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  #91   Spotlight this post!  
Unread 12-21-2017, 03:04 PM
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Making the 1's and 0's
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Re: JeVois Smart Machine Vision

Quote:
Originally Posted by AllenGregoryIV View Post
...
Another piece of secret sauce. I like it. Will give it a shot soon.


Although I'm sure our conversations will continue - thank you to all on this thread and the other one for helping get us going on this!! All the suggestions and cross-work has been invaluable.
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Unread 12-21-2017, 03:08 PM
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Re: JeVois Smart Machine Vision

Quote:
Originally Posted by billbo911 View Post
According to our programming mentor, a Java programmer by trade, GSON is likely the best choice. It is geared more for smaller files/packets, such as would be sent from JeVois. Jackson is better at larger files.
To this conversation - for what it's worth, I think we're going to "roll our own" protocol. At the end of the day, it's just a set of numbers - fixed length, with the architecture we're considering.

We were thinking plaintext ascii, just so it's easily debuggable by human inspection. However, in all other aspects, we wanted to minimize the number of bytes transferred over the serial bus. JSON is nice and flexible, but has lots of overhead (bits of actual info/actual bits transfered is small).
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Unread 12-21-2017, 03:44 PM
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Re: JeVois Smart Machine Vision

Quote:
Originally Posted by gerthworm View Post
To this conversation - for what it's worth, I think we're going to "roll our own" protocol. At the end of the day, it's just a set of numbers - fixed length, with the architecture we're considering.

We were thinking plaintext ascii, just so it's easily debuggable by human inspection. However, in all other aspects, we wanted to minimize the number of bytes transferred over the serial bus. JSON is nice and flexible, but has lots of overhead (bits of actual info/actual bits transfered is small).
I have ZERO argument against this approach. That is how we rolled for several years. Right through 2017 we used a home grown serial parsing routine. We built the data set, so we better know how to parse it!

The reason we have chosen to switch to using JSON is because we have a new programming mentor that is much more familiar with JSON than some sort of home brew he has never seen before. JSON is a commonly used object notation, so we felt it better to standardize.
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Unread 12-21-2017, 04:25 PM
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Re: JeVois Smart Machine Vision

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Originally Posted by billbo911 View Post
I have ZERO argument against this approach. That is how we rolled for several years. Right through 2017 we used a home grown serial parsing routine. We built the data set, so we better know how to parse it!

The reason we have chosen to switch to using JSON is because we have a new programming mentor that is much more familiar with JSON than some sort of home brew he has never seen before. JSON is a commonly used object notation, so we felt it better to standardize.
Seems like JSON shouldn't be too much extra text anyway. XML is kind of fat but JSON seems like a good choice.
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Unread 12-21-2017, 05:01 PM
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Re: JeVois Smart Machine Vision

Quote:
Originally Posted by Hjelstrom View Post
Seems like JSON shouldn't be too much extra text anyway. XML is kind of fat but JSON seems like a good choice.
The plain text. Reading of Jon is just braces, commans and collans. It's very little over head and the parasing is done for you.
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Unread 12-21-2017, 05:06 PM
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Re: JeVois Smart Machine Vision

Quote:
Originally Posted by Hjelstrom View Post
XML is kind of fat
What could possibly be the problem?

Code:
<?xml version="1.0"?>
<catalog xmlns:xsd="http://www.w3.org/2001/XMLSchema" 
         xmlns:x="urn:vision"> 
  <xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema" targetNamespace="urn:vision">
  <xs:element name="first">
    <xs:complexType>
      <xs:sequence>
        <xs:element name="inspired">
          <xs:complexType>
            <xs:sequence>
              <xs:element name="vision">
                <xs:complexType>
                  <xs:sequence>
                    <xs:element name="found">
                      <xs:complexType>
                        <xs:sequence>
                          <xs:element name="x">
                            <xs:complexType>
                              <xs:simpleContent>
                                <xs:extension base="xs:float">
                                  <xs:attribute type="xs:string" name="unit"/>
                                </xs:extension>
                              </xs:simpleContent>
                            </xs:complexType>
                          </xs:element>
                          <xs:element name="y">
                            <xs:complexType>
                              <xs:simpleContent>
                                <xs:extension base="xs:float">
                                  <xs:attribute type="xs:string" name="unit"/>
                                </xs:extension>
                              </xs:simpleContent>
                            </xs:complexType>
                          </xs:element>
                          <xs:element name="z">
                            <xs:complexType>
                              <xs:simpleContent>
                                <xs:extension base="xs:float">
                                  <xs:attribute type="xs:string" name="unit"/>
                                </xs:extension>
                              </xs:simpleContent>
                            </xs:complexType>
                          </xs:element>
                          <xs:element name="fill">
                            <xs:complexType>
                              <xs:simpleContent>
                                <xs:extension base="xs:float">
                                  <xs:attribute type="xs:string" name="unit"/>
                                </xs:extension>
                              </xs:simpleContent>
                            </xs:complexType>
                          </xs:element>
                          <xs:element type="xs:float" name="sides"/>
                        </xs:sequence>
                      </xs:complexType>
                    </xs:element>
                  </xs:sequence>
                </xs:complexType>
              </xs:element>
            </xs:sequence>
          </xs:complexType>
        </xs:element>
      </xs:sequence>
    </xs:complexType>
  </xs:element>
</xs:schema>
<first>
  <inspired>
    <vision>
      <found>
        <x unit="meters">
          3.52
        </x>
        <y unit="meters">
          2.39
        </y>
        <z unit="meters">
          1.87
        </z>
        <fill unit="percent">
          42
        </fill>
        <sides>
          8
        </sides>
      </found>
    </vision>
  </inspired>
</first>
</catalog>
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Unread 12-21-2017, 05:13 PM
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Re: JeVois Smart Machine Vision

