From 63e951c4640e75c6897c08282cbd6b24234fc71e Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 13 Jun 2018 17:54:02 +0200
Subject: [PATCH] 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.
---
.README.mk.swp | Bin 0 -> 16384 bytes
README.mk | 87 ++++++++++++++++++++++++++++++++++++
cfg/BlobDetector.cfg | 4 +-
launch/blob_detector.launch | 4 +-
4 files changed, 91 insertions(+), 4 deletions(-)
create mode 100644 .README.mk.swp
create mode 100644 README.mk
diff --git a/.README.mk.swp b/.README.mk.swp
new file mode 100644
index 0000000000000000000000000000000000000000..8aa0ba1a6cdd75205cb6f12bafd3bbfdfe065d49
GIT binary patch
literal 16384
zcmeI3ON<;>6^1JzJdB;hBCx-<K^Z$U-S*ffmg5-N9w#0o%g7TCv9R4#SKscwxVoxc
zw`v}UI6NdE3QG_HHi?u7Snw1qSO6=K0umrVC=rB*5DQqvJVYQ1_|C1WevHRsPsWNM
zs+NAYyXrp9{qH&Fo^z_ExqE*0q`J4Z&*QVz^L}>!w)g$x?)TjCwkglEU7bXJ)RJ3k
zeP&P3?m4i3trq#c%jJM|tNpYd_~}IxH5P3nvpT8UB&eIjG@4=DY_xQ$gEUU+r;i_*
zIeEO+yLkQKs}>al6$95|AWPd*2X6QFPVd<*O?GVGrtW&nnQOJKu2&3H3{(tM3{(tM
z3{(tM3{(tM47>&zNc*>XkFu^?i?vM_-?yyzeqHhVp5mMGfcuo~il5b2#X!YC#X!YC
z#X!YC#X!YC#X!YC#X!YC#X!Zt{~!ZCPxoJVgXewujR?o{|1$so>z$r=1$+!_1<%~!
zc^?HI0h_^<+dc0^@CWdF@J;XyFawT(e{J!+m%v}ZpTYOR_rQC>8Stykp7#`Z64b#<
zZ}z-@f=_@Q;JceV?^ED$@Cf)2*b43hPrS+VJ_{zm-9ThN%k_EiZZHe(2Zz9JFa@>&
z1>Oqo0=I!*(D&!y0yqy&g6A3QIq)U$MesP71t-8x@FTc-7Mus?z;>_={P^|U1DC-g
z;F;Sz?`d!rJPfvg&ETsPQoaJ70Pg~a!FKRG1(@f+cfbX39{io+%HP26z;D3|;8}2u
z&!SGW>cy=r)G8?2j9v31)zk_e7R-X*iq#a2wQBll&{b15&XPc@THOYT>8G}yH>#yU
zsHXVGPdZjjO<B{+LO<2&P~`WtirXsfYE@h{air3?UkGv7^B#)JTiUhLK2sHaa!IW+
zkuvn3RC-AV86(Sp?KlkMMH6*Y5chh#gQD6=+*3Y3BO8bMptoa(dLT|*<N4Y7BQvLz
zjuuQ3M?D>-2bsEStm-H62Y8Q!2~-sG6{R|A=@vo?6XjYM{F)=xMkkt`JHFN|erRKv
za>2B;MOLd*S!~;|A<S4#=VWf`uD@WIwqRps=CnF}<fQ89UYsm5t2z-cj`cF>#&)im
znXskKjqTfTv(Dwal{Z3ksCQDAo4MZY*^rVsDb6*D-SfO7?NsMmU2bUCx9p&fRFLp0
z5j$#973BII_jSaDMU!?N(+{4R6&(|;x>`|c3KcCDjgocfnuvBw>n6S2-idbjVOVa}
zkThFfD#UtKNy=9~!qRM{uxEIR$JbG;`W4Gqc!ql1PwNkx&_ql1dFMdthl-&WbYijn
z!@Sp(rf80R=f0ZldfriNEW;_S&b?SALiKeLE{m;XeYO;?wOkE!i-Fws;Hhjp37mtH
zv2X%y)5+K=@i?+a&fs0g(%#E9sDj(SNF7O1vvjXo3hwpy?oU-qFPK12=8DqygNuF#
zztidLJFriQ!?Ar$-%jG=Bd4ZE-N4mqbYuP|*E1ZMBV>g$xsIbzYL}X81o$>~ctRXm
zM<+WEx{>fUMkk{3Q46P0G+OY(OdM%$ICFkl^40efTsPyuu5*&*Z`qKRZW}Ql=Wch4
zE=}*>U&Hh4QYRY41glJ+IE!mxa)m!T!Q6w13dwG4zC8zam-D^y<&I6io_QT3k(`U-
zVno@7N6}zCRz}ozWQDf$KAdW%Z5$hg|7k6AQkp;|dZ3cf8iy>BGi*2}9P`<=3*Y-e
zttQ%G?5Aw-oct<Cl~*Ihm-Wq(4sEUMkkiyyRufrdO-Hs51)*<0w#J#rpienc!R(50
