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simpleshape [Drivers] The simpleshape driver looks for simple geometric shapes in a camera image. The user must supply a model of the target shape, in the form of a binary image (such as the one shown below). Sample model for the simpleshape detector Compile-time dependencies OpenCV Requires This driver acquires image data from a camera interface. Provides This driver provides detected shapes through a blobfinder interface. This driver also supplies processed image data through a camera interface (this data is intended mostly for debugging). Note that the dimensions of the output image are twice that of the input image: the output image is divided into four parts, each showing one step in the detection process. From top-to-bottom and left-to-right, these are: original image (monochrome), edge image, contour image, detected shapes. Output image (debugging) Configuration requests none Configuration file options model (string) Default: NULL Filename of the model image file. This should by a binary, grayscale image. canny_thresh (float tuple) Default: [40 20] Thresholds for the Canny edge detector. Example driver ( name "simpleshape" requires ["camera:0"] provides ["blobfinder:1" "camera:1"] model "simpleshape_h.pgm" ) Authors Andrew Howard