Project: Turtle-Sketch

Overview

• In this project, the image on the left is taken as input and the image on the right is obtained as output by using turtlesim

• The image on the left can be selected using it’s path as well as can be directly taken from the camera

• The below videos show the project in action

  Click on the below animations for full video

Using an image

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Using webcam

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Concepts Used

Following are the concepts used for this project:

• Dynamic reconfigure
  • To import the image using path
  • To import the image using camera
  • To set thresholds for Canny edge detection
• ROS parameters
  • To set the values of threshold parameters
  • To fetch the values of threshold parameters
• ROS services
  • To spawn the turtles
  • To teleport the turtle
  • To set the status of a pen as - ON/OFF
  • To remove the turtles after sketch is completed
• OpenCV
  • To import image
  • To find the edges using Canny edge detection
  • To find the contours
• Multi-processing
  • To spawn an army of turtles to draw the sketch

Directory Structure

• The directory contains 3 packages:
  • sketch
  • dynamic reconfigure
  • image_thresholding
• Sketch directory structure

  ├── CMakeLists.txt
  ├── docs                                 # Supported files for documentation
  │   ├── Contours.png
  │   ├── done.png
  │   ├── dynamic reconfigure.png
  │   ├── edges.png
  │   ├── Output.png
  │   ├── rosgraph.png
  │   ├── test.png
  │   └── turtles.png
  ├── include
  │   └── sketch
  ├── launch                                # Launch Files
  │   └── sketcher.launch
  ├── package.xml
  ├── README.md
  ├── nodes                                 # ROS Nodes
  │   ├── ironman.jpeg
  │   ├── sketcher.py
  │   └── Turtle.py
  └── TODO.md                               # TO DO for next version
  

• Image_thresholding directory structure

``` . ├── cfg # Configuration file for GUI │   ├── import.cfg # GUI params related to image import

File truncated at 100 lines see the full file