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

Utility for extracting parameters of Hough transform for circles.

To launch using a webcam, use the attached launch file. Usb_cam package required.

roslaunch extended_object_detection hough_circle_params_collector.launch

When you press ESC, the utility will write an XML description of the configured object to the console and close, including the usb-cam node.

1. Subscribed topics

• image_raw (sensor_msgs/Image) image topic

2. Interface

The interface provides a number of sliders for setting the Hough transformation parameters for circles and one slider for the object size (size attribute on the image is used), as well as an image of the recognition results with the current parameters.

3. Guides

3.1. Quick guide

1. Place the object of interest in the field of view of the camera.
2. Move the Hough transform sliders to achieve better recognition results.
3. Move the size slider to filter out fractal objects. In a sense, instead of a size filter, you can use the mr and Mr sliders, which are responsible for the minimum and maximum values of the radius.
4. Press ESC and copy the object parameters from the console.