ROS SIFT

This project matches a saved image with the frames captured with webcam and publishes the matches as an image to RViz.

Requirements

• OpenCV
• ROS Noetic
• RViz
• Catkin tools

Instructions

git clone git@github.com:3N4N/ros-sift-surf.git
cd ros-sift-surf

catkin build
source devel/setup.bash

rosrun sifter publish

Part 1: RViz

1. Open RViz

   rosrun rviz rviz

2. Add an Image display from the Add button on the bottom left corner of RViz.

3. The publisher is publishing on the topic traj_output. Set the topic of the Image display to this topic.

Part 2: Publish

1. Clone the repository

   git clone git@github.com:3N4N/ros-sift-surf.git
   cd ros-sift-surf

2. Build the ROS package

   catkin build
   source devel/setup.bash

3. Run the publisher node

   rosrun sifter publish /path/to/image

Demo

In the following demo, the image captured from webcam (on the left) is matched with the image saved in my computer (on the right).

demo.mp4