Commit 63e951c4 authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Changed the range of the Hue parameters to (0,180).

Commented out the vendor, product and serial parameters of the usb_cam node to take the first compatible USB camera found.
parent c32cf826
File added
# Description
This ROS node implements the BlobDetector provided in OpenCV. Each input image is trasformed to the HSV color
space and then filtered with the desired maximum and minimum values for the Hue, Saturation and Value parameters.
Then all the connected regions within a desired maximum and minimum sizes are detected and published. The
segmented image is also published.
This ROS node does not require the camera to be calibrated, however it is highly recommended. Follow the calibration
procedure presented here.
## subscribers
This node subscribes to the following topics:
* ~/image_in/camera_info (sensor_msgs/CameraInfo.msg): provides the calibration information for the camera.
* ~/image_in/image_raw (sensor_msgs/Image.msg): The input image itself.
## publishers
This node publishes the following topics:
* ~/image_out/camera_info (sensor_msgs/CameraInfo.msg): the same camera information message received.
* ~/image_out/image_raw (sensor_msgs/Image.msg): a black and white image with the segmented regions. The segmented blobs will
appear as balck regions, being the background white.
* ~/blobs (iri_blob_detector/blob_array.msg): a list of all the connected regions that comply with the desired
parameters. The information provided for each blob is:
** id (string): the identifier of each blob is build from the color_id parameter and the index of the blob.
** center_x (unsigned int): position in pixels of the center of the blob in the image (x axis).
** center_y (unsigned int): position in pixels of the center of the blob in the image (y axis).
** size (float): Size of the blob in pixels.
## parameters
This node has the following parameters. These parameters can be modified with the dynamic reconfigure tool.
* H_center (integer): the desierd window center value for the Hue parameter. This parameter is defined from 0 to 180.
* H_window (integer): the desired width of the Hue parameter window. This parameter is defined from 0 to 180.
* S_center (integer): the desierd window center value for the Saturation parameter. This parameter is defined from 0 to 255.
* S_window (integer): the desired width of the Saturation parameter window. This parameter is defined from 0 to 255.
* V_center (integer): the desierd window center value for the Value parameter. This parameter is defined from 0 to 255.
* V_window (integer): the desired width of the Value parameter window. This parameter is defined from 0 to 255.
* color_id (string): the identifier of the color segmented. This name is used for the blob identifier.
* max_area (integer): the maximum area in pixels of the desired regions.
* min_area (integer): the minimum area in pixels of the desired regions.
# Dependencies
This node has the following dependencies:
* OpenCV (at least version 3.0)
* boost
# How to use it
This node provides two launch files:
* blob_detector.launch: this file load the default parameters from ./config/default_params.yaml and launches the blob detector
node together with the usb_cam ROS node. This launch file will use the first USB camera compatible found in the system. If a
specific camera is desired, fill in the vendor, product and serial parameters for the desired camera.
* blob_detector_sim.launch: this file load the default parameters from ./config/default_params.yaml and launches the blob detector
node, but expects the model car simulator to be already running.
You can use the iri_color_calibration ROS node to easily generate new yaml configuration files for this node.
Once the node is running, use the dynamic reconfigure ROS tool to change online the blob detector parameters:
* rosrun rqt_reconfigure rqt_reconfigure
Display the output image using the ROS tools to see the result of the segmentation:
* rosrun rqt_image_view rqt_image_view
......@@ -41,8 +41,8 @@ gen = ParameterGenerator()
#gen.add("velocity_scale_factor", double_t, 0, "Maximum velocity scale factor", 0.5, 0.0, 1.0)
gen.add("get_filter", bool_t, 0, "Get current filter coeficients", False)
gen.add("color_id", str_t, 0, "ID of the color", "")
gen.add("H_center", int_t, 0, "Hue window center", 150, 0, 360)
gen.add("H_window", int_t, 0, "Hue window width", 100, 0, 360)
gen.add("H_center", int_t, 0, "Hue window center", 90, 0, 180)
gen.add("H_window", int_t, 0, "Hue window width", 180, 0, 180)
gen.add("S_center", int_t, 0, "Saturation window center", 128, 0, 256)
gen.add("S_window", int_t, 0, "Saturation window width", 255, 0, 256)
gen.add("V_center", int_t, 0, "Value window center", 128, 0, 256)
......
......@@ -6,9 +6,9 @@
<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="vendor" value="0x046d"/>
<param name="product" value="0x0802"/>
<param name="serial" value="BEE76360"/>
<param name="serial" value="BEE76360"/>-->
<!-- If the above parameters aren't unique, choose the first match: -->
<param name="index" value="0"/>
......
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