Thanks a lot Nate it's work very well
2006/4/17, Nate Koenig <[EMAIL PROTECTED]>:
> Hello,
>
> Sorry for the long delay. I have tested your code and world file.
> Everything worked for me. I'm using player-2.0 and CVS gazebo. I made
> a couple changes to the files, which I have included below. Let me
> know if they work for you.
>
> *** Gazebo World File ***
> <model:ObserverCam>
> <id>userCam0</id>
> <xyz>-0.389 -0.898 1.046</xyz>
> <rpy>0 37 31</rpy>
> <imageSize>320 200</imageSize>
> <updateRate>10</updateRate>
> <displayRays>false</displayRays>
> <displayAxes>false</displayAxes>
> <displayCoM>false</displayCoM>
> <displayTextures>true</displayTextures>
> </model:ObserverCam>
>
> <model:LightSource>
> <id>light1</id>
> <xyz>0.000 0.000 5.000</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:GroundPlane>
> <id>ground1</id>
> <color>0.5 0.5 0.5</color>
> <textureFile>grid.ppm</textureFile>
> </model:GroundPlane>
>
> <model:Pioneer2DX>
> <id>robot1</id>
> <xyz>0 0 0.200</xyz>
> <model:SonyVID30>
> <id>camera1</id>
> <xyz>0 0 0.0</xyz>
> </model:SonyVID30>
> </model:Pioneer2DX>
>
> <model:SimpleSolid>
> <color>0 1 0 </color>
> <xyz> 3 0 .05 </xyz>
> <shape>box</shape>
> </model:SimpleSolid>
>
> *** Color File **
> [Colors]
> (255, 0, 0) 0.000000 10 Red
> ( 0,255, 0) 0.000000 10 Green
> ( 0, 0,255) 0.000000 10 Blue
>
> [Thresholds]
> ( 25:164, 80:120,150:240)
> ( 20:220, 50:120, 40:115)
> ( 15:190,145:255, 40:120)
>
> *** Player config file ***
> driver
> (
> name "gazebo"
> provides ["simulation:0"]
> plugin "libgazeboplugin"
> server_id "default"
> )
>
> driver
> (
> name "gazebo"
> provides ["camera:0"]
> gz_id "camera1"
> )
>
> driver
> (
> name "cameracompress"
> provides ["camera:1"]
> requires ["camera:0"]
> )
>
> driver
> (
> name "cmvision"
> provides ["blobfinder:0"]
> requires ["camera:0"]
> colorfile "colors.txt"
> )
>
> *** Player Client Code ***
>
> #include <stdio.h>
> #include <libplayerc/playerc.h>
>
> int main()
> {
> playerc_client_t *client;
> playerc_blobfinder_t *blobfinder;
> playerc_camera_t *camera;
>
> // Create a client object and connect to the server; the server must
> // be running on "localhost" at port 6665
> client = playerc_client_create(NULL, "localhost", 6665);
> if (playerc_client_connect(client) != 0)
> {
> fprintf(stderr, "error: %s\n", playerc_error_str());
> return -1;
> }
>
> //Create a camera proxy
> camera = playerc_camera_create(client,0);
> if (playerc_camera_subscribe(camera, 1) !=0)
> {
> fprintf(stderr, "error: %s\n", playerc_error_str());
> return -1;
> }
>
> //Create a Blobfinder proxy
> blobfinder = playerc_blobfinder_create(client, 0);
> if (playerc_blobfinder_subscribe(blobfinder, PLAYER_OPEN_MODE) != 0)
> {
> fprintf(stderr,"error: %s\n", playerc_error_str());
> return -1;
> }
>
> unsigned int red, green, blue;
>
> while(true)
> {
> // Read data from the server and display current robot position
> playerc_client_read(client);
> if ( (blobfinder->blobs_count) > 0)
> {
> red = (blobfinder->blobs[0].color&0xFF0000) >> 16;
> green = (blobfinder->blobs[0].color&0xFF00) >> 8;
> blue = blobfinder->blobs[0].color&0xFF;
>
> printf("blob count is %d\n", blobfinder->blobs_count);
> printf("blob color is RGB[%d, %d, %d]\n", red,green,blue);
> printf("blob ID is %x\n", blobfinder->blobs[0].id);
> }
> else
> printf("blob count is 0 \n");
> }
>
> playerc_camera_unsubscribe(camera);
> playerc_client_disconnect(client);
> playerc_client_destroy(client);
>
> return 0;
> }
>
>
> -nate
>
> On 4/8/06, Valentino <[EMAIL PROTECTED]> wrote:
> > Thanks for answer
> > Blob count it's ok but there are problems for blob color and blob id
> > (they are always zero)
>
>
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