Re: [Paparazzi-devel] Final year project and uni of Adelaide

[Gareth Roberts]

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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