Quote:
Originally Posted by phurley67 View Post
What could possibly be the problem?

Code:
<?xml version="1.0"?>
<catalog xmlns:xsd="http://www.w3.org/2001/XMLSchema" 
         xmlns:x="urn:vision"> 
  <xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema" targetNamespace="urn:vision">
  <xs:element name="first">
    <xs:complexType>
      <xs:sequence>
        <xs:element name="inspired">
          <xs:complexType>
            <xs:sequence>
              <xs:element name="vision">
                <xs:complexType>
                  <xs:sequence>
                    <xs:element name="found">
                      <xs:complexType>
                        <xs:sequence>
                          <xs:element name="x">
                            <xs:complexType>
                              <xs:simpleContent>
                                <xs:extension base="xs:float">
                                  <xs:attribute type="xs:string" name="unit"/>
                                </xs:extension>
                              </xs:simpleContent>
                            </xs:complexType>
                          </xs:element>
                          <xs:element name="y">
                            <xs:complexType>
                              <xs:simpleContent>
                                <xs:extension base="xs:float">
                                  <xs:attribute type="xs:string" name="unit"/>
                                </xs:extension>
                              </xs:simpleContent>
                            </xs:complexType>
                          </xs:element>
                          <xs:element name="z">
                            <xs:complexType>
                              <xs:simpleContent>
                                <xs:extension base="xs:float">
                                  <xs:attribute type="xs:string" name="unit"/>
                                </xs:extension>
                              </xs:simpleContent>
                            </xs:complexType>
                          </xs:element>
                          <xs:element name="fill">
                            <xs:complexType>
                              <xs:simpleContent>
                                <xs:extension base="xs:float">
                                  <xs:attribute type="xs:string" name="unit"/>
                                </xs:extension>
                              </xs:simpleContent>
                            </xs:complexType>
                          </xs:element>
                          <xs:element type="xs:float" name="sides"/>
                        </xs:sequence>
                      </xs:complexType>
                    </xs:element>
                  </xs:sequence>
                </xs:complexType>
              </xs:element>
            </xs:sequence>
          </xs:complexType>
        </xs:element>
      </xs:sequence>
    </xs:complexType>
  </xs:element>
</xs:schema>
<first>
  <inspired>
    <vision>
      <found>
        <x unit="meters">
          3.52
        </x>
        <y unit="meters">
          2.39
        </y>
        <z unit="meters">
          1.87
        </z>
        <fill unit="percent">
          42
        </fill>
        <sides>
          8
        </sides>
      </found>
    </vision>
  </inspired>
</first>
</catalog>
LOL! perfect example!
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Unread 12-21-2017, 05:50 PM
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Re: JeVois Smart Machine Vision

Just so people understand, the JSON in the example code I posted above comes out human readable. I don't see a need to make this more readable or more compact.

Code:
{"tx": 0.0, "ty": 0.0, "ta": 0.0, "tv": false}
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Unread 12-21-2017, 06:45 PM
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Re: JeVois Smart Machine Vision

Small json is /probably/ ok, but watch out with object serialization over the serial port. 115200 baud at 30fps nets you a max message size of 480 bytes, and the JeVois seems to throw in some engine responses as well. I'd definitely keep the keys terse, like in Alan's example. Make sure you cut the real numbers after a few decimal places, as that can grow quickly!

