RoboRealm Forum

Listen Module error

Wed, 31 Dec 1969 18:12:59 EST

Ive been having an error with RoboRealm when trying to access the Listen Module. When I click the Listen Module in RR a box pops up with the error "Listen Module Failed at CreateRecoContext!". I was just wondering if anyone knows why this error is occuring. Ive tried searching for it but have no idea what it means.

Wrapper classes for reading variables from RR_API

Wed, 31 Dec 1969 18:12:59 EST

I'm attaching three files of C++. These put wrappers around variables to be read from RR using the RR_API. These classes only do reads, so far, since that is all I've needed to date. I'll add writing at some point in the future but though some might find limited routines these useful before I get write opeartions.

The first class is RoboRealmVar which wraps individual variables. Its a template class. I've created specific instanctiations for int, float and string. It should be easy to add more if necessary. The only thing you might have to write is a simple conversion from ascii to data type routine. See the string instatiation for how it was done there.

To declare a var is done by:

    rrIntVar mCogX;
    rrIntVar mCogBoxSize;
    rrIntVar mImageWidth;

Instatiate it with

    mCogX("COG_X", mRoboRealm),
    mImageWidth("IMAGE_WIDTH", mRoboRealm),
    mCogBoxSize("COG_BOX_SIZE", mRoboRealm),

where mRoboRealm is the instance of RR from RR_API.

All the examples are for the COG module and are using class members, hence the 'm' prefix.

You can retrieve the values with:

   int cogX =  mCogX();

which uses an overload of operator();

If you want to retrieve mutliple variables with one call use the class RoboRealmVars. You may have noticed the class RoboRealmVarBase which is a base class for RoboRealmVars. It is used to provide an interface to individual vars when working with multiple vars.

Do this for multiple variables:

    RoboRealmVars mCogVars;

then:

    mCogVars(mRoboRealm)

and then:

    mCogVars.add(mCogX);
    mCogVars.add(mImageWidth);
    mCogVars.add(mCogBoxSize);

and finally:

    mCogVars();

which is another operator() overload for reading multiple vars. All the individual vars then have values that can be accessed as shown above in the individual var example.

Hope someone finds these useful. I know reading multiple vars took a lot of detail chasing that this new class how hides.

[image1]
[image2]
[image3]

Wrapper classes for reading variables from RR_API

Wed, 31 Dec 1969 18:12:59 EST

Seam tracking

Wed, 31 Dec 1969 18:12:59 EST

Dear Steven
I am enclosing a bmp. I need to find the co-ordinates of the point of intersection between the laser line (green) and the seam. I have tried sobel edge vertical and horizontal, not able to achieve results. Can u please help?

Project.

Wed, 31 Dec 1969 18:12:59 EST

Hi,
I'm starting a project with a group of friends for a class. We built the head where it will enclose all the modules, servos and hopefully the power supply.
What we are trying to use camera sensors, which would detect a certain color, and center the color and follow the object. While following the object the neck and the head would rotate accordingly. We are still in the research phase and trying to see what software we would use and see how we would interface two processors, one for the image processing and the other for the neck and face movement. The whole unit would enclose the modules in the head unit. Any suggestions or guidance would be greatly appreciated.

Thank you for your time..
Major

Project.

Wed, 31 Dec 1969 18:12:59 EST

Face tracking

Wed, 31 Dec 1969 18:12:59 EST

Hello,

i'm trying desperately tracking a face with RoboRealm.
try with color filters (red) to date are very bad. It would surely be better, the eyes and the mouth to recognize and realize then face persecution. Unfortunately I have no idea how am I supposed to make me RR. anyone can help me or provide a demo program?

Regards,
Ulli

No Title

Wed, 31 Dec 1969 18:12:59 EST

Excuse my late answer but I wasn't allowed to enter the laboratory during the last days.

I found out that AMCap gives me an error message to:

"LoadVideoFormat: unable to restore resolution, hr=0x80040200"

maybe that helps.

No Title

Wed, 31 Dec 1969 18:12:59 EST

I saw that the photo's haven't been uploaded.

[image1]

[image2]

No Title

Wed, 31 Dec 1969 18:12:59 EST

Hello STeven,

Here's a picture of the setup. I hope you can make something of it, i can't, becouse the canny module won't find the edges of the circles.

Could the software track 3 green laserpoints being formed as a triangle, so that the 3 points show up on the wood and that the roborealm software can pick the middele of the triangle so it still aimes at the middel of the target?

Grtz Hein van den Broek

The first picture shows the board from de perspective of the shooter, the second wan is more detailed one of the board.

No Title

Wed, 31 Dec 1969 18:12:59 EST

This is the test video I am working on.

