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Commit 1d4e2475 authored by Fernando Herrero's avatar Fernando Herrero
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Renamed files and launchs

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color_id: blue
H_center: 233
H_window: 3
S_center: 215
S_window: 10
V_center: 131
V_window: 33
max_area: 100000
min_area: 10
...@@ -6,4 +6,4 @@ S_window: 10 ...@@ -6,4 +6,4 @@ S_window: 10
V_center: 102 V_center: 102
V_window: 10 V_window: 10
max_area: 100000 max_area: 100000
min_area: 10 min_area: 10
\ No newline at end of file
color_id: green
H_center: 134
H_window: 14
S_center: 122
S_window: 35
V_center: 44
V_window: 9
max_area: 100000
min_area: 10
color_id: green color_id: green
H_center: 120 H_center: 120
H_window: 10 H_window: 10
S_center: 255 S_center: 250
S_window: 10 S_window: 10
V_center: 102 V_center: 108
V_window: 10 V_window: 23
max_area: 100000 max_area: 100000
min_area: 10 min_area: 10
color_id: red
H_center: 348
H_window: 6
S_center: 185
S_window: 21
V_center: 90
V_window: 27
max_area: 100000
min_area: 10
color_id: red color_id: red
H_center: 0 H_center: 0
H_window: 10 H_window: 10
S_center: 255 S_center: 250
S_window: 10 S_window: 10
V_center: 102 V_center: 102
V_window: 10 V_window: 7
max_area: 100000 max_area: 100000
min_area: 10 min_area: 10
color_id: none color_id: color
H_center: 180 H_center: 180
H_window: 360 H_window: 360
S_center: 128 S_center: 128
......
color_id: yellow
H_center: 48
H_window: 6
S_center: 228
S_window: 20
V_center: 132
V_window: 21
max_area: 100000
min_area: 10
color_id: yellow color_id: yellow
H_center: 60 H_center: 60
H_window: 10 H_window: 10
S_center: 255 S_center: 251
S_window: 10 S_window: 8
V_center: 102 V_center: 101
V_window: 10 V_window: 7
max_area: 100000 max_area: 100000
min_area: 10 min_area: 10
<!-- -->
<launch>
<arg name="config_yaml_file" default="$(find iri_blob_detector)/config/default_params.yaml"/>
<group ns="usb_cam">
<node pkg="libuvc_camera" type="camera_node" name="mycam">
<!-- Parameters used to find the camera -->
<!-- <param name="vendor" value="0x046d"/>
<param name="product" value="0x0802"/>
<param name="serial" value="BEE76360"/>-->
<!-- If the above parameters aren't unique, choose the first match: -->
<param name="index" value="0"/>
<!-- Image size and type -->
<param name="width" value="640"/>
<param name="height" value="480"/>
<!-- choose whichever uncompressed format the camera supports: -->
<param name="video_mode" value="uncompressed"/> <!-- or yuyv/nv12/mjpeg -->
<param name="frame_rate" value="15"/>
<param name="timestamp_method" value="start"/> <!-- start of frame -->
<param name="camera_info_url" value="file:///tmp/cam.yaml"/>
<param name="auto_exposure" value="0"/> <!-- use aperture_priority auto exposure -->
<param name="auto_exposure_priority" value="0"/>
<param name="exposure_absolute" value="0.90"/> <!-- use aperture_priority auto exposure -->
</node>
</group>
<node name="blob"
pkg="iri_blob_detector"
type="iri_blob_detector"
output="screen">
<remap from="/blob/image_in/camera_info"
to="/usb_cam/camera_info"/>
<remap from="/blob/image_in/image_raw"
to="/usb_cam/image_raw"/>
<rosparam file="$(arg config_yaml_file)" command="load" />
</node>
</launch>
<!-- -->
<launch>
<arg name="config_yaml_file" default="$(find iri_blob_detector)/config/default_params.yaml"/>
<node name="blob"
pkg="iri_blob_detector"
type="iri_blob_detector"
output="screen">
<remap from="/blob/image_in/camera_info"
to="/usb_cam/camera_info"/>
<remap from="/blob/image_in/image_raw"
to="/usb_cam/image_raw"/>
<rosparam file="$(arg config_yaml_file)" command="load" />
</node>
</launch>
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="node_name" default="blob_detector"/>
<arg name="param_file" default="sample.yaml"/>
<arg name="param_path" default="$(find iri_blob_detector)/config"/>
<arg name="camera_name" default="usb_cam"/>
<arg name="blobs_topic" default="blobs"/>
<arg name="camera_info_topic" default="/$(arg camera_name)/camera_info"/>
<arg name="image_topic" default="/$(arg camera_name)/image_raw"/>
<node name="$(arg node_name)"
pkg ="iri_blob_detector"
type="iri_blob_detector"
output="screen">
<remap from="~image_in/camera_info" to="/$(arg camera_info_topic)"/>
<remap from="~image_in/image_raw" to="/$(arg image_topic)"/>
<remap from="~blobs" to="/$(arg blobs_topic)"/>
<rosparam file="$(arg param_path)/$(arg param_file)" command="load" />
</node>
</launch>
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