Difference between revisions of "Machine Vision Localization System"
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* Two major memory leaks fixed. |
* Two major memory leaks fixed. |
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* Calibration matricies are now calculated correctly. |
* Calibration matricies are now calculated correctly. |
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* File handling bug that causes an off-by-one error in '''LoadTargetData()''' fixed. |
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Revision as of 18:03, 15 January 2009
Overview
This is a machine vision systems that tracks multiple targets and can send out the positions via the serial port. It is based upon the Indoor_Localization_System, but has several enhancements and bug fixes. Refer to Indoor_Localization_System for a basic overview of the setup of the system and the workings of the patter identification algorithm.
Major Enhancements/Changes
- The system will now mark the targets with an overlay and display coordinate data onscreen.
- The serial output is now formatted for the XBee radio using the XBee's API mode with escape characters.
- The calibration routine has been improved, and only needs to be performed once.
- A command interface for sending out commands via the serial port has been added.
- The system will discard targets too close to the edge of the camera frame to prevent misidentification due to clipping.
- The origin of the world coordinate is now in the middle, not the lower left corner.
Major Bug Fixes
- Two major memory leaks fixed.
- Calibration matricies are now calculated correctly.
- File handling bug that causes an off-by-one error in LoadTargetData() fixed.
