#! /usr/bin/env python
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PACKAGE='hough_circles'

from dynamic_reconfigure.parameter_generator_catkin import *

gen = ParameterGenerator()
gen.add("use_camera_info", bool_t, 0, "Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.", False)

gen.add("canny_threshold", double_t, 0, "Canny threshold", 200, 1, 255)
gen.add("accumulator_threshold", double_t, 0, "Accumulator threshold", 50, 1, 200)

gen.add("gaussian_blur_size", int_t, 0, "the size of gaussian blur (should be odd number)", 9, 1, 30)
gen.add("gaussian_sigma_x", double_t, 0, "sigma x of gaussian kernel", 2, 1, 10)
gen.add("gaussian_sigma_y", double_t, 0, "sigma y of gaussian kernel", 2, 1, 10)
gen.add("min_distance_between_circles", double_t, 0, "mnimum distance between the centers of the detected circles", 0, 0, 1024)
gen.add("dp", double_t, 0, "dp", 2, 0, 100)
gen.add("min_circle_radius", int_t, 0, "the minimum size of the circle", 0, 0, 500)
gen.add("max_circle_radius", int_t, 0, "the maximum size of the circle", 0, 0, 2000)

debug_view_type_enum = gen.enum([ gen.const("Input", int_t, 0, "Input image"),
                                  gen.const("Blur", int_t, 1, "GaussianBlur image"),
                                  gen.const("Canny", int_t, 2, "Canny edge image"),
                              ],
                                "An enum for debug view")

gen.add("debug_image_type", int_t, 0, "Select image type for debug output", 0, 0, 2, edit_method=debug_view_type_enum)

exit(gen.generate(PACKAGE, "hough_circles", "HoughCircles"))
