Very interesting Ralph.
I always wandered if it would be possible to do head position tracking for
robot calibration based on OpenCV. Do you think that this would be possible
using a real time HAL module, written in C, using the a PREEMPT RT PATH
real time based kernel?. If it is possible, I suppose that GPU power could
theoretically be made available to OpenCV operations.
What is you opinion?.
Thanks,
Javier
On Tue, Oct 7, 2014 at 9:20 PM, Ralph Stirling <
ralph.stirl...@wallawalla.edu> wrote:
> This is what I used to do machine vision homing a couple of years ago:
> FitElipse is a function that finds the best fit circle in the frame. I
> can supply
> that function too if you like. It is adapted from examples I found online.
>
> ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
> # homecart.py
> import sys
> import urllib2
> import random
> import cv2.cv as cv
> import time
> import hal
>
> if __name__ == '__main__':
>
> h = hal.component("homecart")
> h.newpin("offset", hal.HAL_FLOAT, hal.HAL_OUT)
> h.newpin("located", hal.HAL_BIT, hal.HAL_OUT)
> h.ready()
>
> capture = cv.CaptureFromCAM(0)
>
> while True:
> img = cv.QueryFrame(capture)
>
> gimg = cv.CreateImage((640,480), cv.IPL_DEPTH_8U, 1)
>
> cv.CvtColor(img, gimg, cv.CV_RGB2GRAY)
>
> fe = FitEllipse(gimg, 116)
> h['offset'] = fe.offset
> h['located'] = fe.located
>
> In the hal file, I have:
>
> loadusr ./homecart # Can't have .py on the end of the filename
>
> then I can use homecart.located and homecard.offset pins. I can't find
> an example where I actually used it to do the homing though. I must have
> gotten distracted by something else before I got that step completed.
>
> Hope this is useful.
>
> -- Ralph
>
>
>
> -- Ralph
> ________________________________________
> From: sam sokolik [sa...@empirescreen.com]
> Sent: Tuesday, October 07, 2014 11:59 AM
> To: Enhanced Machine Controller (EMC)
> Subject: Re: [Emc-users] opencv for shape recognition
>
> You make it sound /so/ easy... :)
>
> sam
> On 10/7/2014 1:09 PM, andy pugh wrote:
> > On 7 October 2014 19:06, sam sokolik <sa...@empirescreen.com> wrote:
> >> this is my first real exposure to python. the next step is to see how I
> >> can fidldle hal stuff with it..
> > import hal
> >
> > make hal pins, job done :-)
> >
> >
>
>
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