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This python package extends the cmvision package to track color blobs in the tf tree.
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README.md

cmvision_3d

This is a package using the /blobs topic produced by cmvision, in addition to 3D data from a registered depth image, to publish both 1. the position of each color blob relative to its camera frame, and 2. frames in the tf stack for each color.

Usage:

See http://wiki.ros.org/cmvision_3d

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