> For the complete documentation index, see [llms.txt](https://idminer.gitbook.io/robotis/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://idminer.gitbook.io/robotis/part-3.-robotis-op3-ren-xing-ji-qi-ren/4.-robotis-ros-tao-jian/4.3.-robotis-op3-demo/4.3.1.-ball_detector/untitled.md).

# 4.3.1.5. 如何更改參數

參考：[**How to use ball detector**](http://emanual.robotis.com/docs/en/platform/op3/tutorials/#how-to-use-ball-detector)

**使用 .yaml**

* [**ball\_detector\_params.yaml**](https://raw.githubusercontent.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo/master/op3_ball_detector/config/ball_detector_params.yaml)

```
 gaussian_blur_size: 7
 gaussian_blur_sigma: 2
 canny_edge_th: 100
 hough_accum_resolution: 1
 min_circle_dist: 100
 hough_accum_th: 28
 min_radius: 20
 max_radius: 300
 filter_h_min: 350
 filter_h_max: 15
 filter_s_min: 200
 filter_s_max: 255
 filter_v_min: 60
 filter_v_max: 255
 use_second_filter: false
 filter2_h_min: 30
 filter2_h_max: 355
 filter2_s_min: 0
 filter2_s_max: 40
 filter2_v_min: 200
 filter2_v_max: 255
 ellipse_size: 2
 filter_debug: false
```

使用 dynamic\_reconfigure

<div align="left"><img src="https://3058168660-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LkXc5k_SFaP9gK2gsU8%2F-LmdeFS0S2UF3WrgLHqx%2F-LmdezXxJJko9zcMUbY0%2Fball_detector_node_02.png?alt=media&amp;token=d5e460dc-a412-42fb-891c-ab76cdfc575e" alt=""></div>