I'm running my simulation with gazebo 0.6.0 and player 2.0.2.
I'm using a camera CanonVCC4 (but the same problem appears also with
SonyVID30) and CmVision driver.
In my simulation there is a green box and my robot must goes around it.
While robot sorround it (so while it is moving) the green blob appears and
disappears from playerv screen and so i get green = 0 in the previous code.
But if i replace green box with red box, it work very well. But i need to
use green blob in my simulation (or whichever other colors different from
red blu and black). I think there is a problem with thresholds in the
colors.txt file need for Cmvision driver (i'm using colors.txt file in
player directory).
This is a part of world file:
<model:LightSource>
<id>light1</id>
<xyz>0.000 0.000 100.000</xyz>
<ambientColor>0.2, 0.2, 0.2</ambientColor>
<diffuseColor>0.8, 0.8, 0.8</diffuseColor>
<specularColor>0.2, 0.2, 0.2</specularColor>
<attenuation>1.0, 0.0, 0.00</attenuation>
</model:LightSource>
<model:Pioneer2DX>
<id>robot1</id>
<rpy>0 0 0</rpy>
<xyz> -29.5 -10.0 0.03</xyz>
<model:SickLMS200>
<id>laser1_teammate1</id>
<scanRate>5</scanRate>
<mass> 0 </mass>
<xyz>+0.025 0.00 0.03</xyz>
<rpy>0 0 -35</rpy>
<model:CanonVCC4>
<id>camera1_teammate1</id>
<rpy>0 0 +35</rpy>
<imageSize>320 240 </imageSize>
<xyz>-0.00 0.0 0.30</xyz>
<renderMethod>GLX</renderMethod>
<updateRate>15</updateRate>
</model:CanonVCC4>
</model:SickLMS200>
</model:Pioneer2DX>
<model:SimpleSolid>
<color>0 1 0</color>
<xyz>-0.05 +0.00 +0.00</xyz>
<rpy> 0.000 0.000 0.000 </rpy>
<size> 0.3 0.6 </size>
<mass> 0 </mass>
<shape>box</shape>
</model:SimpleSolid>
-----------------------------------------------------------
this is config file:
driver
(
name "gazebo"
provides ["simulation:0"]
plugin "libgazeboplugin"
server_id "default"
)
driver
(
name "gazebo"
provides ["position2d:0"]
gz_id "robot1"
)
driver
(
name "gazebo"
provides ["laser:0"]
gz_id "laser1_teammate1"
)
driver
(
name "gazebo"
provides ["camera:0" ]
gz_id "camera1_teammate1"
)
driver
(
name "gazebo"
provides ["ptz:0" ]
gz_id "camera1_teammate1"
)
driver
(
name "cameracompress"
provides ["camera:1"]
requires ["camera:0"]
)
driver
(
name "cmvision"
provides ["blobfinder:0"]
requires ["camera:0"]
colorfile "colors.txt"
)
driver
(
name "gazebo"
provides ["sonar:0"]
gz_id "robot1"
)
-----------------------------------------------------
and this is colors.txt file
[Colors]
( 0,255, 0) 0.000000 10 Green
(255, 0, 0) 0.000000 10 Red
( 0, 0,255) 0.000000 10 Blue
(255,255, 0) 0.000000 10 Yellow
(255,128,128) 0.000000 10 Pink
( 32, 32, 32) 0.000000 10 Black
[Thresholds]
( 20:220, 50:120, 40:115)
( 10:184, 40:120,130:270)
( 15:190,145:255, 40:120)
(101:255, 20:100,114:158)
( 70:210,100:150,150:210)
( 0: 32, 0:255, 0:255)
Do you think there is a problem with thresholds or some colors is better
visible than other colors???
Thank in advance for answer.
2006/9/20, Richard vaughan <vaughan@...>:
>
>
> On 20-Sep-06, at 2:49 AM, Valentino wrote:
>
> > i'm working in simulation. My camera is a CanonVCC4. I have noted
> > that green = 0 appears only for some directions between robot and
> > green box. For these directions playerv visualize a narrow green
> > blob (that appears and disappears) more narrow than that i can see
> > with camera.
> > is it only noise ??? Can i do something for decrease this noise ?
> > thanks
> >
>
> Which simulation? If you have a camera, it sounds like Gazebo.
>
> You probably need to supply more information (and probably to the
> playerstage-gazebo mailing list) . For example, does the blob appear
> and disappear even when the robot & box are not moving? Give
> your .cfg file, .world file (or Gazebo equivalent) etc.
>
> Richard/
>
> > 2006/9/18, Brian Gerkey <brian@...>:
> > On Sep 15, 2006, at 1:10 PM, Valentino wrote:
> > >
> > > The problem is that blobfinder doesn't continuously detect green
> > > blob even if it's always in Field of view. Infact the printf
> > > instruction in the code, prints continuously these lines:
> > > GREEN Color: 255
> > > GREEN Color: 255
> > > GREEN Color: 255
> > > GREEN Color: 0
> > > GREEN Color: 0
> > > GREEN Color: 0
> > > GREEN Color: 255
> > > GREEN Color: 255
> > > GREEN Color: 0
> >
> > Looks like the blobfinder sometimes sees the blob and sometimes
> > doesn't. Depending on the kind of blobfinder, that's not necessarily
> > surprising; it's called sensor noise.
> >
> > What is your vision setup (simulated or physical? what kind of
> > camera, blobfinder?)
> >
> > brian.
> >
> > ----------------------------------------------------------------------
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