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Hi :)
(recovering a "very" old lugnet.robotics thread about Robotic Vision
software for Mindstorms, predating the release of LEGO Vision Command)
I'm assuming that you're the same psksvp that made the Robotic Vision dll's
at
http://www.ccs.neu.edu/home/psksvp/
(Try making a search on "Robotic Vision" or "psksvp" on the lugnet.robotics
and you'll see how old these threads are :)
Sorry but I can't resist making this question, since I "saw" you on
lugnet.robotics.rcx.legos:
Did you, or are you planning on using your vision library with LEGO bots ?
If so, are you planning on releasing working example code of it ?
Thxs ! :)
mc.
PS: Oh, and thxs for http://www.ccs.neu.edu/home/psksvp/download.htm !
> -----Original Message-----
> From: news-gateway@lugnet.com
> [mailto:news-gateway@lugnet.com]On Behalf
> Of psksvp
> Sent: Wednesday, June 05, 2002 2:04 PM
> To: lugnet.robotics.rcx.legos@lugnet.com
> Subject: Thread class
>
>
> // Thread Class for Legos
> // By Pongsak Suvanpong
> // psksvp@ccs.neu.edu
> // use it anyway you'd like as long as this comment is here
[...]
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Hello
I am planing on building stero-head using rcx, and 2 webcam from lego
studio. All ImageProcessing will be done on PC, RCX will be used to control
til, pan, etc...
psksvp
In lugnet.robotics, Marco Correia writes:
> Hi :)
>
> (recovering a "very" old lugnet.robotics thread about Robotic Vision
> software for Mindstorms, predating the release of LEGO Vision Command)
>
> I'm assuming that you're the same psksvp that made the Robotic Vision dll's
> at
> http://www.ccs.neu.edu/home/psksvp/
>
> (Try making a search on "Robotic Vision" or "psksvp" on the lugnet.robotics
> and you'll see how old these threads are :)
>
> Sorry but I can't resist making this question, since I "saw" you on
> lugnet.robotics.rcx.legos:
>
> Did you, or are you planning on using your vision library with LEGO bots ?
> If so, are you planning on releasing working example code of it ?
>
> Thxs ! :)
>
> mc.
>
> PS: Oh, and thxs for http://www.ccs.neu.edu/home/psksvp/download.htm !
>
> > -----Original Message-----
> > From: news-gateway@lugnet.com
> > [mailto:news-gateway@lugnet.com]On Behalf
> > Of psksvp
> > Sent: Wednesday, June 05, 2002 2:04 PM
> > To: lugnet.robotics.rcx.legos@lugnet.com
> > Subject: Thread class
> >
> >
> > // Thread Class for Legos
> > // By Pongsak Suvanpong
> > // psksvp@ccs.neu.edu
> > // use it anyway you'd like as long as this comment is here
> [...]
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Hi :)
*GREAT* !
Are you planning to share your findings ? :)
I downloaded the current version of rv2 (the one that now includes RvCAD
V.1) and tryed it: WOW :)
It doesn't work with my ATI All-in-Wonder128 format feed, nor with mpeg
(yet?) but the tests I did with .AVI were great :)
I think it'll work with the LEGOcam (the older rv2 worked) I haven't tried
yet.
The "new" MachineVision filters (Object Extractor, etc) and the new visual
interface of RvCAD are simply great :)
erm... if only there was a DATA stream circuit/treatment, side by side of
the VIDEO stream circuit, one could, in future versions, do DATA modules
that would simply mix DATA on top of the video or/and processor modules that
would do logic processing/decisions (input=DATA, output=ACTIONS/COMMANDS
that would cause robot reactions)
Something simple as this would be possible:
[VP]>-vs->[MBD]>-vs----------->[MV]->[DT]
[MBD]>-ds->[CDV]-vs->[MV]
vs =video stream
[VP] =video producer
[MBD]=moving blob detection
[MV] =mix video streams
[DT] =display trash
ds =data stream
[CDV]=convert data to video
The [MV] in this example has 2 video in and 1 video out.
The [MDB] is an example of a module with 1 video in, 1 video out *and* 1
data out.
It's easy to imagine decision modules based on data input outputing treated
DATA or ACTIONS that would be directed to a ACTION-MANAGER module. The
config of such a module would deal with the way of making these action come
out of the "virtual" model RvCAD knew. (this would introduce a third stream,
the ACTIONS stream)
It would act as an interface much like the Video Producer does for data
aquisition dealing with the hardware level of things, this Action Manager
could send commands to the robot :) ...hopefully there would be a "driver"
supporting the RCX pCode or something.
...just a thought :)
Anyway, sorry for this long msg and
thxs again for your web page and
what you've shared so far with us all :)
mc.
