This repo subscribes to realsense ros topics and generates contours.
Contours gives X,Y center point and angle of objects
Environments : Ubuntu 20.04 and install opencv and ROS noetic
Terminal 1 : run realsense ROS package package can be downloaded from below repo
https://github.com/IntelRealSense/realsense-ros
Terminal 2 : Run image subscriber to receive two topics: /camera/rgbd/image and /camera/depth/image_raw
$ rosrun ros_realsense_image image_realsense_subscriber
