Where is the multi object tracking code for the RC?

[Kevin Watson]

Originally Posted by joe250

If one were to use the VW command (virtual window, see page 55 of the CMUCam2 manual), processing could be done on a particular chunk of the camera's view. By examining a 50px wide window and then repeatedly sliding that window over by a given number of pixels and re-processing, one could reconstruct the two distinct blobs and make an estimate of the number of pixels between them.

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!

Yes, this is one of the cooler approaches that you could try. A simpler way might be to rotate the camera fully clockwise, call Track_Color() and then rotate the camera counter-clockwise until the camera detects the light. Then continue to rotate counter-clockwise until the entire blob is in frame (i.e., the blob isn't touching the edge of the image). Now you know where the right most blob is and its size. Do this again to find the left most blob. A little math, and you should know where the closest scoring location is.

It's a fun problem <evil grin>.

-Kevin