No Title

Wed, 31 Dec 1969 18:12:59 EST

here is what I am working on.Just a 4 wheel drive rock crawler with a camera.

How to Check if a specific fiducial is pressent?

Wed, 31 Dec 1969 18:12:59 EST

I all
Im trying to overlay some pictures over specific fiducial, its easy if there is only one pressend as i can just
[if FIDUCIAL_NAME = Attic Then overlay]
but how can i check each fiducial in a array for some specific ones?
i pretty sure that vbscript is the way but i cant get it.

Can some one help making a *.robo to check if ex.: lobby and garden are present and get the each coordinates so i can overlay a specific pic?

Technology partners

Wed, 31 Dec 1969 18:12:59 EST

Accusoft Pegasus, the largest supplier of imaging software development kits (SDKs) and viewers, would like to inquire about a technology partnership with RoboRealm.

How can I capture a Parallax "sequence" in RoboRealm?

Wed, 31 Dec 1969 18:12:59 EST

I have a Parallax PSC controller and have captured a sequence of moves using their CPSCI program. I would like to capture the moves in RoboRealm, but the Parallax interface in RoboRealm does not have an "add" button to capture the setting. How can I store the move sequence? Is there a way to use an array instead of having to define a variable for each move? (that would take over 100 variables!). Ideally I would like to have a set of sequences that I can call whenever the camera shows a particular view. thanks! -- pics of my 'bot are attached.

No Title

Wed, 31 Dec 1969 18:12:59 EST

So I have done a little more experimenting and it looks like it might be dumping the buffer into the console about every 200 characters. But getting to that limit or disconnecting and reconnecting by pushing the button in the serial comm module seem to be the only things that make it dump.

I have set up a loop that prints every char 0-255 with a 20ms delay between sending chars and it will just happily run through that loop dumping every couple hundred characters. (It will create a new line on a line break char, but it doesn't cause it to dump)

There is one peculiarity I noticed though. When I view the chars in decimal in both realterm and in Roborealm it prints out "...7 8 9 13 10 11 12 13 14 15..." The 13 appearing once out of place seems a little odd.

I attached the .hex file that I uploaded to my axon to test this.

No Title

Wed, 31 Dec 1969 18:12:59 EST

bs2 program

No Title

Wed, 31 Dec 1969 18:12:59 EST

when I open rr and put in boe bot mod w/ nothing else, bs2 off - I click ok on the boe mod , or restart rr, no warning no error, no more rr!
with the bs2 on it doesn't close.
I tried the botcontrolformsrs.bs2 , and changed the serin/ serout to pin 16 (serial cable) blocked the bluetooth (I don't have one) and it didn't work!!!!

what is msrs?

No Title

Wed, 31 Dec 1969 18:12:59 EST

as u can see im having trouble uploading the file.........

No Title

Wed, 31 Dec 1969 18:12:59 EST

here ya go

No Title

Wed, 31 Dec 1969 18:12:59 EST

here ya go!

No Title

Wed, 31 Dec 1969 18:12:59 EST

Yeh here ya go!

RR crashes constantly

Wed, 31 Dec 1969 18:12:59 EST

RR constantly crashes when I press the "New" button for a new program. It does this regardless if I have a program running or not, or if the camera is on or off. I've included the simple robo program I had loaded, as well as the appcompat.txt file created with the application error.

RR also crashes occasionally when I am using the Image Match function. I've looked on the forum, but cannot see any complaints of RR crashing this often. Any help is much appreciated. Thanks, Paul.

No Title

Wed, 31 Dec 1969 18:12:59 EST

Last test for jpeg converter

[image1]

No Title

Wed, 31 Dec 1969 18:12:59 EST

This is still a test

[image1]

No Title

Wed, 31 Dec 1969 18:12:59 EST

This is only a test

[image1]

No Title

Wed, 31 Dec 1969 18:12:59 EST

Hi Steven,

I've attached my .robo file. Presently I am trying to read distance and angle information. But I would eventually need information on bump sensors too. It seems that the Java API files are working but the C API files are unable to read the variable values. Any reason why this might be happening?

Regards,
Nimit

No Title

Wed, 31 Dec 1969 18:12:59 EST

Trying to post the image again

COG for large images

Wed, 31 Dec 1969 18:12:59 EST

The COG module doesn't seem to work for the attached, very large image and the Geometric Statistics module gives negative values for the COG. I'm guessing it's an overflow problem? It would be great if it was possible to use the Circle module on this image as well (after using Canny edge detection of course).

Any thoughts?

