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#16
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Re: Where is the multi object tracking code for the RC?
any reason why easyc can't open bds file for the multi-object tracking code??
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#18
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Re: Where is the multi object tracking code for the RC?
The way the camera works is that it takes a picture, finds all the pixels that fall into a color range, and finds information about them. The information I've used in the past is:
I do not remember if the camera provides the number of separate blobs in the default information. If it does not, the communication overhead and computation requirements would likely be prohibitive. If it does, there is a good chance that you can not get the separate bounding box/median information for each blob. Of course, I'm likely to eat my words when the actual code gets around. EDIT: Wow. How much discussion occurs while I post! Last edited by Astronouth7303 : 07-01-2007 at 12:54. |
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#19
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Re: Where is the multi object tracking code for the RC?
Quote:
-Kevin |
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#20
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Re: Where is the multi object tracking code for the RC?
How exactly does one access the data pertaining to the individual blobs? I didn't remember ever seeing anything like that in the code...
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#21
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Re: Where is the multi object tracking code for the RC?
They are not individual blobs they are a single large blob. The camera just draws a box around the target pixels.
If you load up easyC PRO we have a program in the Sample Code that shows what the camera is seeing. It draws a box around the blob and shows an "X" for the centriod (center of blob) and shows the data the camera is showing. If your not using easyC the CMU JavaApp also can show you the region. I don't know if labview can show this data. |
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#22
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Re: Where is the multi object tracking code for the RC?
Quote:
Of course if you used this method, the camera's servos would have to be driven by the RC because otherwise resetting the virtual window would cause the camera to track/center on that particular portion of the window. (I'm pretty sure anyways, haven't ever actually tested out the command). Can anyone verify that using the VW window causes the camera to re-process only that chunk of the view? Also I'm not sure if a sliding window would be too slow. Eagerly anticipating any more hints from Kevin! ![]() |
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#23
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Re: Where is the multi object tracking code for the RC?
Quote:
It's a fun problem <evil grin>. -Kevin |
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#24
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Re: Where is the multi object tracking code for the RC?
i had a solution which i do not think is legal but would be cool.
Parts CMU Cam 2 x2 Basic Stamp Or Javilin BOE Programming Board Serial data into the free pins. Program the stamp to tack on a L or R to the packet befor sending it to the robot. That would allow for multi cameras but i dont think you can use a stamp. Maby a pic though. |
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#25
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Quote:
Thanks in advance, Robinson Last edited by gnirts : 15-01-2007 at 00:20. Reason: felt like it |
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#26
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Re: Where is the multi object tracking code for the RC?
Quote:
-Kevin |
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#27
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Quote:
While I would like it if we weren't angle sensitive, if we are, what math is necessary to figure out your approach angle to the target (eg. head on, coming in at 20*, etc.)? Thanks in advance, Robinson |
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#28
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Re: Where is the multi object tracking code for the RC?
Quote:
-Kevin Last edited by Kevin Watson : 21-01-2007 at 02:36. Reason: Fixed link. |
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#29
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Re: Where is the multi object tracking code for the RC?
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But also, I have an idea of how to determine the orientation of the rack/vision target from information from the camera and would like to know the feasibility of it. It draws on the fact that the blob size is proportional to the angle that your approaching the target from. the blob size will be "thinner" if you're approaching from an angle, and larger if you're approaching head on. Do you think it would be possible to determine the angle of the rack based on this information, and the distance? It seems that our robot will only be able to score(feasibly) head on. |
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#30
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Re: Where is the multi object tracking code for the RC?
one question,is it possible to use feedback from the camera to controll the robot, almost like a mini-autonomous mode built in to the code.
i.e. have the size of the rectangle tell you your robot if it is head on or if the light is to the right or if it is between two lights. then use that info to triangulate it's position{like kevin said it would rotate clockwise unitl it only has one light is sight. then it would rotate counterclockwise until it has only one light in sight, then use the that to find the distance between the two using some sort of equation(custom)} once that distance becomes let's say the equivalent of 45* it would go straight forward and hang the ringer. i know that it is complicated but is it possible with the hardware and software. |
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