Where is the multi object tracking code for the RC?

[EHaskins]

Dave said the multi object code was available online, but I can't find it. Does anyone know where it is?

Thanks,
Eric Haskins

[Ctrl Alt Delete]

Does kevin's code work for this?
http://kevin.org/frc/frc_camera_2.zip

[Jeff Rodriguez]

http://www.intelitekdownloads.com/easyCPRO/

[DanDon]

Originally Posted by Ogre

http://www.intelitekdownloads.com/easyCPRO/

Do we use last year's unlock code for this?

[Alexa Stott]

Originally Posted by Ogre

http://www.intelitekdownloads.com/easyCPRO/

So wait, are you only able to use that code with EasyC?

[Kingofl337]

Currenty only easyC and WPILib have code written for Multi-Target.
Brad Miller will be making a project on Monday for WPILIB.
The reason being the GDC used easyC for FRC to program
the Demo and most of the test robots.

easyC PRO has a full IDE builtin now so you can write C code
as much as your heart desires. Also, easyC PRO has a graphics
display window that works similar to the way the demo did.

Team contacts will recieve a CD-KEY Monday.
You can run in evaluation mode till then.

[Kevin Watson]

Originally Posted by Kingofl337

...Only easyC and WPILib have code written for Multi-Target....

Really?

-Kevin

[JBotAlan]

I am confused; I didn't even know that the *hardware* supported multiple objects. I'll have to have a look-see at that code to figure out how multi-tracking works.

JBot

[chris31]

Originally Posted by Kevin Watson

Really?

-Kevin

I canr wait.

Originally Posted by JBotAlan

I am confused; I didn't even know that the *hardware* supported multiple objects. I'll have to have a look-see at that code to figure out how multi-tracking works.

JBot

If course it could. Its all about the software implementation.

[Ctrl Alt Delete]

OK, so we have to use WPILib to get the tracking code? We were going to use FusionEdit and not easyC.

[JBotAlan]

Originally Posted by chris31

If course it could. Its all about the software implementation.

Yes, but if you have 2 targets in one field-of-view, you will get a wide box and a low confidence value. That's at the camera's firmware level. So just by looking at the tracking packets, you wouldn't be able to see 2 targets. And I know we couldn't dump the contents of the frame into the RC; we don't have that kind of bandwidth.

However, if you only had one target in the field-of-view, and panned until you saw another, this would work fine. I'm guessing that's how the software works.

JBot

[Kevin Watson]

Originally Posted by JBotAlan

I am confused; I didn't even know that the *hardware* supported multiple objects. I'll have to have a look-see at that code to figure out how multi-tracking works.

JBot

The hardware doesn't support tracking of multiple objects. The code that Dave mentioned, written by FIRST's Neil Rosenberg, infers the location of a "spider leg" by looking at the size of the image. If there are two lights in the scene -- which is not always the case -- the camera returns a blob size that is far too big to be from one light. If the blob size is small, you know that there is only one light in the scene and there is a spider leg directly underneath.

-Kevin

[DanDon]

Kevin,

If you did write code (I hope I'm not misinterpreting your post), do you have an approximate release date?

[robind]

Bump? It sounds like Kevin's leading us on a little, but I would love love love to have that code.

[Kingofl337]

Kevin, if your 2007 code can has the tracking similar to what Neil wrote then I apologize as I was misinformed.

Kevin is 100% correct the CMU can't track multiple objects the code just looks at the size of the target region and if its over a certain size prints that its looking a 2 targets. In the demo they used a terminal emulation program and used VT100 calls. We made our own custom terminal window and function to do the same thing in easyC PRO.

WPILIB is 100% compatible with MPLAB, and Eclipse. Infact it's currently being written and maintained in Eclipse,
WPI has been using it since 2005 on their FRC robots.