Commit 7d8518b5 authored by Sergi Hernandez's avatar Sergi Hernandez
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Update README.md

parent a6660613
...@@ -9,54 +9,54 @@ A nodelete version is also provided to reduce the overhead of sending the images ...@@ -9,54 +9,54 @@ A nodelete version is also provided to reduce the overhead of sending the images
same computer. same computer.
This ROS node does not require the camera to be calibrated, however it is highly recommended. Follow the calibration This ROS node does not require the camera to be calibrated, however it is highly recommended. Follow the calibration
procedure presented [link](http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration "here"). procedure presented [here](http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration "ROS monocular calibration page").
## subscribers ## subscribers
This node subscribes to the following topics: This node subscribes to the following topics:
* ~/image_in/camera_info (sensor_msgs/CameraInfo.msg): provides the calibration information for the camera. * **~/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. * **~/image_in/image_raw** (sensor_msgs/Image.msg): The input image itself.
## publishers ## publishers
This node publishes the following topics: This node publishes the following topics:
* ~/image_out/camera_info (sensor_msgs/CameraInfo.msg): the same camera information message received. * **~/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 * **~/image_out/image_raw** (sensor_msgs/Image.msg): a black and white image with the segmented regions. The segmented blobs will
appear as black regions, being the background white. appear as black regions, being the background white.
* ~/blobs (iri_blob_detector/blob_array.msg): a list of all the connected regions that comply with the desired * **~/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: 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. **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_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). **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. **size** (float): Size of the blob in pixels.
## parameters ## parameters
This node has the following parameters. These parameters can be modified with the dynamic reconfigure tool. This node has the following parameters. These parameters can be modified with the dynamic reconfigure tool.
* H_center (integer): the desired window center value for the Hue parameter. This parameter is defined from 0 to 180. * **H_center** (integer): the desired 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. * **H_window** (integer): the desired width of the Hue parameter window. This parameter is defined from 0 to 180.
* S_center (integer): the desired window center value for the Saturation parameter. This parameter is defined from 0 to 255. * **S_center** (integer): the desired 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. * **S_window** (integer): the desired width of the Saturation parameter window. This parameter is defined from 0 to 255.
* V_center (integer): the desired window center value for the Value parameter. This parameter is defined from 0 to 255. * **V_center** (integer): the desired 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. * **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. * **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. * **max_area** (integer): the maximum area in pixels of the desired regions.
* min_area (integer): the minimum area in pixels of the desired regions. * **min_area** (integer): the minimum area in pixels of the desired regions.
# Dependencies # Dependencies
...@@ -70,11 +70,11 @@ This node has the following dependencies: ...@@ -70,11 +70,11 @@ This node has the following dependencies:
This node provides two launch files: 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 * **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 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. 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 * **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. 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. You can use the iri_color_calibration ROS node to easily generate new yaml configuration files for this node.
...@@ -86,5 +86,3 @@ Once the node is running, use the dynamic reconfigure ROS tool to change online ...@@ -86,5 +86,3 @@ Once the node is running, use the dynamic reconfigure ROS tool to change online
Display the output image using the ROS tools to see the result of the segmentation: Display the output image using the ROS tools to see the result of the segmentation:
* rosrun rqt_image_view rqt_image_view * rosrun rqt_image_view rqt_image_view
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