Documentation Status

Cannot load information on name: cmvision, distro: electric, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: cmvision, distro: fuerte, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: cmvision, distro: groovy, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: cmvision, distro: hydro, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

Contents

  1. Usage
    1. Selecting Blob Colors
    2. Colors File Format
    3. Detecting Blobs
  2. Nodes
    1. colorgui
    2. cmvision

Usage

Selecting Blob Colors

lewis_cmvision.png 

rosrun cmvision colorgui image:=<image topic>

The above command will bring up an interface that provides a means for graphically selecting desired colors for blobs. colorgui displays values for RGB and YUV which can be used in a colors file.

Colors File Format

Blob parameters are specified to cmvision using two components:

  • Blob colors in RGB color space, specified as follows:

(r, g, b) merge expected_num name

  • Blob threshold parameters in YUV color space, specified as follows:

(min_y:max_y, min_u:max_u, min_v:max_v)

Example colors.txt for detecting a Research Robot Red RWI B21r 

[colors]
(159,  62, 71) 0.000000 7 ResearchRobotRed

[thresholds]
(56:99, 108:117, 173:193)

Multiple blob colors can be specified in the same file by adding lines under colors and thresholds.

Detecting Blobs

rosparam set /cmvision/color_file /path/to/colors.txt
rosrun cmvision cmvision image:=<image topic>

Nodes

colorgui

Simple node for selecting blob colors.

Subscribed Topics

image (sensor_msgs/Image)
  • The image topic. Should be remapped to the name of the real image topic.

cmvision

Node for detecting blobs.

Subscribed Topics

image (sensor_msgs/Image)
  • The image topic. Should be remapped to the name of the real image appropriately.

Published Topics

blobs (cmvision/Blobs)
  • A list of detected blobs.

Parameters

/cmvision/color_file (string, default: "")
  • Specifies a path to the colors file.
/cmvision/mean_shift_on (bool, default: false)
  • If true, smooth the image using the mean shift algorithm before doing blob detection.
/cmvision/debug_on (bool, default: false)
  • Enables or disables debug output.
/cmvision/spatial_radius_pix (int, default: 0)
  • If using mean shift, sets mean shift's spacial radius parameter.
/cmvision/color_radius_pix (int)
  • If using mean shift, sets mean shift's color radius parameter.
(, default: 0)

Wiki: cmvision (last edited 2011-05-09 03:19:32 by DanLazewatsky)

Except where otherwise noted, the ROS wiki is licensed under Creative Commons Attribution 3.0.