dispBlobber

Extracts brightest blob in a gray image Version:1.1.

Extracts brightest blob in a gray image Version:1.1.

Author

Tanis Marta.nosp@m.nis..nosp@m.mar@i.nosp@m.it.i.nosp@m.t, Giulia Pasqu.nosp@m.aleg.nosp@m.iulia.nosp@m..pas.nosp@m.quale.nosp@m.@iit.nosp@m..it

Copyright

Released under the terms of the GNU GPL v2.0

Description

This module takes as input a grayscale image and outputs the brightest blob both as a binary image and as an extracted rectangular crop around it, plus the blob centroid's coordinates and approximated area.

Parameters

• – name: Name of the module
• – robot: Robot used
• – imH: Image height
• – imW: Image width
• – cropSize: [auto|int] side of the extracted crop. If it is an int the crop is a square region around the blob's centroid. If it is set to 'auto' the crop encloses the blob's shape.
• – margin: Margin (border) to be left around the blob in the extracted crop (used only if cropSize='auto')
• – backgroundThresh: Background Threshold
• – minBlobSize: Minimum blob size
• – gaussSize: Gaussian blur size
• – imageThreshRatioLow: Max luminance ratio within blob, below avg lum.
• – imageThreshRatioHigh: Max luminance ratio within blob, over avg lum.

Input Ports

• /dispBlobber/rpc:i [rpc] [default carrier:tcp]: Takes the following RPC commands from Human or stateMachine

         -# <b>margin</b> <i>(int) margin</i>: sets the margin (in pixels) that the ROI keeps around the closest blob.")
         -# <b>thresh</b> <i>(int) high (int) low </i>: sets higher and lower luminosity bounds (0-255) that are considered: blobs with luminosity outside this range are not considered.
         -# <b>help</b> - produces this help.;
         -# <b>quit</b> - closes the module.;
  

• /dispBlobber/img:i [ImageOfPixelBgr] [default carrier:udp]: Input image

Output Ports

• /dispBlobber/blobs/left:o [Bottle] [default carrier:tcp]: Coordinates of the blob's centroid on the left image and approximated area.
• /dispBlobber/blobs/right:o [Bottle] [default carrier:tcp]: Coordinates of the blob's centroid on the right image and approximated area.
• /dispBlobber/opt:o [ImageOfPixelMono] [default carrier:udp]: Binary image of selected blob.
• /dispBlobber/crop:o [ImageOfPixelBgr] [default carrier:udp]: Cropped region around the selected blob.
• /dispBlobber/points3d:o [Bottle] [default carrier:tcp]: 3D Coordinates of the blob's centroid in the root RF.
• /dispBlobber/roi/left:o [Bottle] [default carrier:tcp]: Coordinates of the TL and BR points of the ROI around the blob on the left image.
• /dispBlobber/roi/right:o [Bottle] [default carrier:tcp]: Coordinates of the TL and BR points of the ROI around the blob on the right image.
• /dispBlobber/sfm/rpc [Bottle] [default carrier:tcp]: RPC port communicating with the SFM module RPC port.

Services