Commit a6660613 authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Update README.md

parent 39977ade
# Description # Description
This ROS node implements the BlobDetector provided in OpenCV. Each input image is trasformed to the HSV color This ROS node implements the BlobDetector provided in OpenCV. Each input image is transformed to the HSV color
space and then filtered with the desired maximum and minimum values for the Hue, Saturation and Value parameters. 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 Then all the connected regions within a desired maximum and minimum sizes are detected and published. The
segmented image is also published. segmented image is also published.
A nodelete version is also provided to reduce the overhead of sending the images from one node to another in the
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 here. procedure presented [link](http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration "here").
## subscribers ## subscribers
...@@ -23,7 +26,7 @@ This node publishes the following topics: ...@@ -23,7 +26,7 @@ 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 balck 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:
...@@ -37,15 +40,15 @@ parameters. The information provided for each blob is: ...@@ -37,15 +40,15 @@ parameters. The information provided for each blob is:
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 desierd 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 desierd 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 desierd 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.
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment