7.6 cmvision

Authors

Andy Martignoni III ajm7(at)cs.wustl.edu,Brian P. Gerkey gerkey(at)stanford.edu,Brendan Burns bburns(at)cs.umass.edu,Ben Grocholsky bpg(at)grasp.upenn.edu

Synopsis

CMVision (Color Machine Vision) is a fast color-segmentation (aka blob-finding) software library. CMVision was written by Jim Bruce at CMU and is Freely available under the GNU GPL:
http://www-2.cs.cmu.edu/$\sim$jbruce/cmvision/
But you don't have to download CMVision yourself, because Player's cmvision driver includes the CMVision code. The cmvision driver provides a stream of camera images to the CMVision code and assembles the resulting blob information into Player's blobfinder data format.

The frame-grabbing portion of the cmvision driver is modular, allowing the user to select the source of camera images. Currently, the following sources are supported (see below for how to select the capture source). Note that support for each source is compiled only if the required libraries and/or kernel features are detected.

• IEEE 1394 (aka Firewire) cameras; requires the libraw1394 and libdc1394 development packages (both are Freely available)
• Video4Linux (aka V4L) cameras; requires V4L headers
• Video4Linux2 (aka V4L2) cameras; requires V4L2 support in your kernel (currently disabled)
• A video source that supports Player's internal camera interface, such as the Gazebo camera driver

Interfaces

Supported interfaces:

• blobfinder

Required devices:

• None.

Supported configuration requests:

• None.

Configuration file options

Name Type Default Meaning

capture string "1394" Capture source (should be "1394", "V4L2", "V4L", or "camera")

colorfile string "" (absolute?) path to the CMVision configuration file.

height integer 240 Height of the camera images (pixels).

width integer 320 Width of the camera images (pixels).

Notes

• This driver (or at least its underlying video capture code) only works in Linux.
• Consult the CMVision documentation for details on writing a CMVision configuration file.