Thanks,
Clint

No Title

Wed, 31 Dec 1969 18:12:59 EST

Image Test 3

[image1]

No Title

Wed, 31 Dec 1969 18:12:59 EST

Test 2

[image1]

Just a test for image transfer sizes

Wed, 31 Dec 1969 18:12:59 EST

This is only a test.

[image1]

No Title

Wed, 31 Dec 1969 18:12:59 EST

Here is the second set:

[image1]

[image2]

No Title

Wed, 31 Dec 1969 18:12:59 EST

Hello STeven,

Sorry fore the wait.  I was out with the flu.

I have two sets of test images.  Each set has a reference level image (approx) and an image tilted at an angle. The orient module seems to fail for the first set of images (pages) and work OK for the second set (cover).  The images are a bit large so I will make separate postings.

BTW � Angle in the geometry module never seemed to be consistent.  Maybe it is just my interpretation.

[image1]

[image2]

No Title

Wed, 31 Dec 1969 18:12:59 EST

.robo file!
i forgot it!
:D

No Title

Wed, 31 Dec 1969 18:12:59 EST

thanks steven for your answer!
i think there is a problem!
see this .robo file,reload the vbscript,u will see that it hangs!

Bayer Filter

Wed, 31 Dec 1969 18:12:59 EST

Hi,

I've used your software before to do a live bayer filter feed and it worked well. I am now looking to open a colour raw .Fit image and apply a bayer filter to it to get a colour picture? I understand this isn't really what roborealm is for but you seemed to know what you were doing with the Bayer filter itself and wonder if you have any advice/support that would help my problem. I imagine the Bayer filter on Roborealm would work if it accepted the .Fit file, but at the moment it doesn't recognise the file type.

Thanks,

Nick

Parallel port interface with multiple instance of roborealm

Wed, 31 Dec 1969 18:12:59 EST

My objective is to create a robot........which travels in a black road with white background........and if there is a turn then image on the floor will be displayed
in the figure....

[image1][image2]

In one instance of roborealm, it detects the track....
In second instance of roborealm, it detects for the orientation in shape matching module......

In the first instance of roborealm, it will send the data to
robot...continuously....

When the second instance detects the arrow it can communicate with the first instance or even with parallel port......

what should i have to do......

Autonomous Aviation

Wed, 31 Dec 1969 18:12:59 EST

Hi,

I have bought Draganflyer V Ti RC Gyro Stabilized Electric Helicopter With Wireless Video Camera Systemthe 4 rotor from rctoys.com with wireless video, an futaba 9CHP Super transmitter, PCtx and joystick (Saitek: Cyber Evo). I am currently trying to interface the joystick control with the pctx. I am interested to use colour vision of the camera mount on the draganflyer VTI RC to maintain hovering by itself by capture its centre of gravity. The draganflyer VTI RC consist of 6 channel from the Draganflyer Flight Control Diagram. An interface pctx with the joystick with the robo releam. I will update you the picture and video of my progress on my research.
Draganflyer V Ti RC Gyro Stabilized Electric Helicopter With Wireless Video Camera System
http://www.rctoys.com/rc-toys-and-parts/DF...OMPARE-ALL.html
Draganflyer Schematics
http://www.rctoys.com/pdf/df5-schematics0001.pdf
Draganflyer Flight Control Diagram
http://www.rctoys.com/pdf/df5-flightcontrol.pdf

Looking forward to your reply.

Many Thank
Warm Regards,
Benjamin

Autonomous Aviation

Wed, 31 Dec 1969 18:12:59 EST

No Title

Wed, 31 Dec 1969 18:12:59 EST

Yes. I need to perform Perspective Transformation on a bunch of images(as a batch process). I tried to do it manually using Perspective correction module under Transforms module, which worked for single image.
The input image is : [image1]
The output image is: [image2]
I need to automate the process by writing a .robo file (with tagged syntax) so as to perform the correction on all the images.

So far I have written the .robo file to load an image. The code is :

<head><version>1.7.2.18</version></head>
<Load_Image>
<filename>abc1.bmp</filename>
</Load_Image>

I want to add the code for Perpective Correction after this.

RR first steps image analyze

Wed, 31 Dec 1969 18:12:59 EST

Hi,

I'm new to the world of vision software. I want to examine pictures with the following result: I want to detect the screw head that is about in the middle of the picture and calculate it's offset to the real center of the picture.
I came to some result but not really succesfull.
I mostly tried combining Canny edge detection followed by the Circles module.
I tried with completely different pictures and there I had better results.

Does anyone have any idea what I would be doing wrong? How important is the resolution of the pictures? The light?
Am I using the wrong program or should this be no problem for a powerfull program like RR?

