Blobfinder model

Collaboration diagram for Blobfinder model:

The blobfinder model simulates a color-blob-finding vision device, like a CMUCAM2, or the ACTS image processing software. It can track areas of color in a simulated 2D image, giving the location and size of the color 'blobs'. Multiple colors can be tracked at once; they are separated into channels, so that e.g. all red objects are tracked as channel one, blue objects in channel two, etc. The color associated with each channel is configurable.

API: Stg::ModelBlobfinder

Worldfile properties

Summary and default values

blobfinder
(
  # blobfinder properties
  colors_count 0
  colors [ ]
  image[ 80 60 ]
  range 12.0
  fov 3.14159/3.0
  pan 0.0

  # model properties
  size [ 0.0 0.0 0.0 ]
)

Details

• colors_count <int>
  number of colors being tracked
• colors [ col1:<string> col2:<string> ... ]
  A list of quoted strings defining the colors detected in each channel, using color names from the X11-style color database (ex. "black", "red"). The number of strings should match colors_count.
• image [ width:<int> height:<int> ]
  dimensions of the image in pixels. This determines the blobfinder's resolution
• range <float>
  maximum range of the sensor in meters.