That being said, it should be really simple to shove the bytes down serially.

I'd probably do something like

Code:
START_BYTE - VALID_TRACK - FRAME_ID_A - FRAME_ID_B - X_A - X_B - Y_A - Y_B - CHECKSUM
Where each entry is 1 byte. Frame ID, x, and y are unsigned 16 bit ints*. The start byte can be something like 0xFF and the checksum is the XOR of all the bytes between the start byte and Y_B. This is a really standard way of implementing packets on a serial line. The reader just then needs to scan until it sees 0xFF, read each byte pair into a buffer, and validate the checksum. Easy peasy and no giant json library needed.

*1 byte is probably fine but 16 bits should make sure you have enough resolution if you want to up the image size and snipe from far range.

Last edited by Tom Bottiglieri : 12-21-2017 at 06:50 PM.
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Unread 12-21-2017, 07:01 PM
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Re: JeVois Smart Machine Vision

Quote:
Originally Posted by Tom Bottiglieri View Post
Small json is /probably/ ok, but watch out with object serialization over the serial port. 115200 baud at 30fps nets you a max message size of 480 bytes, and the JeVois seems to throw in some engine responses as well. I'd definitely keep the keys terse, like in Alan's example. Make sure you cut the real numbers after a few decimal places, as that can grow quickly!

That being said, it should be really simple to shove the bytes down serially.

I'd probably do something like

Code:
START_BYTE - VALID_TRACK - FRAME_ID_A - FRAME_ID_B - X_A - X_B - Y_A - Y_B - CHECKSUM
Where each entry is 1 byte. Frame ID, x, and y are unsigned 16 bit ints*. The start byte can be something like 0xFF and the checksum is the XOR of all the bytes between the start byte and Y_B. This is a really standard way of implementing packets on a serial line. The reader just then needs to scan until it sees 0xFF, read each byte pair into a buffer, and validate the checksum. Easy peasy and no giant json library needed.

*1 byte is probably fine but 16 bits should make sure you have enough resolution if you want to up the image size and snipe from far range.
The relative limitation of the hardware serial port can easily be overcome if you choose to send your data over USB. Take a look at the example code we put in the whitepaper for receiving on the roboRIO.
Code:
...SerialPort(921600, SerialPort.Port.kUSB);...
The baud rate here is not even close to the 480Mbs that is possible.

You should be able to eliminate the JeVois engine responses by using
Code:
setpar serlog None
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Unread 12-21-2017, 07:10 PM
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Re: JeVois Smart Machine Vision

It doesn't appear to be easy to send anything that isn't a string over the serial port inside of the python scripts.

http://jevois.org/doc/classjevois_1_1Module.html#a25fcd554bf1ee47e02c51f f1844f5482
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Unread 12-21-2017, 07:47 PM
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Re: JeVois Smart Machine Vision

Quote:
Originally Posted by AllenGregoryIV View Post
It doesn't appear to be easy to send anything that isn't a string over the serial port inside of the python scripts.
I would expect you could just use python's pack method to put binary data into the string, in C++ you would just match the packed format up against a structure, in Java you would use a DataInputStream, and in LabView if I remember correctly you could create a structure and read the buffer into it (but I don't have a copy running around here to give a real example).
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Unread 12-21-2017, 10:37 PM
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Re: JeVois Smart Machine Vision

Quote:
Originally Posted by phurley67 View Post
I would expect you could just use python's pack method to put binary data into the string, in C++ you would just match the packed format up against a structure, in Java you would use a DataInputStream, and in LabView if I remember correctly you could create a structure and read the buffer into it (but I don't have a copy running around here to give a real example).
thanks
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Unread 12-22-2017, 01:39 PM
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Re: Introducing Limelight for FRC

Hi everyone!

Laurent Itti here, creator of JeVois. I just came across this thread and I am very excited that machine vision is a hot topic for this season! Although I have not yet mentored a team, I served as a judge for FRC a few years ago, and I was very impressed with what the students were achieving.

I thought I would share a quick teaser I just put together now that we are done here with grading our 576 students in my A.I. class (pfewww):

https://www.youtube.com/watch?v=BaWostkMClA

Merry Christmas to all of you and please keep up the great team work!
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Unread 12-22-2017, 02:15 PM
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Re: JeVois Smart Machine Vision

It appears to be on like Donkey Kong:

https://www.chiefdelphi.com/forums/s...65#post1715165
https://www.youtube.com/watch?v=BaWostkMClA

Which seems oddly appropriate given the theme this year.
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