## repository: https://code.ros.org/svn/wg-ros-pkg
<<PackageHeader(cmvision)>>
<<TOC(3)>>

== Usage ==
=== Selecting Blob Colors ===
{{attachment: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>
}}}

{{https://raw.githubusercontent.com/teshanshanuka/cmvision/noetic-devel/static/demo.gif}}

== Nodes ==
{{{
#!clearsilver CS/NodeAPI
node.0 {
  name = colorgui
  desc = Simple node for selecting blob colors.
  sub {
    0.name = image
    0.type = sensor_msgs/Image
    0.desc = The image topic. Should be remapped to the name of the real image topic.
  }
}
node.1 {
  name = cmvision
  desc = Node for detecting blobs.
  sub {
    0.name = image
    0.type = sensor_msgs/Image
    0.desc = The image topic. Should be remapped to the name of the real image appropriately.
  }
  pub {
    0.name = blobs
    0.type = cmvision/Blobs
    0.desc = A list of detected blobs.
  }
  param {
    0.name = /cmvision/color_file
    0.type = string
    0.desc = Specifies a path to the colors file.
    0.default = ""

    1.name = /cmvision/mean_shift_on
    1.type = bool
    1.desc = If `true`, smooth the image using the mean shift algorithm before doing blob detection.
    1.default = false
    
    2.name = /cmvision/debug_on
    2.type = bool
    2.desc = Enables or disables debug output.
    2.default = false
    
    3.name = /cmvision/spatial_radius_pix
    3.type = int
    3.desc = If using mean shift, sets mean shift's spacial radius parameter.
    3.default = 0

    4.name = /cmvision/color_radius_pix
    4.type = int
    4.desc = If using mean shift, sets mean shift's color radius parameter.
    5.default = 0
  }
}
}}}

## CategoryPackage
## CategoryPackageWG