Re: [Playerstage-users] blobfinder error

[Toby C. <tco...@pl...>]

Ive had a quick look at the player code and there isn't anything obvious
that is going wrong, (i.e. doubling or halving values)...

I would recommend going through the cmvision code in player and putting
in a few debug statements, see if its detected wrong from the start or
goes wrong halfway.

Also double check what size the driver thinks the image is, as that
could be a likely source of error...

Toby

Lucas Martins De Marchi wrote:
> sorry, i didn't know about email size limit... so, removing images (here
> they are: http://www.lti.pcs.usp.br/~lucas/psg/ )
> email:
> 
> Explaining better...
> 
> I'm using player 2.0.1 (with cmvision driver for blobfinder) and gazebo 0.6
> Here are my tests:
> 
> test.world:
> ---------------------------------------------------------
> <?xml version="1.0"?>
> <gz:world
> xmlns:gz="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
> xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model
> "
> xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor
> "
> xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window
> "
> xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#params
> " xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#params">
>   <model:LightSource>
>     <id>0</id>
>     <xyz>0 0 5</xyz>
>     <attenuation>0.1 0.25 0.0</attenuation>
>   </model:LightSource>
>   <model:LightSource>
>     <id>0</id>
>     <xyz>10 10 5</xyz>
>     <attenuation>0.3 0.4 0.0</attenuation>
>   </model:LightSource>
>   <model:LightSource>
>     <id>0</id>
>     <xyz>10 0 5</xyz>
>     <attenuation>0.3 0.25 0.0</attenuation>
>   </model:LightSource>
>   <model:LightSource>
>     <id>0</id>
>     <xyz>0 10 5</xyz>
>     <attenuation>0.3 0.25 0.0</attenuation>
>   </model:LightSource>
> 
>   <model:GroundPlane>
>     <id>ground1</id>
> 
>                 <!--Bounding Box -->
>     <model:SimpleSolid>
>                         <id>wall0</id>
>                         <xyz> 5 0 0 </xyz>
>                         <shape>box</shape>
>                         <size>10 0.02 1.8</size>
>     </model:SimpleSolid>
>     <model:SimpleSolid>
>                         <id>wall1</id>
>                         <xyz> 0 5 0 </xyz>
>                         <shape>box</shape>
>                         <size>0.02 10 1.8</size>
>     </model:SimpleSolid>
>     <model:SimpleSolid>
>                         <id>wall2</id>
>                         <xyz> 5 10 0 </xyz>
>                         <shape>box</shape>
>                         <size>10 0.02 1.8</size>
>     </model:SimpleSolid>
>     <model:SimpleSolid>
>                         <id>wall3</id>
>                         <xyz> 10 5 0 </xyz>
>                         <shape>box</shape>
>                         <size>0.02 10 1.8</size>
>     </model:SimpleSolid>
> 
> 
> 
> <!--    <textureFile>grid.ppm</textureFile>    -->
>   </model:GroundPlane>
> 
>   <model:Pioneer2DX>
>     <id>robot1</id>
>     <xyz>1 1 0.234</xyz>
>     <rpy>0 0 45</rpy>
>     <model:MonoCam>
>        <id>cam0</id>
>        <xyz>0.1 0.0 0.0</xyz>
>        <rpy>0 -5 0</rpy>
>     </model:MonoCam>
> 
>   </model:Pioneer2DX>
> 
>   <!-- A simple object... ball -->
>   <model:SimpleSolid>
>     <xyz>3 3</xyz>
>     <color> 1 0 1 </color>
>     <shape>sphere</shape>
>     <size>.3</size>
>     <model:TruthWidget>
>         <id>posicao_bolinha</id>
>     </model:TruthWidget>
>   </model:SimpleSolid>
> </gz:world>
> ---------------------------------------------------------
> 
> test.cfg:
> ---------------------------------------------------------
> driver
> (
>   name "gazebo"
>   provides ["simulation:0"]
>   plugin "libgazeboplugin"
>   server_id "default"
> 
> )
> 
> driver
> (
>   name "gazebo"
>   provides ["camera:0"]
>   gz_id "cam0"
> )
> 
> driver
> (
>         name "cmvision"
>         provides ["blobfinder:0"]
>         requires ["camera:0"]
>         colorfile "colors.txt"
> )
> 
> ---------------------------------------------------------
> 
> 
> colors.txt
> ---------------------------------------------------------
> [Colors]
> (255,  0,  0) 0.000000 10 Red
> 
> [Thresholds]
> (25:106,135:202,137:221)
> 
> ---------------------------------------------------------
> 
> 
> Trying to run playercam I get some GTK errors related to this
> playercam.c line:
> 190:       gdk_pixbuf_composite(blobbuf,
> 
>                            g_pixbuf,
>                            g_blobs[i].left,
>                            g_blobs[i].top,
>                            abs(g_blobs[i].right - g_blobs[i].left),
>                            abs(g_blobs[i].top   - g_blobs[i].bottom),
>                            1, 1, 1, 1, GDK_INTERP_NEAREST, 128);
> 
> So, i've deleted it and put this:
> printf("Number of blobs: %d\n Ret.: (%d,%d)(%d,%d)\nCentroid:
> (%d,%d)\nArea: %d\n\n",(int)g_blob_count,(int)g_blobs[i].left,
> (int)g_blobs[i].top, (int)g_blobs[i].right,(int)g_blobs[i].bottom,
> (int)g_blobs[i].x,(int)g_blobs[i].y, (int)g_blobs[i].area);
> 
> And now i'm getting this output:
> 
> Number of blobs: 1
>  Ret.: (143,157)(172,284)
> Centroid: (151,148)
> Area: 160
> 
> How you can see, this output is wrong!!! My image is only 320x240 and
> it's reporting one point at (172,284)
> Additionaly, Centroid is outside the blob!!!
> 
> I've made sometime ago a program to load an image file and run CMVision
> in it. So, i've saved a frame in player, and, running my program,
> CMVision (outside player) gives me:
> 
> Number of blobs: 1
> Ret: (148;139)(172;161)
> Centroid: (159,391083;149,856430)     // Centroid, originally in
> CMVision is float
> Area: 404
> 
> Images in this email are which used in (out.ppm) and generated
> (processed.png) by my program (it is... i think my old cmvision program
> is working well...)
> 
> 
> 
> Thnx
> Lucas Martins De Marchi