BlobAttribute - Extended-Object-Detection-ROS/wiki_english GitHub Wiki

Blobs

Sign that detects blobs by OpenCV.

Modes Accuracy assessment 3D-translation 3D-rotation Contour extraction Additional info
D - -

1. Modes

1.1. Detect

Detects blobs with specified parameters.

1.2. Check

Not implemented

1.3. Extract

Not implemented

2. XML-description

2.1. Common parameters

  • Name (string, must be set) attribute unique name
  • Type (string, must be "Blob") attribute type
  • Weight (double, default: 1) attribute weight
  • Probability (double, default: 0.75) not used in this attribute
  • Contour (bool, default: true) not used in this attribute

2.2. Special parameters

  • minThreshold (int, default: 10) The lower threshold of saturation between spots.
  • maxThreshold (int, default: 200) The upper threshold of saturation between spots.
  • blobColor (int, default: 0) Can be 0 or 255. 0 - for dark spots, 255 - for light spots.
  • minArea (int, default: 1500) Minimum blob size.
  • minCircularity (double, default: 0.1) The minimum threshold for the smoothness of the contour.
  • minConvexity (double, default: 0.87) The minimum threshold of "raggedness" of the contour.
  • minInertiaRatio (double, default: 0.01) The minimum threshold of inertia.

A good description of the parameters is given in this article, below is a picture from it.

2.3. Example

<?xml version="1.0" ?>

<AttributeLib>
    
    <Attribute Name="MyBlobAttribute" Type="Blob" minThreshold="54" maxThreshold="125" blobColor="0" minArea="1500" minCircularity="0.03" minConvexity="0.64" minInertiaRatio="0.00"/>
    
</AttributeLib>

<SimpleObjectBase> 
    
    <SimpleObject Name="BlobPingui" ID="80">                   
        <Attribute Type="Detect">MyBlobAttribute</Attribute>        
    </SimpleObject>    
    
</SimpleObjectBase>

blob attribute examples

2.4. Parameter Definition Utility

  • For a selection of the best parameters for online video, it is recommended to use the utility attached to the package.
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