Using D435 for tracking 3D color objects
Hi Guys,
I recently bought a D435 and would like to use to track the position of a 3D color object like a cylinder. Ideally I would like to track a minimum of 2 different colored cylinder objects in the view of the camera. The background will all be white so that the colored cylinder pop in the visuals.
How would I go about doing this?
Thanks,
Viktor
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According to the Chief Technical Officer of the RealSense Group at Intel (agrunnet), an object should be trackable with D435 so long as its size takes up 9 pixels or greater on the image.
https://github.com/IntelRealSense/librealsense/issues/4175#issuecomment-507448389
It is recommended that depth and color images are aligned. This can help to separate the foreground from the background. Also, it is recommended that the D435 model's optimal depth resolution of 848x480 is used.
If applying an image tag to the containers is a possibility and you are able to use ROS in your project, a way to accomplish your goal quickly may be to use the aruco_ros package. With this, you can detect the "pose" (position and rotation) of objects with a marker tag on them called an aruco tag
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Yes, you can track by color too using a platform such as OpenCV. Googling for realsense tracking color opencv pose may help to find some useful leads.
An example that I found with such a search in the link below uses RealSense D435, ROS and OpenCV to detect objects of a particular color and track their pose.
Edit: Link no longer exists. Here is a different RealSense-compatible ROS project for segmenting a ball by its color and detecting its position.
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