zWx1v&b}+H5{3T;|)|6T?%hJu9WvQ5@oWr!#giRAHzff&X(kK-|-9hQXhnxi5zdO&I
zp5{IwjFScf3>bA*?3Totzf`VVx<mb-Rlb)HhNbj!hl2Z&BRqE;qjMe<Gq_xrAuL9C
z)yt}Kqv0oszg+8CS%R-ZV_gs+=SMDP6cLdyc%nOaFVQidvn%fP@q&XxOH5j9%Jckw
zU;CUtEZ7f&i)FV-d?hrwF`GEAP7-H0t;McMHHsl(x}9vqSz7!r@fTrN6F(&l#IyBT
z+3JC$&5&UnXKs)}5e5=j-I2&@D7do${C0UcXJyfZp|@$J009ms@f$+&xCqDGjajZ2
zatKFOBFntX*uM0%wW6F@k~Ryv#WoJjwVyTN8mnAkw4Bx^usCQjwxUg9okJ@rGSQ7N
z^pF@w)XxYbor###>abmtczVb-L*4jV3q8vv4*bwGixX{B8A}JA4?DJGn>8g^Z_1kU
zGiB(jMwdNkC+p77RymdX2`<d-DDQcrG>*&Dr{)Niaeu9tVI^oz^rZ}4%(d5Tm&``^
zTuQ84ld2mpYN7xM!#G5`rqe~6#pCr*8ceB1ur3jOG0JeMyk$Pnpn_LIXBS8po5eOm
zedHpr)h$SL6c6Wfc;!~p!*}&E(giG{XCn81@v4l>Lh^UZQDnJYsss|s278uBK$o7w
z#TFctv>n*NT64G~*AC8H4xvdka`4K0^X^n0^*$?jH#h<<mX@o<QC!MQ@iM%`MY&^Q
zwWkPkkImQAaY?Dh^pcK=Z^fM<ccB<3=H~G+cu4F(&FDPG!~J-Y|6eBWeSmye^8b7I
zlFxt0`5yxx2e*SQ;0t$n-sizIsDnR|=l>CW4m<%K1D^yJz<F>8+y|z?9<U84@G|-T
zzriwincV*~;L~6$_$j&nPr&;@16)C_7r_s~55OhR2PeRTK;(Xyb|2>ZQLq<GgWs^G
zUxTN>lVBg%3w}us|84Lskbrq`2D}5j9ekZ!{%hbqa1d+))u&>hVxVH+HO{~~YlX0}
z&K@_Ry7>Pw>6%h*oVGQGr&_Y{8RE6dzSo=nrk0gAFxdvWu2ueCZCIBBB(Y7hNF|rj
zMxJ^t7`?dSCl5%B?T7xd3xvtdhWSJ$HCK08VsNPtxUk;pJoF}5&q9|<N)TKG%`RUh
zw;=-=nSHd<AkvKd_PkRO@vRKuqI`mNWR945Qt?-q?#5~bi&7+sCxfmZk%h$(rNF$0
zq<%$MO}S|p+#=c8ICG_ua&SqST_D;h(+4Tx4YCe~*S<9*4}(%{1c}RjFI=VSSBBcG
zLRM4rJozFuCP~vvee&!)h?eIZ^e2rjYVcANb2*G3Qa^5ys^lcN%-Ln}<sYCn=ur#(
zEDE|(Y-1)@5~esqYz>Rl%Y50F;iB`>S*@N|d+J4lhHGGJZY7ck<YN};>KK8fM2Jq&
zBN!yXQkQe7&7@2p67Rdo7s##RWK!~iR>orv8J9n$HGViIPf-FaGnX=xbPABh9nCtD
zVS<y{CVSHx>`75Q%jL~iFG>DDUD_t0#BpZsXeq7KGEmGW&kx$JC{ajjmu;$hH8tBN
zRTGsRBl=Y)S&h{W%4as|Vq9#DTc|4=ln-J=gWWS21dn4YPh)l!S(uujgcG8;sVYk0
zYHw}#&e18Zt|qoL864%U!03FQnUM=_a8g&QN!njo?=4eWcMo#&a$s5DDz~|)FQL*R
zC@JykW0k40%yR={xxsP+zD}`Dtiv@dot0Dp@_LQbcd#TF9X@(<CNM1bVarH8zn+rw
uiqv{tMdv}0dwv5o_7wsYs~vcTHOlK!WtIB=ItuI~b%o&!dH;1x?EM!{;pFoG
literal 0
HcmV?d00001
diff --git a/README.mk b/README.mk
new file mode 100644
index 0000000..3f0d730
--- /dev/null
+++ b/README.mk
@@ -0,0 +1,87 @@
+# 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
+
+
diff --git a/cfg/BlobDetector.cfg b/cfg/BlobDetector.cfg
index 6773391..fff6358 100755
--- a/cfg/BlobDetector.cfg
+++ b/cfg/BlobDetector.cfg
@@ -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)
diff --git a/launch/blob_detector.launch b/launch/blob_detector.launch
index 9562a8c..501979e 100644
--- a/launch/blob_detector.launch
+++ b/launch/blob_detector.launch
@@ -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"/>
--
GitLab