From:
Gareth Roberts <address@hidden>
To: address@hidden
Sent: Sat, 31 October, 2009 3:23:46 AM
Subject: Re: [Paparazzi-devel] Final year project and uni of Adelaide
In terms of Gareth, quick 'n' dirty (wrote most of it drunk the night
before EMAV) for the balloon detection, just did colour detection and
then a centroid, then moved the balloon waypoint based on that (it was a
bit slow due to the uplink speed). I used python and opencv - the trick
is not to iterate through cvImages in python (I took apart the source
code, and every time you call an iteration, it generates a lamba),
instead use IPLImages and pyscho on the main loop, it was as fast as the
C implementation for my particular application.
For my final year project, which isn't
directly related to paparazzi,
I'm using a pair of webcams, a BeagleBoard (which runs full linux) and
currently am using a wifi draft-n link to get the two video streams back
to a groundstation laptop. I only started a couple of weeks ago, and it
takes a worrying amount of time to generate a depthmap on a core 2 duo
with 4 gig of ram, so god knows how it's going to perform on a ~600MHz
arm.
Todd: were you using the processing opencv library? I looked at it, but
it was painfully slow.
If you want any code, let me know.
--G
On Fri, 2009-10-30 at 19:35 +1100, Deane Chadwick wrote:
> Hi Todd,
>
> Good job with the aircraft looks like you guys did well, pitty about
> the wind. I did the challenge last year with QUT and was d their image
> processing. Your image processing looks heaps good and am very
> interested in what camera you used and whether you tested it
with the
> IR lamps? Also how did you sync the images with telemetry data?
>
> Garath,
>
> How are you working your stereo imaging? Are you using two cameras or
> subsequent images (not sure I follow the exactly what you are doing)?
> Either way how did you find it worked? I was going to implement stereo
> imaging but didnt have the time to do it.
>
> Deane
>
> On Fri, Oct 30, 2009 at 10:27 AM, Todd Sandercock
> <
address@hidden> wrote:
> I think its possible to run on board of the aircraft but the
> frame rate might have to be reduced a bit. It currently runs
> on a mac and chews the 2.4 GHz core 2 duo pretty bad. It is
> written
using a hacked java open cv library too so that would
> surely make it a heap slower too.
>
> Todd
>
>
>
> ______________________________________________________________
> From: Marcus Wolschon <
address@hidden>
> To:
address@hidden> Sent: Fri, 30 October, 2009 2:36:08 AM
> Subject: Re: [Paparazzi-devel] Final year project and uni of
> Adelaide
>
>
> On 2009-10-29, Todd Sandercock <
address@hidden>
> wrote:
> >
http://www.vimeo.com/7307880>
> > Once everything was up and running our image
> > processing software was able to pick out the target, send
> the position to
> > paparazzi over the ivy bus then instruct the aircraft to
> loiter over the
> > target for confirmation by the ground operator. The ground
>
operator from
> > there has to
> > confirm or reject the target with paparazzi being told the
> correct action
> > depending on the answer.
>
> Sounds really cool!
> How much does the image-processing need?
> Any chance of running that in the drone?
>
> Marcus
>
>
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