simpleshape

Visual shape-detection. More...

Visual shape-detection.

Todo:

This driver is currently disabled because it needs to be updated to the Player 2.0 API.

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.
• match_thresh (float tuple)
  • Default: [0.50 20.0 0.20]
  • Match thresholds (?)

Example

driver
(
  name "simpleshape"
  requires ["camera:0"]
  provides ["blobfinder:1" "camera:1"]
  model "simpleshape_h.pgm"
)

Author

Andrew Howard