ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

ROS API

op3_ball_detector

Subscribed Topics

~/enable (std_msgs/Bool)
  • OP3 will start searching for a ball with a True message, and stop with a False message.
~/image_in (sensor_mgsg/Image)
  • The message in this topic contains camera input image for ball searching.
/cameraInfo_in (sensor_msgs/CameraInfo)
  • The message in this topic contains camera information of the corresponding input image.

Published Topics

~/image_out (sensor_mgsg/Image)
  • The message in this topic contains an output image after the ball searching process.
~/camera_info (sensor_msgs/CameraInfo)
  • The message in this topic contains camera information of the output image.
~/circle_set (ball_detector/circleSetStamped)
  • Detected ball information
    header(std_msgs/Header) : Header information
    circles(geometry_msgs/Point[]) : Detecetd balls
    - x X coordinate of the center of ball in the image coordinate system
    - y Y coordinate of the center of ball in the image coordinate system
    - z Radius of the detected ball

Parameters

/yaml_path (string, default: "")
  • The path of the yaml file that saves parameters.
/gaussian_blur_size (int, default: )
  • Size of Gaussian Blur Kernel (only odd value is possible.)
/gaussian_blur_sigma (double, default: )
  • standard deviation of Gaussian Blur
/canny_edge_th (double, default: )
  • Threshold of the edge detector
/hough_accum_resolution (double, default: )
  • Resolution of the Hough accumulator, in terms of inverse ratio of image resolution
/min_circle_dist (double, default: )
  • Minimum distance between circles
/hough_accum_th (double, default: )
  • Accumulator threshold to decide center detection
/min_radius (int, default: )
  • Minimum circle radius allowed, pixels. (if unknown, put 0 for a detault.)
/max_radius (int, default: )
  • Maximum circle radius allowed, pixels. (if unknown, put 0 for a detault.)
/filter_h_min (int, default: )
  • Minimum threshold of H filter
/filter_h_max (int, default: )
  • Maximum threshold of H filter
/filter_s_min (int, default: )
  • Minimum threshold of S filter
/filter_s_max (int, default: )
  • Maximum threshold of S filter
/filter_v_min (int, default: )
  • Minimum threshold of V filter
/filter_v_max (int, default: )
  • Maximum threshold of V filter
/filter_debug (bool, default: )
  • Show filtered image to debug

Wiki: op3_ball_detector (last edited 2018-04-04 05:48:30 by Kayman)