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#46
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Re: Where is the multi object tracking code for the RC?
We're currently looking at a number of things. Of particular interest to us is the relationship between the location of the centroid and the locations of the top-left and lower-right corners. We're hoping to use the fact that the centroid is closer to the light with a smaller angle to the robot in order to write a function that takes those three locations and tells us enough about where the lights are to either lock-in on one of them or on the middle.
-Guy |
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#47
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Re: Where is the multi object tracking code for the RC?
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) us in the right direction. Though your code is phenomenal and a big help, it has been a lot of fun this year to try to figure out some possible alternative solutions (especially for such an interesting problem).To all the people who have proposed methods other than the one used by the EasyC code: would you care to share any test results or code for those methods? It would be very time consuming for everyone to test every method for its viability, so perhaps some collaboration would be useful. I'll try to post some LabView Code and C source if I can test the VW thin-slicing method soon. Thanks again to Kevin and everyone else's input on this topic |
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#48
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Re: Where is the multi object tracking code for the RC?
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#49
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Re: Where is the multi object tracking code for the RC?
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I've thought about ways to do this, and it isn't all too complicated... I just need to test it out, and make sure 127 would be the camera pointing parallel with the ground. I'll get to testing it, but I'm wondering what you guys have come up with for this? |
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#50
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Re: Where is the multi object tracking code for the RC?
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#51
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Re: Where is the multi object tracking code for the RC?
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You can use a tangent function when you create the lookup table, of course. Or you can fill in the table empirically by repeatedly placing the robot a known distance from the target and observing the tilt angle. |
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#52
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Re: Where is the multi object tracking code for the RC?
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#53
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Re: Where is the multi object tracking code for the RC?
Just FYI, you can create that table, and read from it using the EEPROM code at http://kevin.org/frc.
Edit: I also wrote some example code that creates an 8- and/or 16-bit sine table in EEPROM with one piece of code and then allows you to quickly do a sin() or cos() lookup using another piece of code (stuff written to EEPROM is permanent until you erase it). I haven't written any formal documentation yet, but I think the code is fairly readable. The code can be found here: http://kevin.org/frc/frc_trig.zip. -Kevin Last edited by Kevin Watson : 17-01-2007 at 12:03. |
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