> -----Original Message-----> Of psksvp
>
> Hello
>
> I am planing on building stero-head using rcx, and 2 webcam from lego
> studio. All ImageProcessing will be done on PC, RCX will be
> used to control
> til, pan, etc...
>
> psksvp
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I'm really starting to like this idea.
...wish I had the time *and knowledge* to do a HyperRvCAD :)
Examples: (ASCII ART ALERT, use FIXED FONT to see):
[VP]>-vs->[DTVP]>-vs----------------------->[ZF]->[DT]
[DTVP]>-ds(x,y)->[DI]>-ds(x,y,m)->[ZF]
[SLID]>-ds(magnification)->[DI]
vs =video stream
ds(t)=data stream (type of data)
[VP] =video producer
[DT] =display trash
[DTVP]=display through with virtual pad for X,Y input
[ZF] =zoom filter expecting a data stream of (x,y,magnification)
[DI] =data stream interleaver, joining (a,b,..)&(d,e,..)->(a,b,..,d,e,..)
[SLID]=generic data slider for value input
or
[VP]>-vs->[MBD]>-vs-------------------->[DB]>-vs---------------->[MV]
[MBD]>-ds(x,y,w,h)->[DD]>-ds->[DB]
[MV]>-vs->[DT]
[DD]>-ds->[CDP]>-ds(n)->[D2V]>-vs->[MV]
[DD]>-ds->[CCB]>-ds(x,y)->[UDPM]>-as------>[AOUT]
[MBD] =moving blob detection
[DD] =duplicate data stream
[DB] =draw boxes per frame on video stream, expecting packets of (x,y,w,h)
[CDP] =count data packets, in this case, CONFIGed to count groups of 4 per
frame
[D2V] =convert data to video like C printf(), in this case CONFIGed to "%n
blobs found"
[MV] =mix video streams
as =actions/commands stream
[CCB] =calculate center of box
[UDPM]=user data processing module, with some calculations and some IF/CASE
structs
[AOUT]=output/send action/command to CONFIGed robot
The [D2V], the [CDP] and the [UDPM] are examples of data processing modules.
The data stream opens data processing leading to action modules sending
robot control commands.
mc.
PS: ok, I promess I'll let go of this thread :)
> -----Original Message-----> Marco Correia
> Sent: Thursday, June 06, 2002 6:09 PM
> To: lego-robotics@crynwr.com
> Subject: RE: Robotic Vision (was: Video image analisys)
>
>
> Hi :)
>
> *GREAT* !
>
> Are you planning to share your findings ? :)
>
> I downloaded the current version of rv2 (the one that now
> includes RvCAD
> V.1) and tryed it: WOW :)
> It doesn't work with my ATI All-in-Wonder128 format feed, nor
> with mpeg
> (yet?) but the tests I did with .AVI were great :)
> I think it'll work with the LEGOcam (the older rv2 worked) I
> haven't tried
> yet.
>
> The "new" MachineVision filters (Object Extractor, etc) and
> the new visual
> interface of RvCAD are simply great :)
>
> erm... if only there was a DATA stream circuit/treatment,
> side by side of
> the VIDEO stream circuit, one could, in future versions, do
> DATA modules
> that would simply mix DATA on top of the video or/and
> processor modules that
> would do logic processing/decisions (input=DATA,
> output=ACTIONS/COMMANDS
> that would cause robot reactions)
>
> Something simple as this would be possible:
>
> [VP]>-vs->[MBD]>-vs----------->[MV]->[DT]
> [MBD]>-ds->[CDV]-vs->[MV]
>
> vs =video stream
> [VP] =video producer
> [MBD]=moving blob detection
> [MV] =mix video streams
> [DT] =display trash
> ds =data stream
> [CDV]=convert data to video
>
>
> The [MV] in this example has 2 video in and 1 video out.
> The [MDB] is an example of a module with 1 video in, 1 video
> out *and* 1
> data out.
>
> It's easy to imagine decision modules based on data input
> outputing treated
> DATA or ACTIONS that would be directed to a ACTION-MANAGER module. The
> config of such a module would deal with the way of making
> these action come
> out of the "virtual" model RvCAD knew. (this would introduce
> a third stream,
> the ACTIONS stream)
> It would act as an interface much like the Video Producer
> does for data
> aquisition dealing with the hardware level of things, this
> Action Manager
> could send commands to the robot :) ...hopefully there would
> be a "driver"
> supporting the RCX pCode or something.
>
> ...just a thought :)
>
>
> Anyway, sorry for this long msg and
> thxs again for your web page and
> what you've shared so far with us all :)
>
> mc.
>
> > -----Original Message-----> Of psksvp
> >
> > Hello
> >
> > I am planing on building stero-head using rcx, and 2 webcam • from lego
> > studio. All ImageProcessing will be done on PC, RCX will be
> > used to control
> > til, pan, etc...
> >
> > psksvp
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