Blob detection after exercise U1-1 does not work correctly in unit 2

dave.vandermeer · April 5, 2020, 3:54pm

I am working on the perception module in unit 2 in preparation of exercise U1-2. I manage to get the red ball in the field of view of the robot, I can use the GUI to get the RBG and the YUV values. When I fill them into my colors.txt, the detection algorithm doesn’t recognize them correctly. In the best case scenario, it recognizes the red ball as yellow. When I use the default values in the notebook or my own values, it doesn’t show the red color.

Am I doing something wrong or is the VM broken?

Here is a video of the situation:

duckfrost2 · April 6, 2020, 9:00am

I’ve checked and for me t seems to work , so there might be something strange there. Lt me post here the main files that work for me:

gist.github.com

https://gist.github.com/RDaneelOlivav/7b8f7c1e1284302418ad1ba8040aee14.js

my_mira_cmvision_tc.launch

<launch>
  
  <arg name="rgb_raw_image_topic" default="/mira/mira/camera1/image_raw"/>
  <arg name="color_file_path" default="$(find my_blob_tracking_pkg)/color_files/colors.txt"/>
  
  <!-- Location of the cmvision color file -->
  <param name="cmvision/color_file" type="string" 
         value="$(arg color_file_path)" />

  <!-- Turn debug output on or off -->

This file has been truncated. show original

gist.github.com

https://gist.github.com/RDaneelOlivav/4688416d68c2b11a48f0107fe941c825.js

colors.txt

[Colors]
(  254,  3,   3) 0.000000 10 RedBall

[Thresholds]
( 29:81, 85:111, 178:253 )

I got this result launching it:

Maybe for some reason it was getting the yellow first. I would try to just place the RedBall colour an then add other colours and see if that’s the issue.

dave.vandermeer · April 6, 2020, 2:11pm

Based on the results I get from:

rostopic echo /blobs

I assume that this is not the issue in my case. There is only Yellow being detected. No RedBall at all.