipses in camera images and computes the 3D pose of the related circle if the radius of the circle is given. The current 3D pose estimation is based on the [Chen2004] and the successor of the v4r_ellipses package. Various Parameter and algorithm used to find ellipses can be tuned via ROS shared parameters or by using the dynamic reconfigure interface.

Chen2004) Chen, Q.; Wu, H. & Wada, T. Pajdla, T. & Matas, J. (Eds.) Camera Calibration with Two Arbitrary Coplanar Circles Computer Vision - ECCV 2004, Springer Berlin Heidelberg, 2004, 3023, 521-532, http://link.springer.com/chapter/10.1007/978-3-540-24672-5_41



tuw_ellipses_screenshot.png Detected Ellipses with projected normals of the two possible pose solutions.

tuw_ellipses_reconfigure.png Dynamic reconfigure interface

2024-07-20 14:46