Add documentation for detecting round color blobs (#366)

* Add documentation for detecting round color blobs
* Updating color-processing docs with changes made in SDK 11.0

Author: texasdiaz

docs/source/color_processing/color-locator-challenge/color-locator-challenge.rst

@@ -555,16 +555,9 @@ example, that can overlap if desired.
 
    Using two processors
 
-This ends the tutorial's 3 pages on ColorLocator: 
 
-* :doc:`Discover <../color-locator-discover/color-locator-discover>`, 
-* :doc:`Explore <../color-locator-explore/color-locator-explore>`, 
-* **Challenge** 
-
-The final page of this tutorial provides optional info on :doc:`Color Spaces
-<../color-spaces/color-spaces>`.
-
-Best of luck as you apply these tools to your Autonomous and TeleOp OpModes!
+The next ColorLocator page called :doc:`Color Locator (Round Blobs) <../color-locator-round-blobs/color-locator-round-blobs>` 
+covers detection of round objects.
 
 ============
 

docs/source/color_processing/color-locator-discover/color-locator-discover.rst

@@ -75,15 +75,17 @@ Java section below:
 
       2. Click ``Create New OpMode``\ , enter a new name such as
          "ColorLocator_Monica_v01", and select the Sample OpMode
-         ``ConceptVisionColorLocator``.
+         ``ConceptVisionColorLocator_Rectangle``.
 
-      3. At the top of the Blocks screen, you can change the type from "TeleOp"
+      3. Near the beginning of the OpMode code, change `ARTIFACT_PURPLE` to `BLUE`.
+
+      4. At the top of the Blocks screen, you can change the type from "TeleOp"
          to "Autonomous", since this Sample OpMode does not use gamepads.
 
-      4. If using the built-in camera of an RC phone, drag out the relevant
+      5. If using the built-in camera of an RC phone, drag out the relevant
          Block from the left-side ``VisionPortal.Builder`` toolbox.
 
-      5. Save the OpMode, time to try it!
+      6. Save the OpMode, time to try it!
 
    .. tab-item:: Java
       :sync: java
@@ -92,15 +94,17 @@ Java section below:
 
       2. In the ``teamcode`` folder, add/create a new OpMode with a name such
          as "ColorLocator_Javier_v01.java", and select the Sample OpMode
-         ``ConceptVisionColorLocator.java``.
+         ``ConceptVisionColorLocator_Rectangle.java``.
+
+      3. Near the beginning of the OpMode code, change `ARTIFACT_PURPLE` to `BLUE`.
 
-      3. At about Line 63, you can change ``@TeleOp`` to ``@Autonomous``\ ,
+      4. At about Line 63, you can change ``@TeleOp`` to ``@Autonomous``\ ,
          since this Sample OpMode does not use gamepads.
 
-      4. If using the built-in camera of an RC phone, follow the OpMode
+      5. If using the built-in camera of an RC phone, follow the OpMode
          comments to specify that camera.
 
-      5. Click "Build", time to try it!
+      6. Click "Build", time to try it!
 
 Running the Sample OpMode
 +++++++++++++++++++++++++
@@ -197,12 +201,16 @@ In this example, the Region of Interest (ROI) contains only one Blob of the
 default target color BLUE.  You could probably move your camera to achieve the
 same result - with the help of previews.
 
-The **first column** shows the **Area**, in pixels, of the Blob (contour, not
+The **first column** shows the (X, Y) position of the **Center** of the boxFit
+rectangle.  With the origin at the full image's top left corner, X increases to
+the right and Y increases downward.
+
+The **second column** shows the **Area**, in pixels, of the Blob (contour, not
 boxFit).  By default, the Sample OpMode uses a **filter** to show Blobs between
 50 and 20,000 pixels.  Also by default, the Sample uses a **sort** tool to
 display multiple Blobs in descending order of Area (largest is first).
 
-The **second column** shows the **Density** of the Blob contour.  From the
+The **third column** shows the **Density** of the Blob contour.  From the
 Sample comments:
 
 ..
@@ -212,7 +220,7 @@ Sample comments:
     contour.  The density is the ratio of Contour-area to Convex Hull-area.*
 
 
-The **third column** shows the **Aspect Ratio of the boxFit**, the best-fit
+The **fourth column** shows the **Aspect Ratio of the boxFit**, the best-fit
 rectangle around the contour:
 
 ..
@@ -226,9 +234,8 @@ rectangle around the contour:
    **tilted** at some angle, namely not horizontal.  This will be discussed
    more in a later page.
 
-The **fourth column** shows the (X, Y) position of the **Center** of the boxFit
-rectangle.  With the origin at the full image's top left corner, X increases to
-the right and Y increases downward.
+The fifth and sixth columns are described in a later page called 
+:doc:`Color Locator (Round Blobs) <../color-locator-round-blobs/color-locator-round-blobs>`.
 
 Blob Formation
 --------------
@@ -326,6 +333,9 @@ After that, the following page called :doc:`Challenge
 <../color-locator-challenge/color-locator-challenge>` shows how to **access
 more OpenCV features** not covered in the Sample OpMode.
 
+Then a page called :doc:`Color Locator (Round Blobs)
+<../color-locator-round-blobs/color-locator-round-blobs>` covers detection of round objects.
+
 ============
 
 *Questions, comments and corrections to [email protected]*

docs/source/color_processing/color-locator-discover/images/23-basic-telemetry.png

@@ -46,12 +46,13 @@ Target Color Range
 The "target color" is actually a **range** of numerical color values, for a
 better chance of finding the desired color.
 
-Each **Swatch** name (BLUE, RED, YELLOW, GREEN) has been pre-programmed with a
+Each **Swatch** name (BLUE, RED, YELLOW, GREEN, ARTIFACT_PURPLE, ARTIFACT_GREEN) has been pre-programmed with a
 range of color values to detect most shades of that color, in most lighting
 conditions.
 
 The values for Red, Blue and Yellow were tuned for the plastic game pieces
-(called Samples) from INTO THE DEEP.
+(called Samples) from INTO THE DEEP. The values for ARTIFACT_PURPLE and ARTIFACT_GREEN
+were tuned for the plastic game pieces from DECODE.
 
 Select and read the Blocks **or** Java section below:
 
@@ -496,6 +497,8 @@ Here's a conceptual note from co-developer `@Windwoes <https://github.com/Windwo
 Next, this tutorial's :doc:`Challenge <../color-locator-challenge/color-locator-challenge>` page shows how to
 **access more OpenCV features** not covered in the Sample OpMode.
 
+Then a page called :doc:`Color Locator (Round Blobs) <../color-locator-round-blobs/color-locator-round-blobs>` covers detection of round objects.
+
 ============
 
 *Questions, comments and corrections to [email protected]*