[Playerstage-developers] Problem with blobfinder

[Gil C. F. J. <FJ...@sa...>]

Hello,

I'm working with Player/Stage for two weeks, and I've started with simple example, Wander, Avoid Obstacle with sonar... I'm working with versions: Player 2.1.2 y Stage 2.1.0.

Last days I was testing some examples from Jennifer Owen' tutorial "How to Use Player/Stage" and others, and I'm getting trouble with Blobfinder. I don't know why this element doesn't work.

 

I was testing with c++ example from Jennifer Owen' tutorial, making changes recommended for older versions, and robot was unable to view any colors. I was using "playerv" for view what the robot was sensing by blobfinder, and it doesn't detect anything.

 

Also, I was testing with java client example and I could confirm that blobfinder doesn't work. In the example, three object with three different colors was in the map, and robot should detect this object using blobfinder.

 

I think this is a bug for blobfinder, for the versions I'm  using. However, I'm going to write the section in cfg and inc files for two example:

 

Jennifer Owen' tutorial Example

 

                Robot INC file:

 

                define p3at_eyes ptz

(

          blobfinder

          (

                # Número de colores que deteca la cámara

                channel_count 2

                                

                               # Color que detecta la cámara

                Channels [ "orange" "red" ]

                

                               # Parámetros de la cámara 

                                image [260 220]                               #Resolución

                range_max 10.00

 

                       )

                               ptz [0 0 160]

 

)

 

 

And then in the same file 

p3at_eyes()

 

CFG file:

 

driver

( 

  name "stage"

  provides [ "position2d:0" 

                    "sonar:0" 

                    "blobfinder:0"]

                    

  model "r0"

)

 

 

Example for Java Cliente 

 

CFG file:

driver

( 

  name "stage"

  provides ["position2d:0" "blobfinder:0" "sonar:0" ]

  model "robot1" 

)

 

 

WORLD file:

 

# create a robot

pioneer2dx

(

  name "robot1"

  color "red"

  pose [0 -5 0]

  

  ptz (

    ptz [0 0 180.0]

    blobfinder

    (

      channel_count 3

      channels [ "red" "green" "blue" ]

      range_max 5

    )

  )

)

 

Can anyone help me?????

 

Thank you in advance.