Re: [Playerstage-users] can't get colored blobs for real robot

[Thanomsak A. <tee...@ya...>]

Hi,
 you download cmvision-1.2.0.tgz from
http://www.cs.cmu.edu/~jbruce/cmvision/ .Then copy
colors.txt to your project .Test this colors file .
this work for me.
 
 hope that helps

--- Amanda Whitbrook <mag...@ya...> wrote:

> Hi,
> I can get color images using a real Pioneer robot,
> Player 1.6.5, a Canon VCC4 camera and the
> videoplayer
> program, but when I use playerv and the blobfinder
> with the real robot, the blobs are in black and
> white
> and the blobs[x].color value is always 0 for all the
> blobs. I know this can't be right as when I run the
> same program in Stage I get a color value of
> 16711680
> for red pucks, 65280 for green and 255 for blue. (I
> gather this value is a packed 32-bit RGB?) I also
> get
> colored blobs using playerv with Stage. How can I
> get
> color blobs with the real robot? Is there something
> wrong with my color.txt file? I know the thresholds
> are in YUV.
> 
> My config file and color.txt file are as follows:
> 
> Config file:
> ------------
> 
> # Desc: Basic Pioneer2DX
> # CVS: $Id: pioneer.cfg,v 1.4 2005/04/05 04:18:30
> gerkey Exp $
> 
>  driver
>  (
>   name "p2os"
>   provides ["odometry::position:0"
>       "sonar:0"
>       "aio:0"
>       "dio:0"
>       "gripper:0"
>       "power:0"
>       "sound:0"
>       "bumper:0"]
>   port "/dev/ttyS0"
>  )
> 
>  driver
>  (
>   name "canonvcc4"
>   provides ["ptz:0"]
>   port "/dev/ttyS1"
>  )
> 
>  driver
>  (
>   name "sicklms200"
>   provides ["laser:0"]
>   port "/dev/ttyS2"
>   rate 38400
>   pose [0.18 0.0 0.0]
>   invert 0
>   delay 30
>  )
> 
>  driver
>  (
>   name "cmvision"
>   requires ["camera:0"]
>   provides ["blobfinder:0"]
>   colorfile ["color.txt"]
>  )
> 
>  driver
>  (
>   name "camerav4l"
>   provides ["camera:0"]
>   port "/dev/video0"
>   source 0
>   size [320 240]
>   norm "ntsc"
>   mode "RGB24"
>  )
> 
>  driver
>  (
>   name "cameracompress"
>   requires ["camera:0"]
>   provides ["camera:1"]
>  )
> 
> color file
> ----------
> 
> [Colors]
> (122,48,42) 0.000000 Red
> 
> [Thresholds]
> (50:90,105:120,155:170)
> 
> ------------
> 
> I am running Player 1.6.5. 
> 
> thanks
> Amanda
> 
> 
> 		
>
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