Subject:
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RE: Robotic Vision (was: Video image analisys)
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Newsgroups:
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lugnet.robotics
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Date:
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Thu, 20 Jun 2002 13:35:43 GMT
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Original-From:
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Marco Correia <MARCO@SOPORCELnomorespam.PT>
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Reply-To:
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<MARCO@SOPORCEL.stopspamPT>
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Viewed:
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2735 times
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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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Message is in Reply To:
 | | 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 (...) (24 years ago, 6-Jun-02, to lugnet.robotics)
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