Thanks
kind regards
Scelle

Matching omnidirectional images

Wed, 31 Dec 1969 18:12:59 EST

Hello,

I am trying to determine the relative position of a robot that uses an omnidirectional imaging system.  The idea is that a snapshot is taken at a starting location, then I move the robot away from that position and take a second snapshot.  I now want to compare the starting and ending snapshots and compute where the robot is relative to the starting position.

I  get a really good estimate of the relative orientation of the robot by doing a cross-correlation on the center horizontal strip of the two images.  Now I want to compute the displacement of the robot between the two images.  So to make things simpler, assume that the orientation of the robot does not change between the two images.

I have attached five sample images.  The first is the initial snapshot after feeding it through the Polar and Crop modules.  The other four images are taken with the robot displaced roughly 1 foot to the right, behind, left, and in front of the initial location, in that order.  The task is to compare each of these images in turn with the initial image and compute the corresponding displacement--even just the direction of the displacement would be good enough.  For example, a successful result for the second image would be "90 degrees clockwise at 12 inches" or even just "90 degrees clockwise".  But the degrees of rotation needs to be fairly accurate since I want to use it for homing the robot back to the initial location.  Just to be clear, I'm not talking about rotating the robot about its center: I'm talking about picking the robot up and placing it 1 foot to the right, or 1 foot behind, etc. without changing its orientation.

Any ideas?

Thanks!
patrick

No Title

Wed, 31 Dec 1969 18:12:59 EST

Melissa,

You need to ensure that the bitmap pattern AND the thing to match it against is a binary black/white image. You will notice in the upper right corner of the blob filter that many more than 1 object is being detected. That can be dealt with by thresholding both images prior to matching them. The shape matching only works with thresholded images to ensure that the shape is very distinct.

I've included our trial with the two images being thresholded.

STeven.

Bitmap Blob Filter

Wed, 31 Dec 1969 18:12:59 EST

Hi,
I am having trouble with the bitmap blob filter.  I have three images to help:
1st - the image i am loading into the bitmap blob filter
2nd- the image i am loading into roborealm as a test image
3rd - the result of the filter with the count threshold set to 1

why am i getting a black screen with the blob being marked as the top left of my image?  Shouldn't it be in the middle with the image still shown?

My goal is to be able to identify that marker and locate the coordinates of its 4 corners.  The marker is distinct to help it be picked from a complex background eventually.

2 rr crash questions

Wed, 31 Dec 1969 18:12:59 EST

Hi,Steven,
I found several problem, the edition of RR is 1.8.18.15.
1) It works well in my Winxp, but will crash in win2000, doesn�t it support win2000.
2) It�s about my .robo file. I use socket extension to communicate with my program and RR, but as you see, my robo file, when I use �set statement� it can send �fps� �COGX,COGY� and �grabstate� to my program, but when I use vbscript to define variable, the variable can�t send to my program. Does it mean variable defined by vbscript can�t send through socket. I hope you can help me find a solution.
3) in fact, I�m going to use blob filter before as it is so useful, however when I use �create array variable�, it will cause my program and RR crashed. The attached image is obtained when I add the blob filter module.
Could you help me check the .robo and see if there is something wrong. I use the first a.robo well with my program.

Robot Arm

Wed, 31 Dec 1969 18:12:59 EST

Hi,
I am  planning  to  build  a robot arm to gather peaches from the trees.
So i am going to use servo center  3, a   high quality camera 2MP and of course RR.
As you can see from the photos i have managed to establish the peach vision.
Have you got to  propose  any better way? (Filters - Modules).
As i see it is possible to calculate X and Y axis what about the distance Z axis?
In Module Circles, How can we watch and calculate only the bigger circle?
If i have 2 cameras, can i calculate the z axi?

red tracking paintball turret

Wed, 31 Dec 1969 18:12:59 EST

I was wondering how would you modify the vbs red tracking orbit camera script to be used with a parallax usb servo controller?

Camrer image distort

Wed, 31 Dec 1969 18:12:59 EST

Hi, Steven
I just got a"Euresys PICLOL Tymo" camera. I can get right image in "AMCAP" which is in directxsdk. but with RoboRealm, I get a distort image. how could i handle this problem?

Bug in Path Planning "plan orientation variable"

Wed, 31 Dec 1969 18:12:59 EST

First of all, the Path Planning is a wonderful module. Unfortunately, there is a bug in it.

The "Plan Orientation" variable generated by this module can be wrong some times. To cut the long story short please refer the following snapshots:-

Image1: Snapshot of the maze to be solved, using a "Red Triangle" as robot. This red robot has to reach a blue destination.

Image2: The path planned by the path planing module. While the path planned is CORRECT, the plan orientation is INCORRECT.

Attachment1: The RoboRealm showing the code.