From: Valentino <pun...@gm...> - 2006-09-15 20:10:04
|
Hi ! I have a problem with blobfinder. My blobfinder must detect a green blob in the world and this is my simple code: playerc_client_read(client); for (i=0 ; i< blobfinder->blobs_count; i++) { playerc_client_read(client); green = (blobfinder->blobs[i].color&color) >> 8; printf("GREEN Color: %d \n ",green); if (green != 0) { .................. } else ..................... } 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 ......... A solution is important for my client Thanks in advance |
From: Brian G. <br...@ge...> - 2006-09-18 15:02:23
|
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. |
From: Valentino <pun...@gm...> - 2006-09-20 09:49:27
|
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 2006/9/18, Brian Gerkey <br...@ge...>: > > > 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. > > ------------------------------------------------------------------------- > Using Tomcat but need to do more? Need to support web services, security? > Get stuff done quickly with pre-integrated technology to make your job > easier > Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo > http://sel.as-us.falkag.net/sel?cmd=lnk&kid=120709&bid=263057&dat=121642 > _______________________________________________ > Playerstage-developers mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-developers > |
From: Richard v. <va...@cs...> - 2006-09-20 15:49:49
|
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 <br...@ge...>: > 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. > > ---------------------------------------------------------------------- > --- > Using Tomcat but need to do more? Need to support web services, > security? > Get stuff done quickly with pre-integrated technology to make your > job easier > Download IBM WebSphere Application Server v.1.0.1 based on Apache > Geronimo > http://sel.as-us.falkag.net/sel? > cmd=lnk&kid=120709&bid=263057&dat=121642 > _______________________________________________ > Playerstage-developers mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-developers > > ---------------------------------------------------------------------- > --- > Take Surveys. Earn Cash. Influence the Future of IT > Join SourceForge.net's Techsay panel and you'll get the chance to > share your > opinions on IT & business topics through brief surveys -- and earn > cash > http://www.techsay.com/default.php? > page=join.php&p=sourceforge&CID=DEVDEV________________________________ > _______________ > Playerstage-developers mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-developers |
From: Valentino <pun...@gm...> - 2006-09-21 09:19:26
|
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 <va...@cs...>: > > > 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 <br...@ge...>: > > 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. > > > > ---------------------------------------------------------------------- > > --- > > Using Tomcat but need to do more? Need to support web services, > > security? > > Get stuff done quickly with pre-integrated technology to make your > > job easier > > Download IBM WebSphere Application Server v.1.0.1 based on Apache > > Geronimo > > http://sel.as-us.falkag.net/sel? > > cmd=lnk&kid=120709&bid=263057&dat=121642 > > _______________________________________________ > > Playerstage-developers mailing list > > Pla...@li... > > https://lists.sourceforge.net/lists/listinfo/playerstage-developers > > > > ---------------------------------------------------------------------- > > --- > > Take Surveys. Earn Cash. Influence the Future of IT > > Join SourceForge.net's Techsay panel and you'll get the chance to > > share your > > opinions on IT & business topics through brief surveys -- and earn > > cash > > http://www.techsay.com/default.php? > > page=join.php&p=sourceforge&CID=DEVDEV________________________________ > > _______________ > > Playerstage-developers mailing list > > Pla...@li... > > https://lists.sourceforge.net/lists/listinfo/playerstage-developers > > > ------------------------------------------------------------------------- > Take Surveys. Earn Cash. Influence the Future of IT > Join SourceForge.net's Techsay panel and you'll get the chance to share > your > opinions on IT & business topics through brief surveys -- and earn cash > http://www.techsay.com/default.php?page=join.php&p=sourceforge&CID=DEVDEV > _______________________________________________ > Playerstage-developers mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-developers > |
From: Brian G. <br...@ge...> - 2006-09-21 16:16:17
|
On Sep 21, 2006, at 2:19 AM, Valentino wrote: > 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). I believe that the colors.txt that is distributed with Player is just an example. You should definitely experiment with changing the thresholds and/or color definitions. Perhaps folks who have more experience with CMVision can give suggestions on how to pick appropriate values. ACTS has a graphical training tool for this purpose; is there something similar for CMVision? brian. |
From: Valentino <pun...@gm...> - 2006-09-23 13:33:06
|
i can't find graphical training tool but i have solved making my box as dark green in the wolrd file. thanks at all 2006/9/21, Brian Gerkey <br...@ge...>: > > > On Sep 21, 2006, at 2:19 AM, Valentino wrote: > > > 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). > > I believe that the colors.txt that is distributed with Player is just > an example. You should definitely experiment with changing the > thresholds and/or color definitions. Perhaps folks who have more > experience with CMVision can give suggestions on how to pick > appropriate values. ACTS has a graphical training tool for this > purpose; is there something similar for CMVision? > > brian. > > ------------------------------------------------------------------------- > Take Surveys. Earn Cash. Influence the Future of IT > Join SourceForge.net's Techsay panel and you'll get the chance to share > your > opinions on IT & business topics through brief surveys -- and earn cash > http://www.techsay.com/default.php?page=join.php&p=sourceforge&CID=DEVDEV > _______________________________________________ > Playerstage-developers mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-developers > |