Goal post perceptor module. This module is developed as a patch for B-Human framework and has been tested in the 2013 release. The code has been used by MRL Nao team in RoboCup 2015 standard platform league (SPL).
To use this code you need to setup B-Human code release 2013. The later versions
might also be working. The framework is accessible on:
http://b-human.de/
After installation of B-Human's code, put the provided files with the orginal ones. This might be all you need to do, unless you have had modifications on the representations.
Since, the B-Human method for setting white colors does not support every value of white color, 'yellow' label is used to denote this color. In the other words, you ought to label the goal posts as yellow. Please note that the color table boundaries should be chosen wisely, specially at the lower part of the posts.
Feel free to use, modify or re-publish this code. And please feel free to fork the code from Github and send pull requests.
Report any comment or bugs to:
a.moqadammehr@mrl-spl.ir
Regards,
Aref Moqadam
Nao Lab. (MRL-SPL Team)
Mechatronics Research Laboratories (MRL)