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@cs.sfu.ca>:

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@gerkey.org>:
> 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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