From: Ajinkya Y. B. <ji...@ii...> - 2006-02-19 21:54:29
|
Hi, I'm trying to use the CMVision blobfinder to carry out visual servoing on our robot. The cameras we have send out a packed RGB24 image stream (RGBRGB...), which I then convert to YUV422 using the rgb2uyvy function from the conversions.h file given in Player. I create my own CMVision object in my driver and use it, just like the blobfinder driver does in Player. The reason I'm not using the inbuilt camera driver from player is because we may want finer-grained control on the vision stream in the future, while still working under Player. The problem is that the CMVision does not seem to find anything in it's field of view and consistently returns a zero for the x,y and area of the object. I am getting a valid pointer to the CMVision regions structure so the CMVision tracker knows it should be looking for red; but no valid object coordinates are returned. I don't know if the thresholds I am giving are way off or if the image is in the wrong format. I am attaching the color.txt file that I have, which has been taken from another posting on this list. Is the file format correct? If anyone has any tips on how to debug what could be going on or values/colors which worked for them well, help would be very much appreciated. Thanks, Jinx. [colors] (255, 50, 50) 0.0000 0 red [thresholds] ( 32:168, 71:135,164:228) Also tried: [colors] (255,128, 0) 0.000000 0 Ball (255,255, 0) 0.000000 1 Yellow_Team ( 0, 0,255) 0.000000 2 Blue_Team (255,255,255) 0.000000 3 White (255, 0,255) 0.000000 4 Marker_1_(Pink) (160, 0,160) 0.000000 5 Marker_2_(Purple) [thresholds] ( 12:153, 99:127,143:168) (101:196, 60:115,114:148) ( 64:157,144:164, 85:129) (105:192, 68:187,120:131) ( 85:190, 82:189,141:269) ( 30: 85,130:145,135:145) |