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Wed, 29 Nov 2006

image processing extensions to BASIC now in SRV-1 firmware (112906 test version)

The following BASIC language functions have been added to the firmware as described below:

COMMENT - just to make code more readable
COLORCAP 0-15 - sets a color based on samples from a region
COLORSET 0-15 - allows program to set the colors
COLORGET 0-15 - retrieves the stored colors
SCAN 0-15 - looks for blockage based on a given color
BLOB 0-15 - looks for blob matching a given color

There's a lot of new capability, but all of this needs to be tested more completely. The Scan and Blob functions are somewhat simpler that the "vs" and "vb" functions in the SRV-1 command protocol, but they should be adequate to do some interesting things. I hope to post some code samples tomorrow demonstrating the "wander" mode and some simple soccerbot commands all coded in BASIC with this set of functions. In the mean time, if anyone has a chance to test this update to make certain we haven't broken any core functionality, that would be appreciated.

Here are the download links -

SRV-1 firmware srv1.hex.112906 (save as srv1.hex)
SRV-1 firmware source code (srv-112906.zip)
Updated SRV_protocol.html

Command	Response	Description

BASIC Commands

	IMGCAP	capture image at 160x128 resolution (stored as 80x64 YUV)
	COLORCAP	captures colors from latest image in box bounded by x1 x2 y1 y2, and stores to designated color bin, e.g. COLORCAP 0 20 40 1 5 captures to color bin #0 from x=20 to x=40, y=1 to y=5
	COLORSET	sets the colors in a color bin - format is somewhat different from the "vs" command, as data is Y, U, V, Y-range, U-range, V-range, rather than min/max values
	COLORGET	lists the colors in a specified color bin using same format at COLORSET. to view values, PRINT Y, U, V to view ranges (for Y U V), PRINT R, S, T e.g. COLORSET 0 128 89 95 15 10 10 COLORGET 0 PRINT Y, U, V PRINT R, S, T output will be 128 89 95 15 10 10
	SCAN	similar to the "vs" Scan function above, but divides the image into 3 overlapping areas, saved into X = front left, Y = front, Z = front right. if a region is blocked, the value will be zero. if it's not blocked, the value will be positive, with a higher number indicating more open space in that region, e.g. IMGCAP SCAN 0 PRINT X,Y,Z might output 7 12 0 indicating that the right is blocked, but forward and left are both open
	BLOB	similar to the "vb" Blob function above, but only returns the largest blob matching the specified color, with results saved into X = centroid x coordinate, Y = centroid y coordinate, Z = blob width. e.g. IMGCAP BLOB 0 PRINT X,Y,Z might output 40 30 15 for a blob centered at (40,30) with a width of 15 pixels a width of 0 would indicate that no matching blob was found

Posted Wed, 29 Nov 2006 18:35 | HTML Link | see additional stories ...