[ playerstage-Patches-2974049 ] New driver: blobposition

Patches item #2974049, was opened at 2010-03-21 11:55
Message generated for change (Tracker Item Submitted) made by newchief
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Category: Player
Group: Release-3.0
Status: Open
Resolution: None
Priority: 5
Private: No
Submitted By: Paul Osmialowski (newchief)
Assigned to: Brian Gerkey (gerkey)
Summary: New driver: blobposition

Initial Comment:
Localization device that treats blobs as object markers that can be used
to retrieve real position of given object.

This device computes real position of some object found by blobfinder that denotes it
by a blob of given color key.
If only one color key is given in configuration file options, only px and py coordinates
will be computed leaving pa filled with zero. If two color keys are given, two
differently coloured blobs (with each of those color keys) must be found by blobfinder
device in order to compute object position. In such a case position of the object
is found in the middle of the line segment between those two blobs. Knowing which blob
is which this driver can compute complete information about object position (px, py, pa).
If more than one blob with any of given color keys is found, no position is computed.
If position cannot be computed, this fact will be indicated by 'stall' field set to 1;
other fields will be filled with previously computed values.

When this driver is started, camera device from which blobfinder reads data
should remain static all the time. Moving the camera distorts computation results.

Tested with searchpattern (also waiting on a tracker):
driver
(
  name "searchpattern"
  provides ["blobfinder:0" "camera:0"]
  requires ["camera:1"]
  patterns ["(0x00ff0000 (black (white (black) (black (white)))))" "(0x0000ff00 (black (white) (white (black))))"]
  threshold 112
  min_blob_pixels 16
  debug 1
)
driver
(
  name "blobposition"
  provides ["position2d:0"]
  requires ["blobfinder:0"]
  x_ppm 99
  y_ppm 97
  expected_size [640 480]
  offset [358 258]
  colorkeys ["0x00ff0000" "0x0000ff00"]
  stall_when_lost 1
)


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